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Welcome to the sawATIForceSensor wiki!

How To Run :

1. Reading from ATI Net FT - sawATIForceSensorExample -c <config-file>
2. Reading from Custom udp port - sawATIForceSensorExample -c <config-file> -p <port-number>
   • Receive 6 doubles(FT) and 2 ints(saturation,error)
   • Only Available in devel branch

Force Sensor Connection

Switch ONLY

• Dependency:
  • Switch: with POE port
  • PC: control PC talking to force sensor
• Set force sensor Switch value to 0110110100 (Default)
• Set PC's network card to use manual IP
  • IP: 192.168.1.XX
  • Subnet: 255.255.255.0
• Connect force sensor and IP to switch
• Browser: Open 192.168.1.1 to connect to force sensor

Setup with Router

• Dependency:

  • Router: optionally connected to Hopkins network
  • Switch: with POE port
  • PC: control PC talking to force sensor

• Get Force Sensor MAC and Change Setting

  • Set Force Sensor switch value to 0110110100 (Default)
  • Connect Force Sensor to Switch (WARNING: do not connect to router or any DHCP network)
  • Connect PC to Switch
  • Open Browser: 192.168.1.1
  • Under Communications , select IP Address Mode to DHCP
  • Under the same tab, Get Force Sensor MAC address (e.g. 00:16:BD:00:0D:42)

• Step 1:

  • Connect Switch to Router

• Step 2:

  • Connect PC to Switch
  • Browser: 192.168.1.1 (Can be 192.168.0.1 depending on router)
  • Check if router is connected

• Step 3:

  • Connect force sensor to Switch (POE port)
  • In router setting, go to tab LAN then DHCP server, manually assign IP to Force Torque sensor using MAC address (e.g. 192.168.1.8) (Make sure Enable Manual Assignment is switched on )

• Step 4: (This step is necessary for the force sensor to take in the new settings)

  • Plug out the force sensor from the switch (Take out the ethernet cable from the POE port)
  • Plug it back in
  • Browser : 192.168.1.8 (or whatever IP is assigned to the force sensor)
  • Check if the Net FT Force sensor page is being displayed

References

• http://www.ati-ia.com/app_content/documents/9610-05-1022%20Quick%20Start.pdf
• http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf

3D Model

http://productpage.3dpublisher.net/3dproductpage/QSvalidlogin.asp?GUID=1181333597524

LCSR ATI Force Sensor List

Nano17 FT15360

Troubleshooting Tips

• Delete the xmlns(namespce) attribute from the dsNetFTCalibrationFile node.... Will be in the starting 2-3 lines of the calibration file.
• Typo in the calibration file - Change FX -> Fx (Type was is the calibration file provided for FT15360, they might have fixed in the later devices, check it)

TODO()

• Take in a transformation and also publish the transformed data
• Move the typdefs to code file
• In config, include<cisstVector.h> should not be included. Include only the necessary cisstVector
• Safety Threshold
• For logging, edge cases, meaning , log saturated when it fully sturates
• Rebias has to be changed
• Saturation has be done by matching with the bit pattern (0x00020000) -- Look at the netFTManual