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Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
10. TCP Interface
TCP interface allows a more advanced user to write their own software to interact with the sensor. This software
could be written with a programming language such as
Socket Messaging communication. For a command-line demo of C#, refer to the ATI NET F/T software download
webpage: https://www.ati-ia.com/Products/ft/software/net_ft_software.aspx.
By default, the TCP interface listens on TCP port 49151. The sensor's TCP port can also be changed on the
Communications web page (refer to
in length. All responses begin with the two byte header 0x12, 0x34. The sensor is the TCP server, and the PC/robot/
other device is the TCP client. The client must request TCP packets before the server sends them. For an example of
TCP interface commands, also refer to
10.1 Command Codes
READFT
READCALINFO
WRITETRANSFORM
WRITETHRESHOLD
10.2 Read F/T Command
{
uint8
uint8
uint16
uint16
}
Each bit position 0-15 in MCEnable corresponds to the monitor condition at that index. If the bit is a '1',
that monitor condition is enabled. If the bit is a '0', that monitor condition is disabled.
Bit 0 of sysCommands controls the Bias. If bit 0 is a '1', the system is biased. If bit 0 is a '0', no
action is taken.
Bit 1 of sysCommands controls the monitor condition latch. If bit 1 is a '1', the monitor condition latch is
cleared, and monitor condition evaluation begins again. If bit 1 is a '0', no action is taken.
10.3 Read F/T Response
{
uint16 header;
uint16 status;
int16 ForceX;
int16 ForceY;
int16 ForceZ;
int16 TorqueX;
int16 TorqueY;
int16 TorqueZ;
}
The status code is the upper 16 bits of the 32-bit status code.
The force and torque values in the response are equal to (actual ft value * calibration counts per unit
/ 16-bit scaling factor). The counts per unit and scaling factor are read using the read calibration
information command.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
python
Section 6.7—Communication Page
Section 6.10—Interface Example Page
=
0,
/* Read F/T values. */
=
1,
/* Read calibration info. */
=
2,
/* Write tool transformation. */
=
3,
/* Write monitor condition. */
command;
/* Must be READFT (0) . */
reserved[15]; /* Should be all 0s. */
MCEnable;
/* Bitmap of MCs to enable. */
sysCommands;
/* Bitmap of system commands. */
/* always 0x1234. */
/* Upper 16 bits of status code. */
/* 16-bit Force X counts. */
/* 16-bit Force Y counts. */
/* 16-bit Force Z counts. */
/* 16-bit Torque X counts. */
/* 16-bit Torque Y counts. */
/* 16-bit Torque Z counts. */
C-75
or C#. Many robots can also communicate via TCP
™
(comm.htm)). All commands are 20 bytes
(examples.htm).
www.ati-ia.com
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