6 Axis Force Torque Sensor(200-212)

Get external force detection data of 6 Axis Force Torque Sensor

Register:200(0xC8）

// Request:
00 01 00 02 00 01 C8

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//C8       U8, Register

// Response:
00 01 00 02 00 1A C8 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 1A    U16, Length 
//C8       U8, Register
//00       U8, State
//00, 00, 00, 00, 00, 00, 00, 00,00, 00, 00, 00,00, 00, 00, 00,00, 00, 00, 00,00, 00, 00, 00     FP32, 
External force detection data:
After filtering, load and offset compensation

Enable/Disable 6 Axis Force Torque Sensor

Register:201(0xC9）

// Request:
00 01 00 02 00 02 C9 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//C9       U8, Register
//00       U8, 0-Disable; 1-Enable    

// Response:
00 01 00 02 00 02 C9 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//C9       U8, Register
//00       U8, State

Set the control mode of 6 Axis Force Torque Sensor

Register:202(0xCA）

// Request:
00 01 00 02 00 02 CA 00  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CA       U8, Register
//00       U8, 
control mode
0: non-force mode
1: impedance control mode
2: force control mode

// Response:
00 01 00 02 00 02 CA 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CA       U8, Register
//10       U8, State

Get the control mode of 6 Axis Force Torque Sensor

Register:203(0xCB）

// Request:
00 01 00 02 00 02 CB

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CB       U8, Register

// Response:
00 01 00 02 00 03 CB 00 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 03    U16, Length 
//CB       U8, Register
//00       U8, State
//00       U8, 
control mode
0: non-force mode
1: impedance control mode
2: force control mode

Perform end payload identification

Register:204(0xCC）

// Request:
00 01 00 02 00 02 CC 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CC       U8, Register
//00       U8, 
0: 6 Axis Force Torque Sensor identification
1: current identification

// Response:
00 01 00 02 00 2A CC 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 2A    U16, Length   Type 0: 00,2A  Type 1: 00,12
//CC       U8, Register
//00       U8, State
//00,00,00,00    FP32, 4*n Byte
//00,00,00,00
    ...
//00,00,00,00
Identification result)
Type=0: N=10.
[weight(kg), Cx, Cy, Cz(mm), Fx0, Fy0, Fz0(N), Tx0, Ty0, Tz0(Nm)]
Type=1: N=4.
[weight(kg), offset_Cx, offset_Cy, offset_Cz(mm)]

Set the payload and offset of 6 Axis Force Torque Sensor

Register:205(0xCD）

// Request:
00 01 00 02 00 29 CD 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 29    U16, Length 
//CD       U8, Register
//00 00 00 00	FP32,  weight: kg
//00 00 00 00	FP32,  Cx: mm
//00 00 00 00	FP32,  Cy: mm
//00 00 00 00	FP32,  Cz: mm
//00 00 00 00	FP32,  Fx: mm
//00 00 00 00	FP32,  Fy: mm
//00 00 00 00	FP32,  Fz: mm
//00 00 00 00	FP32,  Tx: mm
//00 00 00 00	FP32,  Ty: mm
//00 00 00 00	FP32,  Tz: mm

// Response:
00 01 00 02 00 02 CD 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CD       U8, Register
//00       U8, State

Set the current state as the zero point of 6 Axis Force Torque Sensor

Register:206(0xCE）

// Request:
00 01 00 02 00 01 CE

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//CE       U8, Register

// Response:
00 01 00 02 00 02 CE 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CE       U8, Register
//00       U8, State

Set all impedance control parameters of 6 Axis Force Torque Sensor

Register:207(0xCF）

// Request:
00 01 00 02 00 50 CF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 50    U16, Length 
//CF       U8, Register
//00	   U8, 
0: Base coordinate
1: Tool coordinate

//00 00 00 00 00 00	 U8, 
1: the corresponding direction will produce impedance

//00 00 00 00 	FP32*6 ,
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
M => [Mx, My,Mz, Mr, Mp, My]
Equivalent mass(xyz): 0.02~1.0(kg)
Moment of inertia(rpy): 0.0001~0.01(kg*m^2)

//00 00 00 00  FP32*6 ,
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Stiffness coefficient.
K => [kx, ky, kz, kr, kp, ky]
xyz: 0~2000(N/m)
rpy: 0~20(Nm/rad)

//00 00 00 00  FP32*6 ,
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Damping coefficient

// Response:
00 01 00 02 00 02 CF 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//CF       U8, Register
//00       U8, State

Set PID parameter of 6 Axis Force Torque Sensor

Register:208(0xD0）

// Request:
00 01 00 02 00 61 D0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 61    U16, Length 
//D0       U8, Register
//00 00 00 00 	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Proportional gain: KP
Kp[i]: 0~0.05

//00 00 00 00  	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Integral gain: KI
KI[i]: 0~0.0005

//00 00 00 00  	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Differential gain: KD
KD[i]: 0~0.05

//00 00 00 00  	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Maximum TCP speed along each axis
VMAX[i]: 0~200(mm/s)

// Response:
00 01 00 02 00 02 D0 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//D0       U8, Register
//00       U8, State

Set force control parameter of 6 Axis Force Torque Sensor

Register:209(0xD1）

// Request:
00 01 00 02 00 38 D1 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 38    U16, Length 
//D1       U8, Register
//00	   U8, 
0: Base coordinate
1: Tool coordinate

//00 00 00 00 00 00	 U8*6, 
1: the corresponding direction can be controlled by force

//00 00 00 00	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
F => [Fx, Fy, Fz, Fr, Fp, Fy]
(F[i]: The arm adjusts its position along the corresponding axis to achieve the specified force torque)
Fx: -150~150 (N)
Fy: -150~150 (N)
Fz: -200~200 (N)
Fr: -4~4(Nm)
Fp: -4~4(Nm)
Fy: -4~4(Nm)

//00 00 00 00	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
(Maximum TCP speed along each axis)
VMAX[i]: 0~200(mm/s)

// Response:
00 01 00 02 00 02 D1 10

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//D1       U8, Register
//00       U8, State

Set MKB parameter under impedance control mode of 6 Axis Force Torque Sensor

Register:210(0xD2）

// Request:
00 01 00 02 00 49 D2 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 49    U16, Length 
//D2       U8, Register
//00 00 00 00	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
M => [Mx, My,Mz, Mr, Mp, My]
Equivalent mass(xyz): 0.02~1.0(kg)
Moment of inertia(rpy): 0.0001~0.01(kg*m^2)

//00 00 00 00	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Stiffness coefficient.
K => [kx, ky, kz, kr, kp, ky]
xyz: 0~2000(N/m)
rpy: 0~20(Nm/rad)

//00 00 00 00 	FP32*6, 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00 
00 00 00 00
Damping coefficient

// Response:
00 01 00 02 00 02 D2 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//D2       U8, Register
//00       U8, State

Set impedance control parameter of 6 Axis Force Torque Sensor

Register:211(0xD3）

// Request:
00 01 00 02 00 08 D3 00 00 00 00 00 00 00

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 08    U16, Length 
//D3       U8, Register
//00       U8, 
0: Base coordinate
1: Tool coordinate
//00 00 00 00 00 00 
1: the corresponding direction will produce impedance

// Response:
00 01 00 02 00 02 D3 00

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 02    U16, Length 
//D3       U8, Register
//00       U8, State

Get all feedback data of 6 Axis Force Torque Sensor

Register:212(0xD4）

// Request:
00 01 00 02 00 01 D4  

Request Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 01    U16, Length 
//D4       U8, Register

// Response:
00 01 00 02 00 1A D4 00 00 00 00 08 03 E8 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 

Response Description

//00 01    U16, Transaction ID
//00 02    U16, Protocol Identifier
//00 1A    U16, Length 
//D4       U8, Register
//00       U8, State
//00 U8, Control mode
//00 U8, Enable state
//00 U8, Type
//08 U8, ID
//03, E8 U16, Frequency
//00,00,00,00	FP32, Weight
//00,00,00,00	FP32, Reserve

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
Centroid

//00,00,00,00	FP32, offset
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00

//00
Coordinate of impedance control mode

//00,00,00,00,00,00	FP32, Impedance control vector

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Equivalent mass and
Moment of inertia

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Stiffness coefficient

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Damping coefficient

//00    U8, Coordinate of force control mode

//00,00,00,00,00,00	FP32, Force Control vector

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Force vector

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Reserve

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
KP: Proportional gain


//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
KI: Integral gain

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
KD: Differential gain

//00,00,00,00	FP32, 
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
Max TCP speed vector