获取六维力矩传感器数据(200-212)

经过滤波、负载和偏置补偿的末端六维力/力矩传感器的外力检测值

寄存器:200(0xC8）

//请求
00 01 00 02 00 01 C8

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 01 U16, 长度
//C8 U8, 寄存器

// 响应:
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

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 1A U16, 长度
//C8 U8, 寄存器
//00 U8, 状态
//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,
外力检测数据：
滤波后，负载和偏移补偿

使能/关闭六维力矩传感器

寄存器:201(0xC9）

//请求
00 01 00 02 00 02 C9 00

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//C9 U8, 寄存器
//00 U8, 0-关闭; 1-使能

// 响应:
00 01 00 02 00 02 C9 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//C9 U8, 寄存器
//00 U8, 状态

设置六维力矩传感器控制模式

寄存器:202(0xCA）

//请求
00 01 00 02 00 02 CA 00

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CA U8, 寄存器
//00 U8,
控制模式
0: 关闭
1: 导纳控制
2: 力控模式

// 响应:
00 01 00 02 00 02 CA 10

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CA U8, 寄存器
//10 U8, 状态

获取六维力矩传感器控制模式

寄存器:203(0xCB）

//请求
00 01 00 02 00 02 CB

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CB U8, 寄存器

// 响应:
00 01 00 02 00 03 CB 00 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 03 U16, 长度
//CB U8, 寄存器
//00 U8, 状态
//00 U8,\ 控制模式
0: 关闭
1: 导纳模式
2: 力控模式

执行末端负载辨识

寄存器:204(0xCC）

//请求
00 01 00 02 00 02 CC 00

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CC U8, 寄存器
//00 U8,
0: 力矩传感器辨识；
1: 电流辨识；

// 响应:
00 01 00 02 00 2A CC 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 2A U16, 长度 辨识类型0: 00,2A 辨识类型1: 00,12
//CC U8, 寄存器
//00 U8, 状态
//00,00,00,00 FP32, 4*n Byte
//00,00,00,00
...
//00,00,00,00
辨识结果
当辨识类型为 0 时，N=10。
[负载质量 M(Kg), 质心偏移
Cx,Cy,Cz(mm), 6 维力矩传感器读数 偏移量 Fx0,Fy0,Fz0(N), Tx0,Ty0,Tz0(Nm)] 当辨识类型为 1 时，N=4。
[负载质量M(Kg), 质心偏移 Cx,Cy,Cz(mm)]

设置六维力矩传感器的负载和偏移参数

寄存器:205(0xCD）

// 请求:
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

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 29 U16, 长度
//CD U8, 寄存器
//00 00 00 00 FP32, 质量: kg
//00 00 00 00 FP32, 质心x: mm
//00 00 00 00 FP32, 质心y: mm
//00 00 00 00 FP32, 质心z: mm
//00 00 00 00 FP32, 偏移Fx: mm
//00 00 00 00 FP32, 偏移Fy: mm
//00 00 00 00 FP32, 偏移Fz: mm
//00 00 00 00 FP32, 偏移Tx: mm
//00 00 00 00 FP32, 偏移Ty: mm
//00 00 00 00 FP32, 偏移Tz: mm

// 响应:
00 01 00 02 00 02 CD 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CD U8, 寄存器
//00 U8, 状态

设置当前状态为六维力矩传感器零点

寄存器:206(0xCE）

//请求
00 01 00 02 00 01 CE

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 01 U16, 长度
//CE U8, 寄存器

// 响应:
00 01 00 02 00 02 CE 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CE U8, 寄存器
//00 U8, 状态

设置六维力矩传感器的导纳参数（控制参数+MKB）

寄存器:207(0xCF）

// 请求:
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

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 50 U16, 长度
//CF U8, 寄存器
//00 U8,
0: 基坐标系
1: 工具坐标系\

//00 00 00 00 00 00 U8,
阻抗控制向量：
对应方向的值为 1 表示该方向将产生阻抗

//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]
等效质量（xyz 方向）：0.02 ~ 1.0(kg)
转动惯量（rpy 方向）：0.0001 ~0.01 (kgm^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
刚度系数.
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
阻尼系数

// 响应:
00 01 00 02 00 02 CF 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//CF U8, 寄存器
//00 U8, 状态

设置六维力矩传感器的 PID 参数

寄存器:208(0xD0）

// 请求:
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

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 61 U16, 长度
//D0 U8, 寄存器
//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
比例增益向量 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
积分增益向量 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
微分增益向量 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
最大 TCP 速度矢量 VMAX
VMAX[i]: 0~200(mm/s)

// 响应:
00 01 00 02 00 02 D0 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//D0 U8, 寄存器
//00 U8, 状态

设置六维力矩传感器的力控制参数

寄存器:209(0xD1）

// 请求:
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

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 38 U16, 长度
//D1 U8, 寄存器
//00 U8,
0: 基坐标系
1: 工具坐标系
//00 00 00 00 00 00 U86,
力控向量：对应方向的值为 1 表示该方向可以力
控
//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
F => [Fx, Fy, Fz, Fr, Fp, Fy]
(F[i]：机械臂沿/围绕对应轴调整其位 置，以达到指定的力/扭矩)
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
最大TCP速度矢量 VMAX
VMAX[i]: 0~200(mm/s)\

// 响应:
00 01 00 02 00 02 D1 10

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//D1 U8, 寄存器
//00 U8, 状态

单独设置六维力矩传感器导纳控制的 MKB 参数

寄存器:210(0xD2）

// 请求:
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

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 49 U16, 长度
//D2 U8, 寄存器
//00 00 00 00 FP326, 等效质量和转动惯量 M 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] 等效质量(xyz): 0.02~1.0(kg) 等效质量(rpy): 0.0001~0.01(kgm^2)

//00 00 00 00 FP326, 刚度向量K 00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
K => [kx, ky, kz, kr, kp, ky]
刚度（xyz方向）: 0~2000(N/m)
刚度（rpy方向）: 0~20(Nm/rad)
//00 00 00 00 FP326, 阻尼系数向量B
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00

// 响应:
00 01 00 02 00 02 D2 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//D2 U8, 寄存器
//00 U8, 状态

单独设置六维力矩传感器导纳控制参数

寄存器:211(0xD3）

// 请求:
00 01 00 02 00 08 D3 00 00 00 00 00 00 00

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 08 U16, 长度
//D3 U8, 寄存器
//00 U8,
0: 基坐标系 1: 工具坐标系

//00 00 00 00 00 00\ 阻抗控制向量：
对应方向的值为 1 表示该方向将产生抗阻

// 响应:
00 01 00 02 00 02 D3 00

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 02 U16, 长度
//D3 U8, 寄存器
//00 U8, 状态

获取六维力矩传感器的全部反馈参数

寄存器:212(0xD4）

// 请求:
00 01 00 02 00 01 D4

请求指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 01 U16, 长度
//D4 U8, 寄存器

// 响应:
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

响应指令说明
//00 01 U16, 事务标识
//00 02 U16, 协议
//00 1A U16, 长度
//D4 U8, 寄存器
//00 U8, 状态
//00 U8, 力矩控制模式
//00 U8, 力矩使能状态
//00 U8, 力矩传感器类型
//08 U8, 力矩传感器ID
//03, E8 U16, 力矩传感器频率
//00,00,00,00 FP32, 质量
//00,00,00,00 FP32, 保留
//00,00,00,00 FP32*3,质心
00,00,00,00
00,00,00,00

//00,00,00,00 FP32*6, 偏移 00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00

//00 U8, 导纳控制坐标系
//00,00,00,00,00,00 U86, 阻抗控制向量
//00,00,00,00 FP326, 等效质量和转动惯量 M
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*6, 刚度K 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*6,阻尼B 00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00

//00 U8, 力控坐标系
//00,00,00,00,00,00 U86, 力控向量
//00,00,00,00 FP326, 力向量 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*6,保留 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*6, 比例增益KP 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*6, 积分增益KI 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*6, 微分增益KD 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*6,最大 TCP 速度向量 00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00
00,00,00,00