Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
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Counts per Unit Force. All force values Fx, Fy, Fz in the CSV file must be divided by
this number to get the force values in the selected unit.
Torque Units. This is the torque selected on the Configuration page.
Counts per Unit Torque. All torque values Tx, Ty, Tz in the CSV file must be
divided by this number to get the torque values in the selected unit.
Header Row. This row names each of the columns of CSV data.
Table 5.1—CSV File Column Headings
Column: A B C D E F G H I J
Name:
Status
(hex)
RDT
Sequence
F/T
Sequence
Fx Fy Fz Tx Ty Tz Time
Column A: Status (hex) is the 32-bit system status code for this row. Each bit signals a certain
diagnostic condition. Normally this code is zero. A non-zero status code normally
means that the Net F/T system needs attention. See Section 18.2—System Status Code
for a detailed description of the status code.
Column B: RDT Sequence is a number that starts at one and is incremented with each set of data
that is sent from the Net F/T to the host computer.
Elapsed measurement time can be found with using the formula:
RDT Sequence Number
Elapsed Measurement Time =
RDT Sample Rate
Missing sequences indicate that data packages were lost. To avoid lost samples, see
Section 17.1—Improving Ethernet Throughput.
Column C: F/T Sequence is a number that is incremented with each new F/T measurement. The
Net F/T measures at a constant rate of 7000 samples per second.
Column D: Fx is the Fx axis reading in counts.
Column E:
Column F:
Fy is the Fy axis reading in counts.
Fz is the Fz axis reading in counts.
Column G: Tx is the Tx axis reading in counts.
Column H: Ty is the Ty axis reading in counts.
Column I:
Column J:
Tz is the Tz axis reading in counts.
Time is the time the demo program received the data row from the Net F/T. This time
stamp is created by the computer and is limited to the clock resolution of the computer.
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