Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
Table 14.18—Instance Attributes (Instance 1–16)
Attribute ID Name Data Type Default Data Value Access Rule
15 User Counts per Unit Torque UINT N/A Get
16 User Max Rating – Fx REAL N/A Get
17 User Max Rating – Fy REAL N/A Get
18 User Max Rating – Fz REAL N/A Get
19 User Max Rating – Tx REAL N/A Get
20 User Max Rating – Ty REAL N/A Get
21 User Max Rating – Tz REAL N/A Get
100 User Defined Field #1 SHORT_STRING[16] N/A Get/Set
101 User Defined Field #2 SHORT_STRING[16] N/A Get/Set
† Refer to cfgfu in Section 7.3—Configuration CGI (config.cgi) for force units.
‡ Refer to cfgtu in Section 7.3—Configuration CGI (config.cgi) for torque units.
†† Refer to cfgtdu in Section 7.3—Configuration CGI (config.cgi) for tool transformation distance units.
‡‡ Refer to cfgtau in Section 7.3—Configuration CGI (config.cgi) for tool transformation angle units.
Service Codes
Table 14.19—Common Services
Implemented for
Class Level Instance Level
Service Name
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
14.3.7 Settings Object (0x72—1 Instance)
Table 14.20—Class Attributes (Instance 0)
Attribute ID Name Data Type Default Data Value Access Rule
1 Revision UINT 1 Get
Table 14.21—Instance Attributes (Instance 1)
Attribute ID Name Data Type Default Data Value Access Rule
1 Configuration Selection (0
to 15)
USINT N/A Get/Set
4 Peaks Enable/Disable BOOL N/A Get/Set
5 Thresholding
Enable/Disable
BOOL N/A Get/Set
Service Codes
Table 14.22—Common Services
Implemented for
Class Level Instance Level
Service Name
0x0E Yes Yes Get_Attribute_Single
0x10 No Yes Set_Attribute_Single
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