Mini40 force/torque sensor - Revision history

Ttan: Fixed software bias - now based on 8 x 8 measurements

2013-02-13T11:16:14Z

Fixed software bias - now based on 8 x 8 measurements

← Older revision		Revision as of 13:16, 13 February 2013
Line 28:		Line 28:
	! G0 !! G1 !! G2 !! G3 !! G4 !! G5		! G0 !! G1 !! G2 !! G3 !! G4 !! G5
	\|-		\|-
	\| -~~1129~~ \|\| ~~1543~~ \|\| ~~298~~ \|\| ~~396~~ \|\| ~~117~~ \|\| -~~2292~~		\| -1412 \|\| 1929 \|\| 373 \|\| 496 \|\| 146 \|\| -287
	\|}		\|}

	Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.		Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
	The values can be changed via the CGI scripts using the HTTP protocol		The values can be changed via the CGI scripts using the HTTP protocol
	[http://rt20/setting.cgi?setbias0=-~~1129~~&setbias1=~~1543~~&setbias2=~~298~~&setbias3=~~396~~&setbias4=~~117~~&setbias5=-~~2292~~ http://rt20/setting.cgi?setbias0=-~~1129~~&setbias1=~~1543~~&setbias2=~~298~~&setbias3=~~396~~&setbias4=~~117~~&setbias5=-~~2292~~]		[http://rt20/setting.cgi?setbias0=-1412&setbias1=1929&setbias2=373&setbias3=496&setbias4=146&setbias5=-287 http://rt20/setting.cgi?setbias0=-1412&setbias1=1929&setbias2=373&setbias3=496&setbias4=146&setbias5=-287]

	==Product support==		==Product support==
	So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.		So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Ttan: /* Software Bias */ Changed bias values

2013-02-13T10:10:12Z

Software Bias: Changed bias values

← Older revision		Revision as of 12:10, 13 February 2013
Line 28:		Line 28:
	! G0 !! G1 !! G2 !! G3 !! G4 !! G5		! G0 !! G1 !! G2 !! G3 !! G4 !! G5
	\|-		\|-
	\| ~~290~~ \|\| ~~663~~ \|\| ~~373~~ \|\| ~~324~~ \|\| 22 \|\| -~~982~~		\| -1129 \|\| 1543 \|\| 298 \|\| 396 \|\| 117 \|\| -2292
	\|}		\|}

	Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.		Note that the values are reset to 0 when the power has been turned off, so these values should always be sent to the unit to ensure proper operation.
	The values can be changed via the CGI scripts using the HTTP protocol		The values can be changed via the CGI scripts using the HTTP protocol
	[http://rt20/setting.cgi?setbias0=~~290~~&setbias1=~~663~~&setbias2=~~373~~&setbias3=~~324~~&setbias4=22&setbias5=-~~982~~ http://rt20/setting.cgi?setbias0=~~290~~&setbias1=~~663~~&setbias2=~~373~~&setbias3=~~324~~&setbias4=22&setbias5=-~~982~~]		[http://rt20/setting.cgi?setbias0=-1129&setbias1=1543&setbias2=298&setbias3=396&setbias4=117&setbias5=-2292 http://rt20/setting.cgi?setbias0=-1129&setbias1=1543&setbias2=298&setbias3=396&setbias4=117&setbias5=-2292]

	==Product support==		==Product support==
	So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.		So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Ttan: /* Raw Data Transfer (RDT) */ Typos

2013-02-11T16:36:20Z

Raw Data Transfer (RDT): Typos

← Older revision		Revision as of 18:36, 11 February 2013
Line 15:		Line 15:
	The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.		The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

	To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an ~~undocumented~~ limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''		To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an un-documented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

	If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the ~~undocumented~~ command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it ~~alsways~~ transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.		If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the un-documented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it always transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

	==Software Bias==		==Software Bias==

Ttan: Added software bias information

2013-02-11T16:35:35Z

Added software bias information

@@ Line 18: / Line 18: @@
 If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the undocumented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it alsways transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.
 ==Product support==
 So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.

Ttan: Created the page

2012-12-17T14:37:54Z

Created the page

New page

This page summerizes information related to the [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 Mini40 force/torque sensor] mounted on the UR5 robot arm

__TOC__

==General Information==
THE F/T sensor measures force and torque in three dimensions. The sensor reading is accessed through the Net F/T box. The hostname is <tt>rt20</tt>

The sensor configuration and information utility can be accessed using a [http://rt20/ internet browser] on a computer on the same network.
From the information page, a Java demo application can be downloaded. To run the application, download the file, go to the containing directory in a terminal and write <tt>java -jar ATINetFT.jar</tt>.

====User Manual====
The [http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf manual for the Net F/T box] can be found on the manufactures homepage.

==Raw Data Transfer (RDT)==
The Net F/T box is configured for sending data using the Raw Data Transer (RDT) interface using a UDP connection.

To start streaming, send the following bytes "1234000200000000" to port 49152. For more information, consult the manual.'''Note that there is an undocumented limitation in the Net F/T firmware where it cannot stream data to a network address that is not on the same subnet. Make sure your computer is on the same subnet as the Net F/T.'''

If you are using a computer that are not on the same subnet, it is still possible to request single samples, by using the undocumented command "12340001XXXXXXXX", where XXXXXXXX instructs how many samples to send. The data rate using this method has been measured to ~333 Hz, but it is unknown whether it alsways transmit the newest data, or the instruction makes it transmit the next XXXXXXXX measurement, which might causes the streamed data to be out of sync at the time of reception.

==Product support==
So far [mailto:gparnell@ati-ia.com Greg Parnell] have been willing to supply very helpful support. Expect a couple of days response time, as he is on EST time zone.