取扱説明書
Contents
1. vi 0 tl U V2vit 10000 struct 60 bits signed signed signed signed signed signed signed signed EROS VER bu pu Eb e En e PS VES signed WARNING BITS EX Py 1 fz 1 mx 1 my 1 mz sss ne Se Ne Ne s changeVl 1 changeV2 1 we reserved 8 warning bits 01 0 185 O 5 DU DU HO D B D D NEAR SAT xx near sat bits 0 0 000000000090 struct signed signed signed signed signed signed Ca uu eer E PE DD gt r o signed warning bits 0 00000000000000000000000000000 fx near sat 1 fy near sat 1 fz near sat 1 mx near sat 1 my near sat 1 ne Se Ne Ne Ne s mz_near_sat 1 reserved 10 SENSOR CHANGE MEMORY_ERROR ERROR BITS XX SAT pa b c H m 5 20 ag Ll gt o x xs Dedo 2 S c 5 rJ EE 20002. 0x00 chOdata chitime chidata 0x08 ch2time ch2data ch3time ch3data 0x38 chEtime chEdata chFtime chFdata 0x40 p y r g h 0x48 J R g NE mE q 0x50 c a 1 9 9 3 null 0x58 0x60 shunt fx shunt fy shunt fz shunt mx shunt my shunt mz 0x68 def fs fx def fs fy def fs fz def fs mx def fs my def fs mz load env 0x70 min fs fx min fs fy min fs fz min fs mx min fs my min fs mz xForm 0x78 max fs fx max fs fy max fs fz max fs mx maxfs my 15 mz peak addr 0x80 fs fx fs fy fs fz fs mx fs my fs mz fs v1 fs v2 0x88 ofs fx ofs fy ofs fz ofs mx ofs my ofs mz ofs vect axes 90 0 f0 fx 10 fy f0 fz 10 mx 10 my 10 mz f0 v1 10 v2 0 98 f1 fx f1 fy f1 fz f1 mx f1 my f1mz 1 vi f1v2 0xa0 f2 fx f2 fy 12 12 f2 mx f2 my 12 mz 12 v1 12 v2 0 8 f3 fx f3 fy 13 fz 13 13 my f3mz f3 v1 13 2 Oxb0 f4 fx 14 fy 4 fz f4 mx f4 my f4 mz f4 v1 14 v2 Oxb8 f5 fx f5 fy 15 2 15 15 my 15 15 1 f5 v2 0 0 f6 fx f6 fy 16 2 16 16 16 mz 16 1 16 v2 0 8 rate fx rate fy rate fz rate mx rate my rate mz rate v1 rate v2 0 40 min min fy min fz min mx min my min mz min v1 min v2 0xd8 max fx max fy max fz max mx max my max mz max 1 max v2 rate addr rate div rate count comm 1 comm 0 count
3. oo o 000 n a a J E l E EE E 292 gt 2 s 9070m o o 5 EirE E E M cdd pua 4 o 5 ci y A Bto o 5 anne so pnm 5 EE EET pe 9 gt gt L3 r3 rr d E ut L3 Si o 0000p s OH ce maa BORG HE m m WA om0 2 Es MERE Cf o Noam Es EFE me SE 405000040 ao 00000 4 Dos o EE E e DOoD0OoS 5 a 8 g ion p A 6 3 2 3 lt a mee gt lt DO ngHHuUm Est cr CONUM 02 a S Doanos 5 E i an c E ES 11 4 p3 o Ser S ESPERE EJ EPEPREdE gt ELE maa a gono sa El X en Gt q BG
4. og cC c3 l oag c A cC L3 L3 L3 o0 L3 L3 o0 oa E L3 L3 L3 0 E E L1 37 0000000000 OOO 00 peak_address 0x7f Command Word O Command Word 0 minimums 0 0 maximums 0 8 o o 3 L3 0 o a A L1 L1 L3 cr rr r3 L3 rr cr EE ado ado EE ado ado ado EI E35 yi L3 r3 E Ern L3 L3 o Ll LIO Lr ong L3 C3 L3 L3 r3 L3 L3 L3 L3 g L3 L3 L3 L3 L3 rr L3 L3 L3 L3 oaa E LLL ER ETE 38 0000000000000000000000000000000000000000 00000000000000000000000 readData addr 000 addr 0000000000000 165 0000000000000 writeData addr data 000 addr 0000000000000 daa 0000000000 write
5. UUUUUDUUUUUUDUUUDUUUUUUUUUUDUUUDU 00000 write 0000000000000 write readData 0 5 100 00 0000000000000 0x80 00 0 gt 0000000 Ox 0000000000000 write Fx write readData 0 0 16384 readData 0x80 00 0000000000 0 00000000000000000000000000000000 340 00000 Oxe7 command 0x0800 D D 0 00000000000000000000 writeData 0x00e7 0x0800 L3 L3 L3 oo A EPE EE oo EIE oon o 1 oo L3 L3 ES 0x008a 20 0x00a2 readData 0x008a readData writeData rr DI CIC DI o ad oA DI oA ES E T E 1 00000000 writeData 20 readData 0x008a 0x00a2 0x008a readData 00000000000 000000000000000000 writeData 0x0700 0x00e7 0 0 0 0 0 097 000000000000000000 0 command_word0 00 0000000 0x00e7 0x097b writeData 0000000000000 ET ET E TE TE OE TLl ETE E EO C3 LlLl o 2 8 40 000
6. 1 No of GE 000000 2 No of LE 3 data addr DDDDDDDDDD 4 threshold 5 ii 6 data addr 020000000000 7 threshold 000000000 8 bit pattern 0 0 0 GE 3 data addr GE 3 1 threshold 00000000 GE 3 2 bit pattern GE 343 data addr 0000000000 3 4 threshold 00000000 GE 3 5 bit pattern 0 0 GE LE 3 data addr 0000000000 GE LE 3 1 threshold 0000000 GE LE 3 2 bit pattern 000000000000000 LINK TYPES end transform packet transform 000 translate rotate 0000000 Unegate all axes UUUUUUOUOUUUUUUOUUOUUOODUUO end tramsform packet translate along X axis TX translate along Y axis TY TZ X Y translate along Z axis rotate about X axis R rotate about Y axis R rotate about Z axis RZ negate all axes nN 0049 o enum link_types end_x_form tx ty tz re ry rz neg amount radians 32768 T or amount degrees 32768 180 TRANSFORM L3 o g L3 L3 ELE L1 L3 g
7. oo L3 r3 OGRO OOOOH p Eb E pei EE pe LEE 6 om EE BEBA peso Hum 2 23 wm wm nr Doo 0O g coga oa 222523522020 Ei mmm im um fu 14 Ooo Soo L3 OOO 2 m m m POD a L gaga ooo BSS Da sz C3 02 p r 2252525295 E3 EJ EJ p4 EH C3 EJ EJ o m0 g O oo L3 E3 m coocoo oooo ooon o uma o o o soon lr OFS Fogg Dodo 0 m EE ES 2 o 122 OGG a 5 o
8. SYSTEM_BUSY 0 00000000000000000000000000 CAL_CRC_BAD Cyclic Redundancy Code crc_bad bit a C3 EJ C3 C3 EJ C3 T ELE E EE E ES C3 C3 EJ C3 o cc IJ EISES IO C3 C3 C3 EJ C3 C3 EJ C3 C3 C3 EJ C3 EJ C3 EJ C3 L3 C3 EJ C3 L3 C3 EJ C3 EI EH EI ES EJ EE E ES E E L3 C3 C3 EJ C3 L3 C3 C3 EJ C3 C3 L3 C3 C3 EJ C3 C3 L3 C3 C3 EJ C3 L3 F3 E3 EJ L3 EJ L3 EJ L3 r3 r3 rm m m pm m L3 4 C3 EJ C3 EJ L3 C3 C3 EJ C3 L3 C3 C3 EJ C3 L3 4 C3 EJ C3 C3 EJ C3 C3 C3 C3 EJ C3 g 19 E J E 4 EE ELE TETER ies EI ITE EEO
9. rr EN PT 122 Anos 3 20 ogo nono 2o04 L3 E3 E3 E3 EJ EJ Lr o0 g aaaadoo aog maen O 3 BOGOO GA AGH D CJ og og E Em E3 r3 EXE LIE ELE rim Em E3 r3 SE Do p El o0 E sa EE Em Do qud DO Gg Eva OOo mm g2 HB mg EE DO m Dodo HB mg m um a Doda Doo mm mg g 2 Doda mm mg pz E mum mg DO E E
10. waa 1 ET men gt ma a IUE OOOO OG OAD a I E E3 EJ E3 E3 C3 27 iV 00000000 ooon rg 22 5252 500 222 200 05 Do ooo S5252 200 sado TEI EE ADO TE 2000 ooon S5252 ooo S3252 BES So oo 2gp oo 2gp S 2 ooo S3255 2000 e GE gt 2o00 EE Do jm oo Ede an ES n e Es s en ERROS oo agp DO Eq ES E ARGS 2 gt Do 2p E EL m L3 EX EE Gu EE c3 EGO 2255 anog
11. em on on on on on count 1 count 2 count 3 count 4 counts count6 unsigned int unsigned int unsigned int unsigned int unsigned int unsigned int ERROR_COUNT 0000000 0 00000000000000 0 00000000000000 0 0000000000000000 FUD BC EL aa 0 0 offset 0x00ee error_count unsigned int 11 0000000000000000000000000000000000000000 0000000000000000000000000000000000000000 0000000000000000000000000 unsigned int count x offset 0x00ef WARNINGS ERRORS 0 warning bits error bits 1 010000 00000000 000000000000100 UU 49 warning bits warnings offset 0x00f0 error bits errors offset 0 00 1 THRESHOLD BITS 20 ED DUH load envelopes p 14 0 O thresh struct p 21 000000 int threshold bits offset 0x00f2 LAST_CRC Cydlic Redundancy Code 000 0000 U 00000 bad 0 0 19 Oa int last_crc offset 0x00f3 VER SOFTWARE VER NO eeprom ver O0 O 25500000 software ver no 3 020 3020 0000000000 000000000000000 EEPROM int eeprom_ver_no offse
12. Er EE TES E E71 L3 L3 L3 L3 C3 E3 E T EST 11422 0 0 0 0 0 0 0 0 0 0 24 E3 C3 EJ C3 EJ CJ TE JE WATCH_DOG WATCH_DOG2 watch dog watch 4082 bits 0 00001 0 000 watch dog 0 0 watch deg2 0000 00 watch 4062 DO 00 02 0 00000010 00 00000100 0010101010100010 001101 watchdog struct error bits unsigned fx_sat 1 unsigned fy sat ilj unsigned 17 sat sl unsigned mx_sat 1 unsigned my_sat 1 unsigned mz_sat 1 unsigned reserved 4 unsigned memory_error 1 unsigned sensor_charge 1 unsigned system_busy 1 unsigned cal_crc_bad 1 unsigned watch dog2 1 unsigned watch_dog 1 FORCE UNITS m0 EE H HDH force units UDDUDD 0 lbs_in lbs_mils pound inch pound inch 1000 1 Nm 10 mm 10 Newton Newton meter 10 10 2 kgf 10 kgfcm mm 10 kilogram force 10 kilogram Force cm 10 3 klbs kin lbs mils
13. UUUIUUDUUUUUDDUDDDUDU 0000000000 000 Command Word O 0x09 000 000000 0000 Command Word O 0 vect axes Ox8f Command Word O full scale 0 86 00 0000 0000 000 vip v2 0000000000000 0000000 000000000 15000 1 17 2 2 2201 00000000 1000 v2 0000000000000 400 00000000000 000 2 0100000000000 9 800 0000000 VI V2 Fy Fz V1 0 Mx Myl V2 Mx Mz 0000000000000 00000000000 0 0 00 G0x80 Command Word 0 full scale Command Word 0 0 error_bits 000000 0000000000000 0000 OOOO LL E3 o L3 L3 o L3 L3 o L3 L3 minimum full 6 000000000 system busy 000 Command 36 00000000000 OOO 00 peak_address 0x7f Command Word O 0000 Command Word 0 minimums 0 0 maximums 0 8 o o 3 L3 0 o a A EI ao a L3 A oa 11 oa ESI E A L3 A
14. LM 3 E3 L3 C3 OD OE TT em TEM ETE TTE EERE 0 0 0 0 0 0 0 0 load envelo UDDDUD 2 0000000000 0x10 le_struct le_struct structure TRANSFORMS L1 transform structure EX EET Eg wm cop ec ea os com a EIE rn cm YE E e fc E es EIS mn wn E EX e EX kisa EL ELE ES oo wm wm Ep Ed 2 5 5 oooooog 5 mn 5 oooooog O a mn goH 3 si e e offset 0x0200 transforms transform 0x10 15 raw data D I UI UU UU I D U 0000000000000 RAW_CHANNEL 00000000 o RAW_DATA RAW TIME a ELE E E E Ed E ES ES C3 Ed r rr Ed r Ed r rr C3 Ed r rr L3 r L3 r rr L3
15. Doo no 22559 000 DO Goon BOO Doo ied Goon BOO Doo Goon ada gooo Onn mn mmm Ao mn sto 2 AREER HE GS 2 maa Goon Eb BEE Oooo g2 S0202 AOAAAOS 2502 ooo oog E D o nnn Era 222 Goon Doo E Gees Goon ooo EEE o000 q nnm BOO 000000 OOOO ooo OOO moe onu ooo ooo Ec OOOO 2202 ado on BODO 222220 OOOO 222220 ooo coooooo ooo ooo mara OOOO OOOO AOR ado 222220 SE ETE DEDO CEP PED OBO ORB ado 222222 Ripple in Filter Magnilude Es Es Ea E EI DI o Et EI ET Lr ES LL a 2 o A F xt e n T n T m T 1 m a E t
16. os aaa EJ EH 24 E3 E3 EJ E3 EJ p EJ E 000000000 Sue cm A un maa e S r3 rpm pm pm L3 E3 2 2 EJ EJ EJ EJ EJ p EJ EJ EJ EJ ma L3 L3 EJ EJ EJ EJ EJ EJ 000000000000 al m U 000000000000000000000000000000000000 0 000000000000000000000000000 0 00000000000000000 offset 0x0070 offset 0x0076 min full scale ex y Six axis arra reserved4 int TRANSFORM NUM 000000000 0 5 transform p 31 0 0000000000000 0000000000000 offset 0x0077 transform num int MAX FULL SCALE 0 0000000000000000000000 min ful scale offset 0x0078 offset 0 007 25 y max_full_ scale six_axis_arra reserved5 int PEAK ADDRESS rr rr rr o EXE DI DI L3 L1 0o ad E73 offset 0x007f _address peak int FULL SCALE L3 r3 rn L3 E3 E3 EJ EJ L3 E3 E3 EJ E3 EJ 3 E3 E3 EJ E3 EJ
17. Command Word 0 0 00000000000000 G0x77 Transform Num E ESE rr 0 0 0 rd_ nd_W OOO 000 0000000 0000000 0000000 system_busy 0 0200000000 Comma 0 0 Ll error bits 0 x0 000 31 0000000000 OOO a 0x060 000 gt 000000000 0 0 Oxf Command Word O Command Word 0 GOx8e offset 88 EE offset num o o ELE Lr Et EE a ET E E334 a AGAR mz kisa ES ES 3 2 2 Ez E EE FT ma Kwa Kiwa Ki wa YA wa WA wa 2 OOOOOO ay Ep TE TE T E 1 L3 L3 C3 EITA E E TE L3 L3 C3 L3 O L3 O L3 L3 C3 C3 L3 C3 J J dg L1 L3 C3 C3 3 55 ET 1411 L3 C3 1
18. gd ooo rama s co 2225220202 co E HERE ped ooo Sng SE co oooooo co 4 ESI 2220220509 rara ooo 222200 coo 252225 oo maaa EE ca mu SA a kaza mr dm mn kanza e o 4 a goooo ooo rara coo arma oo maaa 46 aaa an soono E3 2 Em BAT E3 r3 r3 m n E SB E L3 r3 RE L3 r3 C3 r3 2 m n cooo ooooogo L3 r3 ci mr r3 2 sm lasa AAA L3 r3 pa ZEE EE TIE C3 Ed C3 EJ Do Sanma ET ED Do sa me EE EE Do E pu d ge ET ET EET cooooooogo Do REDES Em ES Si EE ES Do Ogo wa si Do C3 r3 o000 EM maiia ass ees L3 rn Ex EYE E eg E HES rr E EE Do AE EE rp am IE EH EE EJ E FI EE EE EHE oog eu en mn E EE Fo a DE oog gt 20000 a ES oog EE El EE
19. int 0x0018 copyright offset 0x0040 int 0x0008 reservedl offset 0x0058 SHUNTS eh ES 221 22 22 22 22 22 22 oo 21 22 22 23 22 22 22 22 n 22 22 2 Ey EE ES EE 9 q E Ei ET 2 g 3 F3 E3 a F3 bye one E EHE Y ET ES ES a 0 o Ted EST om Ta E e 02 E3 E3 aa C3 Eb aaa Bon o a e ma E eee RYN GE g p3 E3 E3 E3 aa E3 wm mn man ES ES E EE C3 E3 EJ C3 EH L3 E3 EJ EJ ECH ET E TTE 00000 0 0 10 set new ETTO EET E EET O E L3 L3 C3 L1 L1 L1 OOOO use tr
20. EJ EJ a EJ a F3 F3 F3 F3 122 o ET a GERA NA EE TENE E 8 E L3 C3 E3 EJ L3 EE C3 E3 r3 m L3 rr p mug L3 C3 OOOO c3 02 5 L3 rr p mug cum L3 C3 rr L3 3 2 02 5 L3 rr p mn C rng F3 F3 pr m L3 C EJ rr r3 02 5 a00 r3 p pr m L3 2 00042 F3 p3 L3 00042 EE ES L3 F3 p3 E L3 00042 E L3 C3 L3 3 L3 rr quan nn 3 c3 c3 5 5 m oon ng L3 C3 EJ r3 a E L3 L3 E rr LX i L3 C3 p3 ma fe L3 a FT 3 5 3 L3 C3 E3 rn r3 Es E3 c pg H L3 3 EX ET oagoH gag 5 L3 E3 E C3 E3 5 p
21. m E i 2 B8 lo E 4 4 4 B i 5 mob t A 2 1 a p gt m 5 i m 8 BF A gt ra E TM 9 n ra i i I 1 B 3 E va m A ts eL om n tod m E I gc 28 Ta q E asl e 5 3 5222 RE gs E 1 i tior d kosha Pa 5 1 TD D D p 1 arda hei ag 1 i 5 9 5 mc 02 v t 1 1 1 u i 1 t n 5c ro m 1 i A d 1 i hu 1 t 1 Bl ao ton n Ps i 7 os t t 1 R at 3 201 H b 8 1 va WE Rs 4 4 MU i 5 r Ed Ria E r 1 i 5 i gb 2 i Tu L 1 PME ji L d T Ses ut 1 1 H 1 a H 1 1 H uv 1 1 TM 0 1 E 7a L 1 i 1 i E 1 1 f 4o ras 5 h i E H a in ia 1 4 1 amp a a 58 2 Ea i il 1 Fi j i 1 1 n 1 H 8 5 B I 1 1 5 8 8 5 8 o DESA NS k 1 1 i o 1 1 i m a 1 d m u 2 apnyuBay 599 556 BL Ne Oe gp apnpuDoy 0 5 5 d d
22. ado rm BED a COBRE Fa mmi YA E p E ELEME mnm p Ll TEE HEB EE OOO H ra a mam 3 E res ELE EEE Ey ELE ETE ooo ao Dono 4 L3 cr unm L3 E3 EJ g E3 EJ gag L3 C3 E3 L3 pj gt BH D rm 255555 OOOO 552555 55220 800000 02 p3 EJ F3 aaa Se Ptr C3 C3 C3 C3 C3 rm C3 OO C3 C3 C3 L3 C3 p4 C3 C3 cic C3 EE p4 L3 C3 r3 EI a k rir t m0542 O 4 1 aadado m 25955 O mar ma aadado m gt 0g O mai m 1 mnuunmprnrn m O m 1 GOGO m m Ile Ek Rm rur OE 2
23. von o0 s uot Ooo 2 o 2 Elis ri g E 820 iS an mn mm mn EXE 0000 berl as Eu cem a g OO o a o Noam p L3 CJ L3 rr rrr EE a a E CEE ooo ES ES Ed offset 0x00e3 offset 0 00 2 offset 0 00 4 10 rate_address rate_divisor rate_count unsigned int unsigned int int COMMAND WORD2 COMMAND WORD COMMAND WORDO a mn EST ans EXT 425 Vs go 5 ID ors 5 rcg mus UN mom o A allt DA 5 rz nos El o nas m E mn Ame Dmm gt o Lo L3 p3 E3 L3 E3 mnm agarang HB E rpm C3 1 2 202532 s e ais 4 Docs as Dong og L3 r3 ooo offset 0x00e5 offset 0x00e6 offset 0x00e7 command_word2 int command wordl int command wordO0 int COUNT1 COUNT6 Filterl H 0 0 0 offset 0x00e8 offset 0x00e9 offset 0x00ea offset 0x00eb offset 0 00 offset 0 00 4
24. oo0 E ES Dm Er a Ar ES ES ooog 3 Ed EU C3 n ES ES EP ooog EE 202 05 ES E r8 ooog E es EE EE ES C3 r3 ESL E3 E3 p H Dm 5 n o E E LIE 2322 vj E Em Dm E3028 pig E3 r3 9 Dm Em HES BSS Eo pe Ed Dm ooog 4 El SOOO C3 r3 C3 r3 ES BEGE ooog C3 r3 C3 r3 ooog oaf ET EEDD C3 r3 C3 r3 RADAR ooog DGS C3 r3 C3 r3 ooog on C3 a a C3 C3 t3 ues C3 r3 EXE JE ooog Don C3 EJ iE Ens oo oo 5 55 55 ooo9000 E EE oog a am 25555 gE E e d 9 nm EE Boa 5 53 DO 3323232232 Gr EE ooog um oonoDdo 22555 oo 84848586 Eu Opoa BORD DE 33334 DE 85 56 0 BEGE PRO DEBE DESSE JEN b x n c EEE 22225 Opo 252235 mm 852223 2222223 BEET HEEB BEEN duo EE E Cb EEE 5555585 Da 252252022020 1 1 ORGAO Br nc e o nc men am gooogo oo oo
25. LEM nm Dom OBESE Pad 9 Dam E E ma zs Dam Donos FE ri CE EE ET Dam ooon TEETH HEE Dam Ed E Dam oo x00 Dodo a ET ET Ed Dam E3 C3 r3 pr pm 2 Hag 3 El 02 p pc pm pm pm pn oog Rec DESDE S E Nan Doado uuu R O Non ca 2 2 2 ss E S Noam EE oa OOOO EJ om Boom a SEE ES so HEEE o EEO ooon ne TE O OGOOGO FE ES EE EAE ET 080000000 SL GERE FFA AAAS ET ET ooog ooo 322202 oooo 2250525020 252502505025 ooo Sra mn gooo 252250502505 E E E 25 ooo 47
26. an asi gt 3 E3 E3 L3 rc OOS L3 Oo Roo OOO lt aga 2 OO mtr re E pi Ea gt Elm i OOS oono cooo sooo offset 0x0080 full scale y force_arra OFFSETS Ei i OOo EE ano ELSE EIE 2 22 o CENE en nem a bs ara ren a C3 a a 02 C3 L3 p3 C3 C1 C3 C3 C3 C3 E3 C3 C3 C3 C3 C3 C3 C3 C3 C3 C3 offset 0x0088 offsets y six_axis_arra OFFSET_NUM offset 32 00000 offset 0x008e offset_num int VECT AXES 0 set vector axes D offset 0x008f vect_axes vect_bits FILTERO 0 0000000000000000000000000000000 offset 0x0090 filter0 y force arra FILTER1_FILTER6 000000000000000000000
27. kilopound kiloinch pound inch 1000 enum force units lbs in lbs mils dNm mm10 kgf 10 kgFcm mm10 klbs kin lbs mils reserved units 4 reserved units 5 reserved units 6 reserved units 7 THRESH_STRUCT EEDD BEU DDED EL EF ee DEU EB 000000000000000000000000000000000 thresh_struct DATA_ADDRESS E J L1 L3 OE THRESHOLD 0 0000000 0 less than equal U threshold it pattern ll ll ll ll J U U J 0x00f2 threshold 000000000 00000000000000000000000 threshold threshold greater than equal 000000000 BIT PATTERN bitpaten 0 000 000000 00000000 thresh_struct struct data_address int threshold bit int pattern int LE_STRUCT Opn a LATCH BITS 21 00000 reset bitcommand NUMBER_OF_GE_THRESHOLDS NUMBER_OF_LE_THRESHOLDS threshold threshold 0000000000 struct le_struct int latch bits int number_of_ge_thresholds int number of le thresholds thresh struct 4 thresholds int reserved uH Hm s 0 latch Pattern
28. p4 EJ o0 g ano L3 g C3 E EEN force data 48 16 3 160000000 fore data 26 mx bit 1 test bits reserved 14 pite EI oA 1 E13 J L3 L3 0 0 0 TN E73 E EE IE TE IE 1550 fx_bit U DO B D 0 mx bii D D OU BU D U DU D reserved 0 00000 UUUUUUUUDUUDUUDD struct 000 OOO 00000000 OOO 00000000000 command word O Data 1 0 0000000000000000000 0 0000 Command Word O UUUUUUUUUUUUUUUUUDUUUUD 00000000000 Data_2 Word_0 000000 Command Command_Word Lr L3 L3 0 0 0 0 od r3 OOOO Daal 000000000000 00 0 9 Ll ommand_Word 000 Command Word 01 0 00 00000000100010001010010000 2 00000000000000 0 0 0 0 C 27 000000000 00000000 0 0100 Command Word O Command Word 1 00000000 Command Word
29. rr F3 r rr r C3 r L3 r C3 F3 rrr E C3 rm r3 rn rn Ga L3 r3 Ga L3 E EE L3 L3 r3 L3 r3 L3 r3 L3 r3 rm m rmn L3 r3 rm nm rm rm Ga rm rm rm L3 p3 rm L3 p3 rm 16 raw time raw data reserved raw channel unsigned int int int 2 rr 5 5 010105 g amp struct FORCE_ARRAY force array 0000 00000000010000000100000100000100 0000000 struct force array int fx int fy int fz int mx int my int mz int v1 int v2 SIX AXIS ARRAY six axis array struct Six axis array int fx int fy int FZ int mx int my int mz VECT BITS bits I ll Ul 000 0 0001 000 mz bit 0xoo20 0000000000 1 U 0000 00 0 0 O 0x002b
30. 3 count 4 count 5 errors count x threshold crc rom ver ver day ver year cal day cal year units chans thickness 00 U U chOtime chOdata 5 shunt fx 6 def fs fx 6 min fs fx 6 max fs fx 7 fs 7 load env amp 6 xForm 7 peak addr 7 015 fx 8 ofs 8 axes 8 fO fx 8 f1 9 rate fx 9 min fx max fx 9 near sat sat warning word error word 10 rate addr 10 rate div 10 rate count 10 comm 2 11 count 1 11 errors 11 warning error 12 threshold 12 rom ver No 12 ver no ver day No 12 serial model No No 13 cal day 13 units 14 bits A D 14 chans 14 thickness 14 43 UUUDUD 0000 00 0 00000 00000 00000 0 00000 LTT com2 000000 0 00000 0000 LTT com2 0000000 0 00000 LTT com2 00000000 0 2 00000 00000000 2 0000 0 0000 0000 0000 No 000000 0 0 00000 22 00000 00000 00000000 0 00000 000000000 0 00000 000000 0 0 000000 000000000 00 000000 000000 00 00000 000000 00 00000 44 000000 00000000000000000000000000000 000 0 09 9513 DEB EI 00000000 0 0000000000000000000000000000 000 00000000 00000000 0 0000000000000000
31. CHANNELS THICKNESS LOAD_ENVELOPES o L3 L3 L3 C3 TELE ELE EJ OOOO EJ Ed Ll EJ Ed EJ Ed EJ Ed EJ Ed L3 EJ Ed 4 Ed EJ Ed EJ Ed EJ Ed L3 Ed EJ Ed L3 EJ Ed L3 EJ Ed L3 EJ Ed L3 EJ Ed EJ Ed EJ Ed EJ Ed L3 offset 0 0100 14 EEE ETE ETS ET ET 3 EEE Er EI EE TEG 1 E ENE A L3 C3 C3 L3 C3 EE EHE 1 EF EST E73 ETE EE TE ET EA EZ 1 ESI EI EEO ET EI EI
32. suy MS 12 WARNINGS A IL 7 OR TA AaS 12 ERRORS Y Y 12 THRESHOLDEBITS ee Y Y 12 a Rd YA O Y YA ME SE 12 a RR 12 SOFT ARON O UC SE a MERE 12 COA RED Ae od elle teed flit SAS 13 SOFTWARE YEAR 13 13 MOD O 13 COLO DA pic a NW CI EN 13 x 13 De e gt 14 IN HN UT UM 14 ii CHANNELS sa px e p cus ots GW Gau cu oe hes downs als GAD 14 Y E 14 LOAD ENVELOPES C ee E EE 14 TRANSFORMS ae ku asta qua m 7 15 SER a PN RAN 16 1 RAW CHANNEL S1 YL A Y 16 7 22 lsat 16 NR aka uu 7 16 FORCE_ARRAY se an len Em M EPA E 17 ET A YN HR 17 18 dud DA 18 18 ERROR BITS E SORO RE O aS En 19 19 MEMORY_ERROR en Cn 19 SENSOR CHANGE sert dote mta TE sma quas 19 Y aeta A FO ee 19 aM as da ao nd a 19 WATCH BIO CNET RT ya alamat S 20 WATCHD
33. 0 Command Word 2 o o 3 000000000 000 r3 r3 r3 r3 o gt q rne EYE es RE ES 0T mj ug dc g 5 ES r3 Command Word 0 Command Word 2 o o o dr L3 0 UUUUUUUUDUDD 0 UD 0 5 E warning error threshol 28 000000000 o o o Lr ENES Command_Word_1 Command Word O Command Word 2 o Uu nal Ig DOUG 070 Command Word 0 Command Word 2 ETI L3 Lr dr E EJ Lr 29 0000000000 o Lr LIL ERE ET L3 Lr ENES Command_Word_1 Command Word O Command Word 2 o o nal Ig DOUG 070 Command Word 0 Command Word 2 ETI L3 Lr dr E EJ 20 000000000 UUUUUUDUUUUUUUUUUDDUU 0x050 0000000000000 0 0 0 transforms O 0 200 Command Word 0
34. 0 0122 2 000000 writeData 0 0123 9x0090 writeData 0x0124 4096 writeData 0 0125 0x0101 tt 0000000 writeData 0 0126 0 0091 writeData 0x0127 4096 writeData 0x0128 0x0202 000000 writeDeta 0 0129 0 0096 writeData 0 012 8192 writeData 0x012b 0x1010 000000 writeData 0 012 0x0090 writeData 0x012d 4096 writeData 0x012e 0x0404 000000 writeData 0 012 0 0091 writeData 0x0130 4096 writeData 0 0131 0x0808 writeData 0x006f 2 write UUUUUU write readData 0x00f2 42 FF ai FF FF FF FF FF ai FF FF 0000000000600 0000000000 0000000000 Q J 0000000000000 000000000
35. 00 32768 0 0500 5 0 0200 0 0201 0 0202 0x00e7 writeData writeData writeData writeData 00 0000000 HH BB Lr em E o Ez DI E E EA L3 q S 44 o o o 0 p 0 N o N LO 0 X O O O N N NN QN 0 N N QN QN o O 0 0 x x x x X S qe ay X OA quu 0 0 P 0 0 0 0 G ANN O O O A 9 9 9 9 0 P HoH rl rl 4 rl Y Y 4 4 2 2 3 2 3 41 ERE E EERE LENET EYEE E E TUD TE Er EE Eb EXE EZ ESB E EI E Ed To ELE El L3 EEN EI ELBETE 00000000000000 writeData 0x00e5 Oxff00 writeData 0x00e6 0 008 2 writeData 0x00e7 0x0400 1 11 10 0 1110 10 0000 0 0 0 0 0 0 0 11 01 1 0 000 00 00 0 0 0 11 01 0 000000 00000010 11 0 0000 00 0 0 0 0 U 11101 01101001 writeData 0 0120 Oxff00 writeData 0 0121 3 writeData
36. 00 0000000 0000 0000000 0000 000 Least Significant 0000000000 UU D 7 D U Least Significant Byte Least Significant Word O O UU Most Significant Bit 000000 Most Significant Byte 000000 Most Significant Word O O O O O 00000000 0 0000000000000000000000 00000000 0 0 0 E E EL EXE LES EZ LE E EE EEE EEA EET E ENE EE Tr IL ETT EEE 0000000 oad oad 1 11 4 Leol 3 ol IEEE Lb qm L3 O EFT SO ESTE EEE oaa O LTE O C3 EET 00000 0 00000000000000000000 000 000000000 00000000 ooog A REGE aa E ooog Er cem ESTEE ooog BE E TEX E EE C3 EJ c3 r cr ooog E E EE EE eo aaa a ELE ooog am FREGE E aea aa a a ooog c3 5 BEE E a BO ooog c3 5 52 EG mm cem c3 5 FERE con ELE ooog c3 5 Epor C3 n EX ES 3E E EYE o 5 pop ES C3 5
37. 0000000 force_structure 25 fy fz force structure ant int int force structure filter0 struct fere array structure 11 111 000000 0 000 D D force structure O O force structure 2 00000000 00000100 0 000000000000000000000000000000 10000000060 force data 0x0010 JOO 150000000 9 00000000000 force data 21000 force_structure force_structure EE L3 C r3 B C C3 C3 C3 EJ C3 C3 C3 EJ C3 C3 C3 C3 EJ HGH ESL EX EH L3 C3 C3 05 CEB ES L3 C3 C3 E EJ E EE E3 C3 EJ E3 EJ E3 E3 C3 EJ E3 E3 E3 EJ E3 E3 EJ FJ L3 r3 Sci L3 L3 r3 pL r3 p3 LMG Da c B r3 p3 r3 C p3 L3 r3 p3 L3 r3 L3 r3 ET Ere E ooo a BO L3 rr L3 F3 E3 EJ p4 O L3 g C3
38. 0000000000000000000 1 16 000 8 2 0000000000000 0000000000 125Hz 31 25Hz 7 813Hz 1 953Hz 0 4833Hz force array filterl offset 0x0098 force_array filter2 offset 0 00 0 force_array filter3 offset 0 00 8 force_array filter4 offset 0x00D0 force_array Filters offset 0x00b8 force array filter6 offset 0 00 0 RATE_DATA rate divisor p 10 000000 BB URED UU rate address Eb force array rate data offset 0x00c8 MINIMUM DATA MAXIMUM DATA 0 00000000000000000000000000000000 00000000 read peaks O O p 38 O O read and reset peaks 000 37 0000000000 force_array minimum data offset 0 0040 force array maximum data offset 0x00d8 NEAR_SAT_VALUE
39. C3 L3 L3 C3 EXT ELI EI L3 C3 E ESI TERETE ETE ET 32 00000000000 0000000000600 0 0700 011860 0 88 Command Word 0 Command Word 0 0x88 0000000000000 current offset table entry o o EJ El L3 Lr L3 L3 rr oo EI L3 L3 L3 L3 L3 L3 EI EE oao A Dl ES L3 L3 L3 L1 L3 L3 L3 L3 EET E T 3 L3 L3 L3 EE ENO TEE E L3 L3 L1 L3 EE oo Ll L3 lt DI CIC o L3 L3 A L3 L3 c L1 Isa El L3 DI L3 L1 EI 33 OOOOOOOOOOOGO Command Word O 0x0800 0001 Command Word 0 0 offsets 0 88 current offset table entry UDDUDD 0000 0000 0000 990 0O00 filter2 0 0 0 0 0
40. EI 3 Er L3 L3 r3 J L3 r3 L3 L3 r3 ET Er g g g oa EES o E ad E o L3 r3 LLL EJ ET El ype link amount 24 00000000 UUIUIUDUDD link t link 0000000 0000000990 0000000 00000 type amount type amount type amount ypes 000 link 1 link 1 link 2 link 2 link n 0 don t care link n transform links link t int links 8 DI CIC DI LLL EJ EZ DI CIC Struct Struct 0000 n 1 2 1 2 1 2 2 1 00 0000000000 OOOO E3 rr E3 rr E3 rr E3 rr EEE E3 rr 5 rpm main 5 OOO 5 ESPERE 5 E EI E3 rrr E ESTE EXPE E3 rrr E E LI 00000000000 U U value Ll 0x0010 UUIUUUUUUUUUUDUUUUD UUUIUUUUUUUUUDDU 00000000 UUUDDUUDU EE ELE sat_value countx unsigned int int U Ucoet 0 0000000000000000 000 655350 00000000000000 0 000000000000000000000000000000000000 0 0000000000000000000097 0 000000 struct
41. Luna E 8 ng apoguboy 2 1 T EE Pao de i 1 1 1 a i 5 d 1 dhe TO told a D d 5 a i A a E 2 g 1 E zi 1 sup n 1 y 2 m E ME at cia e Bo 8 1 h E o d T I 5 1 T b aU o EM P S5 H 1 i H 1 Dom B i E HN cu DE 4 E rd car i i Dg E i Es UE E qam TIT TQ See m ID i 5 2 MeV E y as 1 5 1 2 A 1 E z i t z em d E 6 m 1 1 1 1 E i 2 1 1 1 E Ep o7 1 T x 3 ui i y f 1 1 E 4 1 Tom t 1 r 1 L 5 1 1 c 1 E Y 1 i uY t ma Fr E 1 1 E V Hae o 1 t r 4 1 8 E 1 1 2 1 1 1 i T 1 17777 1 1 1 i 1 2 i 1 194 1 1 i i D 1 3 1 1 n 1 r e n 1 t 1 i 1 1 t 1 1 1 1 1 0
42. OG 20 ca 20 THRESH STRUG RA Y CG DM 21 DATA ADDRESS da 21 NY RYN ARY YI 21 FAN YN A 21 I A ERS RMR ORES 21 FO NI Y Y 21 NUMBER OF GE THRESHOEDS eda ay 22 NUMBER OF LE THRESHOLDS 70 22 ee ee 23 PRA NO ORM qd 24 MUCE MAU A AR eye 25 ree DONT re 27 201110 DE D RPM OE 27 E a 28 sin ale AR UR UR 28 29 kes arw 30 DUR nee Rt AT 31 2 AR ON Y AN RR NYD AR A FFON YDD 32 MER ED EE ER IAS 33 Bela SEs B A A 34 LOM RH Y WR 35 NS 36 EYN EMA QE EE 37 ee ee 38 ELLIS E D mamana nana naya 39 EZ 2 ea 39 Se TD CYR RTT 39 iii 39 40 40 41 41 42 43 44 45 46 48 ao E OE GE E EHE E a
43. anform LL E ES v E 588 EIE OOD NO Ez LESE I O ET E E ENE E EEE offset 0 0060 offset 0x0066 shunts six_axis_arra int 2 reserved2 DEFAULT_FS 00000000000000000000000000000000000000 offset 0x0068 offset 0x006e default_FS E six_axis_arra reserved3 int LOAD_ENVELOPE_NUM UUUUUUUUUUUUUUUDUUDUUDUUDUUD offset 0x006f pe_num load envelo int MIN FULL SCALE E3 Cd E31 F3 E3 Ed E3 E3 C3 an EJ ELE EI E3 E3 EJ EJ E3 05 03 02 E3 Ed 05 02 E3 EJ EJ E3 E EJ C3 E EJ EJ E3 EJ p3 E3 EJ aza EJ mn Hg E3 EJ 4 E3 EJ p4 2 lam um E3 EJ E3 AAR E3 EJ E EJ 00 HET mn mn 4 mm E3 B3 ag L1 L1 C3 r3 i
44. lntelligent Force Sensor oa A 5907Cj1 4 PC 1 0 e 1 gt 1 cy yn A y Hy YN 2 5 FORCE SE SOR 5 5 7 5 Y 6 6 8 6 EE 6 Se 7 MAX TULE SCALE 7 PEAK_ADDRESS 7 AE 7 4 7 O AD M EDEN HAODD rm 8 ORESET NUM Lh 8 YES ee FY O ED Fe COME 8 NR 8 11231058 RYN 9 RS EE 9 MIN IMDM SDN TA aka ha nasha uta ha hua ent 9 MAXIMUM DAT ODER 9 NEAR ATO A UE a ha a 10 LP MR DR DA ee yn 10 RATE_ADDRESS RF TU 10 GO 10 lal 10 COMMAND 11 COMMAND WORD imu FOOD 11 COMMAND_WDOPRD0O id Yd 11 O 11 ERRORS OD NT RR 11 COUN M AME
45. n 1 1 1 1 i i i 5 Es Pia dy e o o a 2 m L 1 a H 1 i 1 H e n zi 1 1 1 1 1 1 1 1 x o 8 Fns a 2 m o 2 3 i M n D 0 mn r E a 1 1 i 1 p B o 1 1 1 Stu AOE 5 a m Stu 0000000000000000000000000000 00000000000000000000000 000 U reserved 4308 0000000000 41001 For the following structure definitions int signed 16 bit value unsigned int unsigned 16 bit value bit fields are shown with the lsb first 37 FORCE SENSOR DATA force sensor data 110 000 00000000000000000000000100101 0 0000000000000000000000000000000000000000 0 00000000000000 struct force sensor data RAW_CHANNELS raw _ 1 16 raw_channels offset 0x0000 COPYRIGHT 0000000000 null terminated ASCII I LH U
46. t 0x00f4 int software_ver_no offset 0x00f5 SOFTWARE_DAY SOFTWARE_YEAR 0000000000000000000000000000 9 0000000000 18 U int software_day offset 0x00f6 int software_year offset 0x00f7 SERIAL NO MODEL NO 0 0000000000000000000 unsigned int serial_no offset 0x00f8 unsigned int model no offset 0x00f9 CAL DAY CAL YEAR day 0000000000000000 a EE EI Lr L3 EE o EE L3 1 1 LEE LEES 3 E LEE L3 ETE o int cal_day offset 0x00fa int cal_year offset 0x00fb 0 13 0 0 0 0 0 00000 00000 00000 00000 0 0 offset 0 00 offset 0 00 4 offset 0x00fe offset OxOOff 0000000000 0 0 0 0 00000000 000000 units bit channels thickness channel 0 11111111 9413 9000000000 D channel 0000000000 0000000000 0000000000000 5 0 0 raw time fields 0 0000000000000000000000000000000 UUUUUUUUUUUUUUUDUUUUDUUDDUDDUU eto U U U aw_channel arra force_units int int int units 000000000000000000000000000000000000060 000000 O force units structure P 20 000000000 588 O0 0000000000 0000000000000 UNITS BITS
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