Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
14.3 Object Model
14.3.1 Data Types
The following is a description of all of the data types used in the object model:
Table 14.4—Data Types
Data Type
Description
BOOL
Boolean
BYTE
Bit String (8-bit)
DINT
Signed Double Integer (32-bit)
DWORD
Bit String (32-bit)
INT
Signed Integer (16-bit)
REAL
Floating Point
SHORT_STRING Character string (1 byte per character, 1 byte length indicator)
SINT
Signed Short Integer (8-bit)
STRING
Character String (1 byte per character)
UDINT
Unsigned Double Integer (32-bit)
UINT
Unsigned Integer (16-bit)
USINT
Unsigned Short Integer (8-bit)
WORD
Bit String (16-bit)
14.3.2 Transducer Strain Gage Object (0x64—6 Instances)
Table 14.5—Class Attributes (Instance 0)
Attribute ID Name Data Type Default Data Value Access Rule
1 Revision UINT N/A Get
2 Max Instance UINT 6 Get
3 Number of Instances UINT 6 Get
100 Bias USINT N/A Set
Bias – any set to non-zero value will bias, a set to zero will unbias the transducer readings.
Table 14.6—Instance Attributes (Instance 1–6)
Attribute ID Name Data Type Default Data Value Access Rule
1 Raw Gage Reading INT N/A Get
2 Gage Bias INT N/A Get/Set
Instances 1–6 correspond to Gages 0–5 respectively.
Service Codes
Table 14.7—Common Services
Implemented for
Class Level Instance Level
Service Name
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
Instances 1–6 correspond to Gages 0–5 respectively.
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