Calculating F/T Values For Rdt; Multiple Clients; Notes On Udp And Rdt Mode; Example Code - Novanta ATI Axia80 Manual

Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
12.2 Calculating F/T Values for RDT
To obtain the real force and torque values, divide each force output value by the Counts per Force, and
divide each torque output value by the Counts per Torque factor. The Counts per Force and Counts per
Torque factors can be read from netftapi2.xml page. See cfgcpf and cfgcpt in
Configuration Information
TCP interface

12.3 Multiple Clients

The RDT protocol is designed to respond to one client only. If a second client sends a command, the
Ethernet Axia responds to the new client. Multiple clients could repeatedly request single packets,
minimizing problems. (The Java
12.4 Notes on UDP and RDT Mode
RDT communications use UDP, with its minimal overhead, to maximize throughput. UDP does not check if
a package was received.
In some Ethernet network configurations, this can lead to the loss of RDT data sets. By checking the RDT
sequence number of each set, it can be determined if a data set was lost. The RDT sequence number of
each data set sent will be one greater than the last data set sent for that RDT request. If a received data set's
RDT sequence number is not one greater than the last received data set, then a loss of data has occurred (the
program must also account for rollover of the RDT sequence number).
The likelihood of data loss highly depends on the Ethernet network configuration and there are ways to
reduce the probability of data loss to almost zero; for more information, refer to
Ethernet Throughput.
The maximum data latency, measured from the beginning of data acquisition to when the last data bit is sent
to the Ethernet network, is less than 28 ms.
The Ethernet Axia only supports one UDP connection at a time.

12.5 Example Code

Example C code can be found on the ATI website at
software.aspx
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
(netftapi2.xml). The CpF and CpT can also be read from the sensor through the
(Section 10—TCP Interface).
® demo operates in this manner.)
and on the file that was sent via e-mail to the customer, when the product was shipped.
http://www.ati-ia.com/Products/ft/software/net_ft_
C-83
Section 11.1—System and
Section 13.7—Improving
www.ati-ia.com