Network Force/Torque Sensor System

Net F/T Installation and Operation Manual
Document: 9620-05-net ft-11
Table 16.3—Output Mapping
Byte Bit Name Description/Function
0
1
0 Bias Perform tare function to zero out any load reading
1 Reset Latch Reset threshold latch
2 reserved
3 reserved
4 reserved
5 reserved
6 reserved
7 reserved
0 Config Select bit 0
1 Config Select bit 1
2 Config Select bit 2
3 Config Select bit 3
4 reserved
Selects a Net F/T configuration, from 0 to 15
5 reserved
6 reserved
7 reserved
2 0-7 Threshold high Threshold enable mask, high byte
3 0-7 Threshold low Threshold enable mask, low byte
Output byte 0, bit 0 performs a bias function when it is set to one. See the bias button
information in Section 4.3—Snapshot Page (rundata.htm) for details on this function. Bit 0
should be set to one for at least 100ms to ensure the bias is executed. Then it should be
returned to zero.
Output byte 0, bit 1 performs a reset threshold latch function when it is set to one. See the reset
latch button information in Section 4.6—Thresholding Page (moncon.htm) for details on this
function. Bit 1 should be set to one for at least 100ms to ensure a reset latch is executed. Then
it should be returned to zero.
Output byte 0, bits 2–7 are reserved and should not be used.
Output byte 1, bits 0–3 select the active configuration (0 through 15) to be used. There is a
delay of up to one second before the newly-selected configuration becomes usable. During the
change of configuration s, the Net F/T does not supply valid force and torque data. See the
active configuration information in Section 4.5—Settings Page (setting.htm) for details on
active configuration.
Output byte 1, bits 4–7 are reserved and should not be used.
Output bytes 2 and 3 form a 16-bit threshold enable mask that enables and disables threshold
conditions. Each bit, 0–15, of the threshold enable mask maps directly to its corresponding
threshold condition number N. A value of one enables the corresponding condition while a
value of zero disables the condition. See Section 4.6—Thresholding Page (moncon.htm) for
more information on thresholding.
NOTICE: When Fieldbus Module Enabled is set to Enabled (on the
Communications Settings page), active configuration selection and thresholding
statement selection is controlled by the PROFINET output data. While enabled,
these values are not controlled by Net Box web pages or CGI interface.
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
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