Rdt Request For Records Structure; Rdt Records Sent Structure - Novanta ATI Axia80 Manual

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

12.1.1 RDT Request For Records Structure

All RDT requests have the following structure:
{
}
• Set the command field of the RDT request to a command from
• Set sample_count to the number of samples to output. If sample_count is set to zero, the
Ethernet Axia outputs continuously until a user sends a RDT request with command set to zero.

12.1.2 RDT Records Sent Structure

In response to the request, the sensor sends RDT records with the following structure:
{
}
• rdt_sequence:
• ft_sequence:
• status:
• Fx, Fy, Fz,
Tx, Ty, Tz:
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
Uint16 command_header = 0x1234;
Uint16 command;
Uint32 sample_count;
Uint32 rdt_sequence;
Uint32 ft_sequence;
Uint32 status;
// Force and torque readings use counts values
Int32 Fx; // X-axis force
Int32 Fy; // Y-axis force
Int32 Fz; // Z-axis force
Int32 Tx; // X-axis torque
Int32 Ty; // Y-axis torque
Int32 Tz; // Z-axis torque
The position of the RDT record within a single output stream. The RDT
sequence number is useful for determining if any records were lost in
transit. For example, in a request for 1000 records, rdt_sequence will start at
1 and run to 1000. The RDT sequence counter will roll over to zero for the
increment following 4294967295 (2
The internal sample number of the F/T record contained in this RDT
record. The F/T sequence number starts at 0 when the Ethernet Axia is
powered up and increments at the internal sample rate (7000
per sec). Unlike the RDT sequence number, ft_sequence does not reset to
zero when an RDT request is received. The F/T sequence counter will roll
over to zero for the increment following 4294967295 (2
Contains the system status code at the time of the record.
The F/T data as counts values.
// Required
// Command to execute
// Samples to output (0 =
// RDT sequence number of this packet.
// The record's internal
sequence number
// System status code
-1).
32
C-82
infinite)
Table 12.1.
-1)
32
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