RFTSeries|6AxisForceTorqueSensor
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3. Operation
3.1. F/T Sensor Output Interfaces
CAN (Control Area Network)
RS-232
RS-422
USB (Virtual COM port)
EtherCAT (with an external board (e.g., RFTEC-02), embedded for RFT80-6A02 and RFT64-6A01 only)
3.2. Communication Packets
Command Packet
To transmit commands to the F/T sensor.
To set parameters of the F/T sensor.
The size of the packet depends on sensor output interfaces, refer to Section 3.5 Packet Structure.
The size of data field is 8 bytes.
Response Packet
To receive responses from the F/T sensor.
To receive the result of data processing of the command packet
The size of the packet depends on data output interfaces, refer to Section 3.5 Packet Structure.
The size of data field is 16 bytes
3.3. Basic Operation
Notices
A user has to send the command “Start F/T Data Output” in order to measure and receive force and torque data
from the sensor. Otherwise, the F/T sensor stays idle even after applying power.
The F/T sensor can save current parameter settings which is valid even after rebooting it.
However, the sensor does not save the following commands: Start F/T Data Output, Stop F/T Data
Output, and Set Bias.
The following commands only are executable during measuring force and torque data: F/T Data Output Stop
and Set Bias.
The rest of commands are available in idle state or after executing the command of “Stop F/T Data
Output Stop”.
How to measure force & torque from the sensor with default setting
Step 1. Send the command “Start F/T Data Output” [Command ID = 11(0x0B)].
Step 2. Receive force and torque data from the sensor.
How to measure force & torque after setting parameters
Step 1. Send a command for parameter setting of the sensor. (Refer to Section 3.6 Packet Definition.)
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