Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
11. TCP Interface
11.1 General
The TCP interface listens on TCP port 49151. All commands are 20 bytes in length. All
responses begin with the two byte header 0x12, 0x34.
11.2 Command Codes
READFT = 0, /* Read F/T values. */
READCALINFO = 1, /* Read calibration info. */
WRITETRANSFORM = 2, /* Write tool transformation. */
WRITETHRESHOLD = 3, /* Write monitor condition. */
11.3 Read F/T Command
{
uint8 command; /* Must be READFT (0) . */
uint8 reserved[15]; /* Should be all 0s. */
uint16 MCEnable; /* Bitmap of MCs to enable. */
uint16 sysCommands; /* Bitmap of system commands. */
}
Each bit position 0-15 in MCEnable corresponds to the monitor condition at that index. If the
bit is a ‘1’, that monitor condition is enabled. If the bit is a ‘0’, that monitor condition is
disabled.
Bit 0 of sysCommands controls the Bias. If bit 0 is a ‘1’, the system is biased. If bit 0 is a ‘0’,
no action is taken.
Bit 1 of sysCommands controls the monitor condition latch. If bit 1 is a ‘1’, the monitor
condition latch is cleared, and monitor condition evaluation begins again. If bit 1 is a ‘0’, no
action is taken.
11.4 Read F/T Response
{
uint16 header; /* always 0x1234. */
uint16 status; /* Upper 16 bits of status code. */
uint16 ForceX; /* 16-bit Force X counts. */
uint16 ForceY; /* 16-bit Force Y counts. */
uint16 ForceZ; /* 16-bit Force Z counts. */
uint16 TorqueX; /* 16-bit Torque X counts. */
uint16 TorqueY; /* 16-bit Torque Y counts. */
uint16 TorqueZ; /* 16-bit Torque Z counts. */
}
The status code is the upper 16 bits of the 32-bit status code described in the Net F/T user
manual.
The force and torque values in the response are equal to (actual ft value * calibration counts per
unit / 16-bit scaling factor). The counts per unit and scaling factor are read using the read
calibration information command.
11.5 Read Calibration Info Command
{
uint8 command; /* Must be READCALINFO (1). */
uint8 reserved[19]; /* Should be all 0s. */
}
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
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