Network Force/Torque Sensor System

More documents

Recommendations

Info

Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 Table 15.2—Request Short Data Message to Net F/T Response from Net F/T CAN Identifier Data length in bytes 1 st –4 th data bytes 5 th –8 th data bytes Comment Request Short Data Base Address 1 0x02 (BYTE) N/A Sends a copy of force and torque data in short format (an ongoing transmission will be terminated) Fx, Tx, Fy, and Tx data Base Address +5 8 Fx value (INT) Tx value (INT) Fy value (INT) Ty value (INT) X-axis force and torque values and Y-axis force and torque in short format Fz and Tz data, Status, and sample number Base Address +6 8 Fz value (INT) Tz value (INT) system status (INT) sample number (INT) Z-axis force and torque values, system status word, and sample in short format. Table 15.3—Bias Command Message to Net F/T Response from Net F/T CAN Identifier Data length in bytes 1 st –4 th data bytes 5 th –8 th data bytes Comment Bias Base Address 1 0x04 (BYTE) N/A Zeros the force and torque readings at the current loading level. Table 15.4—Clear Threshold Latch Command Message to Net F/T Response from Net F/T CAN Identifier Data length in bytes 1 st –4 th data bytes 5 th –8 th data bytes Comment Clear Threshold Latch Base Address 1 0x08 (BYTE) N/A Clears the threshold latch so it can respond to subsequent conditions. 15.4 Baud Rate Baud Rate is set by either hardware or software configuration to 125kbps, 250kbps or 500Kbps. The baud rate will be set by software when DIP switch positions 7 and 8 are ON. For more information refer to Section 3.10.3—Baud Rate and Table 3.3—Baud Rate Switch Settings. The factory set baud rate is 500Kbps. 15.5 Calculating F/T Values for CAN The Net F/T multiplies each force and torque value with a factor before it is sent over the CAN interface. This allows for sending force and torque values with the full resolution. The application program has to divide each force and torque value with a specific factor to obtain the real data. Refer to Table 14.1—DeviceNet Input Bitmap for 16-bit data handling and Table 14.2—EtherNet/IP Input Bitmap for 32-bit data handling. 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 - 90
Net F/T Installation and Operation Manual Document: 9620-05-net ft-11 16. Fieldbus Operation Operational information about the additional fieldbus included in some Net Boxes is described below. 16.1 PROFINET Fieldbus Interface A Net Box with the -PN option provides a PROFINET interface for access to the F/T data and for control of certain functions. The standard EtherNet/IP and DeviceNet interfaces may be used simultaneously while using the PROFINET interface. Although the Net Box’s PROFINET interface shares the standard Ethernet port, it has its own MAC address and IP address. The fieldbus’s MAC address is shown as MAC ID 2 on the connector side of the Net Box. NOTICE: The PROFINET interface does not support DHCP. The Net Box’s GSDML file details the PROFINET capabilities of the Net Box. Unlike the Net F/T’s other interfaces to tool transformations, the TCP interface uses scaled integer values to define distances and rotations. The following table lists the PROFINET interface parameters employed in the –PN Net Box: Table 16.1—PROFINET Interface Parameters Parameter Description DCP supported Used Protocols (subset) UDP, IP, ARP, ICMP (Ping) Topology recognition LLDP, SNMP V1, MIB2, physical device VLAN- and priority tagging yes Context Management by CL-RPC Minimum cycle time 2ms Minimum F/T data update rate 20Hz Baud rate 100 MBit/s Data transport layer Ethernet II, IEEE 802.3 A GSDML file is available for the ATI website at http://www.ati-ia.com/Products/ft/software/net_ft_software.aspx or can be requested via email at info@ati-ia.com. The ATI part number for the GSDML file is 9031-05-1021 and has the description “Net F/T PROFINET GSDML.file.” 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 - 91
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:
Page 39 and 40: Net F/T Installation and Operation
Page 89: 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?