Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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10.6 Write Tool Transform Command
{
uint8 command; /* Must be WRITETRANSFORM (2). */
uint8 transformDistUnits; /* Units of dx,dy,dz */
uint8 transformAngleUnits; /* Units of rx,ry,rz */
int16 transform[6]; /* dx, dy, dz, rx, ry, rz */
uint8 reserved[5]; /* Should be all zeroes. */
}
The ‘transform’ elements are multiplied by 100 to provide good granularity with integer numbers.
The distance unit codes are:
1: Inch
2: Foot
3: Millimeter
4: Centimeter
5: Meter
The angle unit codes are:
1: Degrees
2: Radians.
The response is a standard Write Response.
10.7 Write Monitor Condition Command
{
uint8 command; /* Must be WRITETHRESHOLD. */
uint8 index; /* Index of monitor condition. 0-31. */
uint8 axis; /* 0 = fx, 1 = fy, 2 = fz, 3 = tx, 4 = ty, 5 = tz. */
uint8 outputCode; /* Output code of monitor condition. */
int8 comparison; /* Comparison code. 1 for “greater than” (>), -1
for “less than” (<). */
int16 compareValue; /* Comparison value, divided by 16 bit
Scaling factor. */
uint8 reserved[13]; /* Should be all zeroes. */
}
10.8 Write Response
{
uint16 header; /* Always 0x1234. */
uint8 commandEcho; /* Echoes command. */
uint8 status; /* 0 if successful, nonzero if not. */
}
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