Network Force/Torque Sensor System

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Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 There is no output data if the Ethernet/IP O2T Data option on the Communications page (Section 4.8) is disabled. Table 14.3—Ethernet/IP Output Mapping Byte Bit Name Description/Function 0 Bias Perform tare function to zero out any load reading 1 Reset Latch Reset threshold latch 2 reserved 3 reserved 0 4 reserved 5 reserved 6 reserved 7 reserved 0 Config Select bit 0 1 Config Select bit 1 Selects a Net F/T configuration, from 0 to 15 2 Config Select bit 2 3 Config Select bit 3 1 4 reserved 5 reserved 6 reserved 7 reserved 2 0-7 Threshold high Threshold enable mask, high byte 3 0-7 Threshold low Threshold enable mask, low byte 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 - 82
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 14.2 Calculating F/T Values for CIP 14.2.1 EtherNet/IP To obtain the real force and torque values, each force output value has to be divided by the Counts per Force and each torque output value has to be divided by the Counts per Torque factor. The Counts per Force and Counts per Torque factors can be obtained from the Configurations web page. See Section 4.7—Configurations Page (config.htm) for more information. 14.2.2 DeviceNet In order to reduce the amount of data transmitted over DeviceNet, the force and torque values are reduced to 16 bits using the Scaling Factor for DeviceNet and CAN values (Figure 14.1— Scaling Factors for DeviceNet and CAN) before they are transmitted. To obtain the force and torque values in user units, each received force value has to be divided by (Counts per Force ÷ Scaling Factor for DeviceNet and CAN) for the axis and each received torque value has to be divided by (Counts per Torque ÷ Scaling Factor for DeviceNet and CAN) for the axis. NOTICE: Be sure to use the scaling factors from the appropriate configuration. This is usually the active configuration. The Counts per Force, Counts per Torque, and Scaling Factor for DeviceNet and CAN factors can be found on configurations web page. For more information, see Section 4.7— Configurations Page (config.htm). Figure 14.1—Scaling Factors for DeviceNet and CAN 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 - 83
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Network Force/Torque Sensor System

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