ATI Technologies Axia80-M8 User Manual

Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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12. UDP Interface Using RDT
The Ethernet Axia can output data at up to 7912 Hz over Ethernet using UDP. This method of fast data collection is
called Raw Data Transfer (RDT). RDT provides the following data in a packet: forces, torques, and status codes of
the Ethernet Axia.
NOTICE: Multi-bytevaluesmustbetransferredtothenetworkhighbyterstandwiththecorrect
numberofbytes.Somecompilersalignstructurestolargeeldsizes,suchas32-or64-bitelds,
and send an incorrect number of bytes. C compilers usually provide the functions htons(),htonl(),
ntohs(), and ntohl() that can automatically handle byte ordering issues and provide alignment directives
thatforcestructurestoplaceeldsdirectlynexttoeachotherinmemory.Consultthecompiler’s
documentation for information on structure alignment.
12.1 RDT Protocol
The Ethernet Axia listens on the selected UDP port for commands. The sensor responds to the IP address
and port that sent the command. The default UDP port is 49152.
In the RDT protocol, there are (4) commands that are listed in following table. A command received by the
Ethernet Axia sensor takes precedence over previously-received commands.
Table 12.1—RDT Commands
Command Code Purpose
Command
Response
Stop 0x0000 Stop sending RDT packets over UDP. None.
Start
single-
block
0x0001
Start sending RDT packets over UDP to the requestor,
single blocks only, regardless of the RDT buffer size
setting.UsetheCounteldtosendaspecicnumberof
packets, 0 = unlimited.
RDT
record(s).
0x0002
Start multi-
block
0x0003
Start sending RDT packets over UDP to the requestor,
how many RDT packets are blocked depends on the RDT
buffersizesetting.UsetheCounteldtosendaspecic
number of packets, 0 = unlimited.
RDT
record(s).
Bias 0x0042 Set Software Bias. None.
The sensor generates a record in a format that is specied by the RDT Output Rate“rdtRate”. The sensor
groups one or more of these records into a single UDP packet. The size of the packet depends on the value
of the RDT buffer size or “rdtSize”. If using buffered mode, then the number of RDT records received in a
UDP packet will be equal to the RDT buffer size displayed on the Communications page. See Section 6.7—
CommunicationPage(comm.htm) for a description of RDT Buffer Size. The following sections explain the
command format and reply format.

ATI Technologies Axia80-M8 Specifications

General

Brand	ATI Technologies
Model	Axia80-M8
Category	Accessories
Language	English