HBM QuantumX - Page 162

Real-time functions and outputs
162 A03031_24_E00_01 HBM: public QuantumX
Matrix computation function
The MX878B The MX878B makes it possible to perform 4 parallel matrix com
putations each with a maximum of 6 input and output quantities and 36 con
stants.
Generic formula:
Fx = a1*Ufx + a2*Ufy + a3*Ufz + a4*Umx + a5*Umy + a6*Umz
etc. for Fy, Fz, Mx, My, Mz
The ”Matrix computation” function can be used for mathematical compensation
of interdependencies (crosstalk) of multi-component transducers for force and
torque measurement.
The maximum data rate of the input and output quantities is 1200 Hz (< 1 ms
of computation time). The computed output signals can be scaled and output
as filtered analog voltages by the same module. The computed signals can
also be distributed (isochronously) to the IEEE1394b FireWire bus in real time
and output via CAN bus or EthrCAT® (MX471B: CAN bus. MX878B: Ether
CAT® bus).
Scaling of the input and output quantities must always be noted.
An EXCEL compensation matrix can be copied directly to the matrix paramet
erization (Ctrl + C, Ctrl + V).
Function for Root Mean Square (RMS) calculation
RMS is computed from one of the module’s 4 analog input channels according
to the formula:
RMS +
1
T
*
ŕ
T
0
f(x)
2
dx
Ǹ
Where f(x) denotes the input channel signal and T the time window (in ms).
Keep in mind the following notes when working with RMS channels:
S The maximum sampling rate is 4800 (2400) Hz
S The output (sampling) rate of the RMS channel must not be higher than the
sampling rate of the input channel.