Network Force/Torque Sensor System

More documents

Recommendations

Info

Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 14.3.8 Thresholding Settings Object (0x73—32 Instances) Table 14.23—Class Attributes (Instance 0) Attribute ID Name Data Type Default Data Value Access Rule 1 Revision UINT 1 Get 2 Max Instance UINT 32 Get 3 Number of Instances UINT 32 Get Table 14.24—Instance Attributes (Instance 1–32) Attribute ID Name Data Type Default Data Value Access Rule 1 Enable/Disable BOOL N/A Get/Set 2 Axis Number † SINT N/A Get/Set 3 Comparison ‡ SINT N/A Get/Set 4 Counts Value DINT N/A Get/Set 5 Output Code BYTE N/A Get/Set † Refer to mcxn in Section 7.2—Thresholding CGI (moncon.cgi) for axis information. ‡ Refer to mccn in Section 7.2—Thresholding CGI (moncon.cgi) for comparison information. Service Codes Table 14.25—Common Services Implemented for Class Level Instance Level Service Name 0x0E Yes Yes Get_Attribute_Single 0x10 No Yes Set_Attribute_Single 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 - 88
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 15. CAN Bus Operation Message to Net F/T Request Long Data 15.1 Overview The Net F/T supports a basic CAN protocol to allow reading of force/torque data and system status word over CAN without the need for a DeviceNet scanner. The CAN Bus base address and Baud Rate settings are configured using the DIP switches. Refer to Section 3.10—DIP Switches and Termination Resistor for additional information. To use the Net F/T’s CAN bus protocol, CAN Bus must be selected on the Communications page and power must be present on the Pwr/CAN connector. 15.2 Protocol Description A request data message sent to the Net F/T initiates copying of the current set of force and torque data into an output buffer and the subsequent transmission of the output buffer. Depending on the request message identifier (REQUEST LONG or REQUEST SHORT), the Net F/T either sends 32-bit values packed into four messages or 16-bit values packed into two messages. Values are in little endian format (least-significant byte first). For example, a 16-bit value received as 0x56 0x02 represents 0x0256. Signed numbers use 2’s complement format. The 32-bit value received as 0x0F 0xCF 0xDA 0xDA 0xFD represents 0xFDDACF0F, which is a negative number (because the highest bit is set). Its decimal value is -35991793. If a data request message is received during an ongoing transmission, the ongoing transmission will be terminated and the new request processed. 15.3 Base Address and Communication Format The CAN Bus base address is set by DIP switches 1 through 6. For more information refer to Section 3.10.2—Node Address and Table 3.1—CAN Bus Base Address Switch Settings. The factory set base address is 432. Response from Net F/T Fx and Tx data Fy and Ty data Fz and Tz data Status and sample number CAN Identifier Base Address Base Address +1 Base Address +2 Base Address +3 Base Address +4 Table 15.1—Request Long Data Data length in 1 st –4 th data bytes 5 th –8 th data bytes Comment bytes 1 0x01 (BYTE) N/A Sends a copy of force and torque data in long format (an ongoing transmission will be terminated) 8 Fx value (DINT) Tx value (DINT) X-axis force and torque values in long format 8 Fy value (DINT) Ty value (DINT) Y-axis force and torque values in long format. 8 Fz value (DINT) Tz value (DINT) Z-axis force and torque values in long format. 8 system status (DINT) sample number (DINT) <strong>System</strong> status word and sample number in long format. 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 - 89
Page 1 and 2:
Net F/T Network Force/Torque Sensor
Page 3 and 4:
Net F/T Installation and Operation
Page 5 and 6:
Page 7 and 8:
Page 9 and 10:
Page 11 and 12:
Page 13 and 14:
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
Page 35 and 36:
Page 37 and 38: Net F/T Installation and Operation
Page 87: Net F/T Installation and Operation
Page 113: Net F/T Installation and Operation
show all

Network Force/Torque Sensor System

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?