Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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12.1.1 RDT Request For Records Structure
All RDT requests have the following structure:
{
Uint16 command_header = 0x1234; // Required
Uint16 command; // Command to execute
Uint32 sample_count; // Samples to output (0 =
innite)
}
• Set the command eld of the RDT request to a command from Table 12.1.
• Set sample_count to the number of samples to output. If sample_count is set to zero,
the Ethernet Axia outputs continuously until the user sends a RDT request with
command set to zero.
12.1.2 RDT Records Sent Structure
In response to the request, the sensor sends RDT records with the following structure:
{
Uint32 rdt_sequence; // RDT sequence number of this packet.
Uint32 ft_sequence; // The record’s internal
sequence number
Uint32 status; // System status code
// Force and torque readings use counts values
Int32 Fx; // X-axis force
Int32 Fy; // Y-axis force
Int32 Fz; // Z-axis force
Int32 Tx; // X-axis torque
Int32 Ty; // Y-axis torque
Int32 Tz; // Z-axis torque
}
• rdt_sequence: The position of the RDT record within a single output stream. The RDT
sequence number is useful for determining if any records were lost in
transit. For example, in a request for 1000 records, rdt_sequence will start at
1 and run to 1000. The RDT sequence counter will roll over to zero for the
increment following 4294967295 (2
32
-1).
• ft_sequence: The internal sample number of the F/T record contained in this RDT
record. The F/T sequence number starts at 0 when the Ethernet Axia is
powered up and increments at the internal sample rate (7000
per sec). Unlike the RDT sequence number, ft_sequence does not reset to
zero when an RDT request is received. The F/T sequence counter will roll
over to zero for the increment following 4294967295 (2
32
-1)
• status: Contains the system status code at the time of the record.
• Fx, Fy, Fz,
Tx, Ty, Tz: The F/T data as counts values.
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