Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 Line 4: Line 5: Line 6: Line 7: 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. 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 - 52
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 Figure 5.6—Sample Data Opened in Spreadsheet 5.4 The Errors Display of the Demo The error list at the bottom of the screen keeps track of errors that have occurred and the times they occurred (see Figure 5.7 for an example). Refer to Section 18.3.3—Java Demo if you need help with error messages. See Section 17.1—Improving Ethernet Throughput if there is excessive IO Exception: Receive timed out errors. 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 - 53
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