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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 FP326 , 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 FP326, 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*6, 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*6, 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*6, 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*6, 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*6, 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*6, 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*6, 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*6, 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*6, 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*6, 00,00,00,00 00,00,00,00 00,00,00,00 00,00,00,00 00,00,00,00 Max TCP speed vector