Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 4.5 Settings Page (setting.htm) This page allows you to choose the active configuration and to specify certain global settings that are effective across all configurations, such as filtering, peak monitoring, and the bias (offset) vector. Changes on this page are not implemented until the Apply button is clicked. Figure 4.5—Settings Page Active Configuration: Low-Pass Filter Cutoff Frequency: Peaks Monitoring: Selects one of sixteen configurations to be applied to the force and torque readings. See Section 4.7—Configurations Page (config.htm) for more information on configurations. Selects the cutoff frequency for low-pass filtering. Selecting No Filter disables low-pass filtering. See Section 19.2—Transducer Data Filtering for filter information. If enabled, each axis’s lowest and highest F/T values will be saved as minimum and maximum peaks. The Reset Peaks button clears the peaks. You can find the Reset Peaks button on the Snapshot web page. The Peak Measurement feature can be useful for crash detection and during teaching or finding out how close the application gets to the transducer’s limits. Software Bias Vector: This is the bias offset applied to the transducer strain gage readings. Clicking the Bias button on the Snapshot web page will change these values. This bias may be removed by setting the software bias vector to all zeros. Note that the strain gage readings do not have a one to one correspondence to force and torque readings. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com B - 34
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 4.6 Thresholding Page (moncon.htm) This page allows you to set up threshold conditions. Threshold conditions compare the transducer readings to simple user-defined threshold statements. When threshold monitoring is enabled and a sample is read that satisfies one or more of the active threshold conditions, the user-defined output code for all threshold conditions satisfied by that sample are bitwise or’ed together to form the threshold output (in practice, it is very unlikely that more than one threshold sample will be satisfied in a single sample). The threshold monitoring latch is then set, and threshold monitoring is then paused until a command to reset the threshold monitoring latch is received. The threshold output is available on the Snapshot page. Each threshold condition can be configured for: • the axis to monitor • the type of comparison to perform • the threshold value to use for the comparison • the output code to send when the comparison is true Figure 4.6—Thresholding Page Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com B - 35
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Network Force/Torque Sensor System

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