Write Tool Transform Command; Write Monitor Condition Command; Write Response - Novanta ATI Axia80 Manual

Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02

10.6 Write Tool Transform Command

With TCP, more advanced users can write their own software to set up a defined point of reference. For
most users, the most efficient method to use the tool transformation functionality is through either the ATI
(Section 6.6—F/T Configurations Page
webpages
Tool Transformation Functionality Through
{
uint8 command;
uint8 transformDistUnits;
uint8 transformAngleUnits; /* Units of rx,ry,rz */
int16 transform[6];
uint8 reserved[5];
}
The 'transform' elements are multiplied by 100 to provide good granularity with integer numbers.
The distance unit codes are:
1: Inch
2: Foot
3: Millimeter
4: Centimeter
5: Meter
The angle unit codes are:
1: Degrees
2: Radians
The response is a standard Write Response

10.7 Write Monitor Condition Command

{
uint8 command;
uint8 index;
uint8 axis;
uint8 outputCode;
int8 comparison;
int16 compareValue;
uint8 reserved[13];
}

10.8 Write Response

{
uint16 header;
uint8
uint8
}
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
/* Must be WRITETRANSFORM (2). */
/* Units of dx,dy,dz */
/* dx, dy, dz, rx, ry, rz */
/* Should be all zeroes. */
.
/* Always 0x1234. */
commandEcho; /* Echoes command. */
status; /* 0 if successful, nonzero if not. */
(config.htm)) or a Telnet console
Telnet).
/* Must be WRITETHRESHOLD. */
/* Index of monitor condition. 0-31. */
/* 0 = fx, 1 = fy, 2 = fz, 3 = tx, 4 = ty, 5 = tz. */
/* Output code of monitor condition. */
/* Comparison code.
for "less than" (<). */
/* Comparison value, divided by 16 bit
Scaling factor. */
/* Should be all zeroes. */
C-77
(Section 8.5—Example of
1 for "greater than" (>), -1
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