Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 • www.ati-ia.com
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10.4 Read Calibration Info Command
{
uint8 command; /* Must be READCALINFO (1). */
uint8 reserved[19]; /* Should be all 0s. */
}
10.5 Read Calibration Info Response
{
uint16 header; /* always 0x1234. */
uint8 forceUnits; /* Force Units. */
uint8 torqueUnits; /* Torque Units. */
uint32 countsPerForce; /* Calibration Counts per force unit. */
uint32 countsPerTorque; /* Calibration Counts per torque unit. */
uint16 scaleFactors[6]; /* Further scaling for 16-bit counts. */
}
The status code is the upper 16 bits of the 32-bit status code described in the Net F/T user manual.
The force and torque values in the response are equal to (actual ft value * calibration counts per unit
/ 16-bit scaling factor). The counts per unit and scaling factor are read using the read calibration
information command.
The force unit codes are:
1: Pound
2: Newton
3: Kilopound
4: Kilonewton
5: Kilogram
6: Gram
The torque unit codes are:
1: Pound-inch
2: Pound-foot
3: Newton-meter
4: Newton-millimeter
5: Kilogram-centimeter
6: Kilonewton-meter
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