Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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A user can issue tool transformation commands through these interfaces: a console interface through
Telnet/CGI or the ATI website. To understand how to enter Tool Transformation commands through the
Congurations page on the ATI website, refer to Section6.6—F/TCongurationsPage(cong.htm). For
examples on how to enter tool transformation commands through Telnet or CGI, refer to the examples in the
following sections.
4.7.1 Avoid Overloading the Sensor During Tool Transformation
It is possible for the user to set a reference point of origin that does not detect that a torque is
applied to the customer tooling, and by extension, the sensor. Torque is the force multiplied by the
distance of that force from a reference point of origin. If the customer reference point of origin is
at the same point at which a force is applied, the distance from that force to the customer reference
point of origin is zero. Any force that is multiplied by a distance of zero yields zero torque. The
software tool transformation reports that no torque is applied to the sensor. However, the sensor’s
point of origin has not changed, and the force is still applied at a distance from the sensor’s point of
origin. Therefore, if the customer is evaluating overloading conditions, the customer should use the
sensor’s point of origin as the reference point.
4.7.2 Example of Tool Transformation Functionality Through Telnet
To set a user reference point of origin by using the console commands through Telnet, Section 8.4—
Console “CAL” | “SET” Command Fields and Values, refer to the following example:
A user wants to set a reference point of origin from the example in Figure 4.6 through Figure 4.8:
D
x
= -97.3 mm D
y
= 46.1 mm D
z
= 201.82 mm
R
x
= +90° rotation R
y
= +180° rotation R
z
= 0° rotation
• Set the units to mm for distances and degrees for rotation:
user: set ttdu 2
response: set ttdu 2
ttdu was 1 now 2
user: set ttau 0
response: set ttau 0
ttau was 1 now 0
• Write the distances and rotations:
user: set ttdx -97.3
response: set ttdx -97.3
ttdx was “0” now “-97.3”
user: set ttdy 46.1
response: set ttdy 46.1
ttdx was “0” now “46.1”
user: set ttdz 201.82
response: set ttdz 201.82
ttdz was “0” now “201.82”
user: set ttrx 90
response: set ttrx 90
ttrx was “0” now “90”
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