Udp Interface Using Rdt; Rdt Protocol - Novanta ATI Axia80 Manual

Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
12. UDP Interface Using RDT
The Ethernet Axia can output data at up to 7912 Hz over Ethernet using UDP. This method of fast data collection
is called Raw Data Transfer (RDT). RDT provides the following data in a packet: forces, torques, and status codes
of the Ethernet Axia. Example of RDT (UDP) commands are in the following sections but can also be found on the
Interface Example page
NOTICE: Multi-byte values must be transferred to the network high byte first and with the correct
number of bytes. Some compilers align structures to large field sizes, such as 32- or 64-bit fields,
and send an incorrect number of bytes. C compilers usually provide the functions htons(), htonl(),
ntohs(), and ntohl() that can automatically handle byte ordering issues and provide alignment directives
that force structures to place fields directly next to each other in memory. Consult the compiler's
documentation for information on structure alignment.

12.1 RDT Protocol

The Ethernet Axia listens on the selected UDP port for commands. The sensor responds to the IP address and
port that sent the command. The default UDP port is 49152. A user can also change the UDP port through
the sensor's Communication page
In the RDT protocol, there are (4) commands that are listed in following table. A command received by the
Ethernet Axia sensor takes precedence over previously-received commands.
Command
Stop
Start
single-
block
Start multi-
block
Bias
The sensor generates a record in a format that is specified by the RDT Output Rate"rdtRate". The sensor
groups one or more of these records into a single UDP packet. The size of the packet depends on the value
of the RDT buffer size or "rdtSize". If using buffered mode, then the number of RDT records received in a
UDP packet will be equal to the RDT buffer size displayed on the Communications page. For a description
of RDT Buffer Size, refer to
are explained in the following sections.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
(Section 6.10—Interface Example Page
(Section 6.7—Communication Page
Table 12.1—RDT Commands
Code Purpose
0x0000 Stop sending RDT packets over UDP.
0x0001
Start sending RDT packets over UDP to the requestor,
single blocks only, regardless of the RDT buffer size
setting. Use the Count field to send a specific number of
0x0002
packets, 0 = unlimited.
Start sending RDT packets over UDP to the requestor,
how many RDT packets are blocked depends on the RDT
0x0003
buffer size setting. Use the Count field to send a specific
number of packets, 0 = unlimited.
0x0042 Set Software Bias.
Section 6.7—Communication Page
(examples.htm)).
(comm.htm)).
(comm.htm). Command and reply formats
C-81
Command
Response
None.
RDT
record(s).
RDT
record(s).
None.
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