Network Force/Torque Sensor System
Net F/T Manual - ATI Industrial Automation
Net F/T Manual - ATI Industrial Automation
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Net F/T Installation and Operation Manual<br />
Document: 9620-05-net ft-11<br />
Table 15.2—Request Short Data<br />
Message<br />
to Net F/T<br />
Response<br />
from Net<br />
F/T<br />
CAN<br />
Identifier<br />
Data<br />
length in<br />
bytes<br />
1 st –4 th data bytes 5 th –8 th data bytes Comment<br />
Request<br />
Short Data<br />
Base<br />
Address<br />
1 0x02 (BYTE) N/A Sends a copy of force and torque<br />
data in short format (an ongoing<br />
transmission will be terminated)<br />
Fx, Tx, Fy,<br />
and Tx data<br />
Base<br />
Address<br />
+5<br />
8 Fx value (INT)<br />
Tx value (INT)<br />
Fy value (INT)<br />
Ty value (INT)<br />
X-axis force and torque values and<br />
Y-axis force and torque in short<br />
format<br />
Fz and Tz<br />
data, Status,<br />
and sample<br />
number<br />
Base<br />
Address<br />
+6<br />
8 Fz value (INT)<br />
Tz value (INT)<br />
system status (INT)<br />
sample number (INT)<br />
Z-axis force and torque values,<br />
system status word, and sample in<br />
short format.<br />
Table 15.3—Bias Command<br />
Message<br />
to Net F/T<br />
Response<br />
from Net<br />
F/T<br />
CAN<br />
Identifier<br />
Data<br />
length in<br />
bytes<br />
1 st –4 th data bytes 5 th –8 th data bytes Comment<br />
Bias<br />
Base<br />
Address<br />
1 0x04 (BYTE) N/A Zeros the force and torque readings<br />
at the current loading level.<br />
Table 15.4—Clear Threshold Latch Command<br />
Message<br />
to Net F/T<br />
Response<br />
from Net<br />
F/T<br />
CAN<br />
Identifier<br />
Data<br />
length in<br />
bytes<br />
1 st –4 th data bytes 5 th –8 th data bytes Comment<br />
Clear<br />
Threshold<br />
Latch<br />
Base<br />
Address<br />
1 0x08 (BYTE) N/A Clears the threshold latch so it can<br />
respond to subsequent conditions.<br />
15.4 Baud Rate<br />
Baud Rate is set by either hardware or software configuration to 125kbps, 250kbps or 500Kbps. The<br />
baud rate will be set by software when DIP switch positions 7 and 8 are ON. For more information refer<br />
to Section 3.10.3—Baud Rate and Table 3.3—Baud Rate Switch Settings. The factory set baud rate is<br />
500Kbps.<br />
15.5 Calculating F/T Values for CAN<br />
The Net F/T multiplies each force and torque value with a factor before it is sent over the CAN interface.<br />
This allows for sending force and torque values with the full resolution. The application program has to<br />
divide each force and torque value with a specific factor to obtain the real data.<br />
Refer to Table 14.1—DeviceNet Input Bitmap for 16-bit data handling and Table 14.2—EtherNet/IP<br />
Input Bitmap for 32-bit data handling.<br />
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<br />
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