Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
11.6 Read Calibration Info Response
{
uint16 header; /* always 0x1234. */
uint8 forceUnits; /* Force Units. */
uint8 torqueUnits; /* Torque Units. */
uint32 countsPerForce; /* Calibration Counts per force unit. */
uint32 countsPerTorque; /* Calibration Counts per torque unit. */
uint16 scaleFactors[6]; /* Further scaling for 16-bit counts. */
}
The force unit codes are:
1: Pound
2: Newton
3: Kilopound
4: Kilonewton
5: Kilogram
6: Gram
The torque unit codes are:
1: Pound-inch
2: Pound-foot
3: Newton-meter
4: Newton-millimeter
5: Kilogram-centimeter
6: Kilonewton-meter
11.7 Write Tool Transform Command
{
uint8 command; /* Must be WRITETRANSFORM (2). */
uint8 transformDistUnits; /* Units of dx,dy,dz */
uint8 transformAngleUnits; /* Units of rx,ry,rz */
int16 transform[6]; /* dx, dy, dz, rx, ry, rz */
uint8 reserved[5]; /* Should be all zeroes. */
}
The ‘transform’ elements are multiplied by 100 to provide good granularity with integer
numbers.
The distance unit codes are:
1: Inch
2: Foot
3: Millimeter
4: Centimeter
5: Meter
The angle unit codes are:
1: Degrees
2: Radians.
The response is a standard Write Response.
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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