Network Force/Torque Sensor System
Net F/T Manual - ATI Industrial Automation
Net F/T Manual - ATI Industrial Automation
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Net F/T Installation and Operation Manual<br />
Document: 9620-05-net ft-11<br />
8.2 Thresholding CGI (moncon.cgi)<br />
This CGI defines and controls thresholding statements. Thresholding statements can be turned off or on<br />
and need to have an axis, a comparison type, a comparison counts value, and an output code defined.<br />
Table 8.2—moncon.cgi Variables<br />
Variable Name Allowed Values Description<br />
setmce Integers: 0 or 1 Enable (value = 1) or disable (value = 0) all threshold<br />
statement processing.<br />
mcen Integers: 0 or 1 Enable (value = 1) or disable (value = 0) threshold<br />
statement n.<br />
mcxn Integers: -1 to 5 Selects the axis evaluated by threshold statement n.<br />
Value Description Menu Value<br />
-1 Statement disabled blank<br />
0 Fx axis Fx<br />
1 Fy axis Fy<br />
2 Fz axis Fz<br />
3 Tx axis Tx<br />
4 Ty axis Ty<br />
5 Tz axis Tz<br />
mccn Integers: -1 or 1 Selects the comparison performed in threshold statement<br />
n.<br />
Value Description Menu Value<br />
-1 Less Than <<br />
1 Greater Than ><br />
mcvn Integers: -2147483648<br />
to +2147483647<br />
Sets the counts value to compare the current axis value<br />
by threshold statement n.<br />
mcon<br />
Hexadecimal: 0x00 to<br />
0xFF<br />
Sets the output code for threshold statement n.<br />
where n is an integer ranging from 0 to 15 representing the threshold statement index<br />
8.3 Configurations CGI (config.cgi)<br />
This CGI allows you to specify the output parameters of the sensor system. Any of the sixteen<br />
configurations can be defined. Changing configurations allows you to change which transducer<br />
calibration to use and what tool transformations to apply to that calibration.<br />
When using config.cgi the cfgid value specifies which configuration is targeted. For example,<br />
http:///config.cgi?cfgid=3&cfgnam=test123 sets the name of the fourth configuration<br />
(which is at index 3) to test123.<br />
See Section 4.7—Configurations Page (config.htm) for related information.<br />
Table 8.3—config.cgi Variables<br />
Variable Name Allowed Values Description<br />
cfgid integers: 0 to 15 Zero-based index of the configuration to be set<br />
during this CGI call. This variable is required for all<br />
calls to config.cgi.<br />
cfgnam Text string of up to 32<br />
characters<br />
Sets the configuration name.<br />
cfgcalsel integers: 0 to 15 Sets the calibration used by the configuration.<br />
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