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Python 12. Force Control

12.1. Force Sensor Configuration

Prototype	FT_SetConfig(company,device,softversion=0,bus=0)
Description	Force Sensor Configuration
Required Parameters	company: Sensor Manufacturer, 17 - Kunwei Technology, 19 - Aerospace 11th Academy, 20 - ATI Sensors, 21 - Zhongke MiDot, 22 - Weihang Minxin，23-NBIT，24-XJC，26-NSR; device: device number, Kunwei (0-KWR75B), Aisino Eleventh Academy (0-MCS6A-200-4), ATI (0-AXIA80-M8), Zhongke MiDot (0-MST2010), Weihang Minxin (0-WHC6L-YB-10A)，NBIT(0-XLH93003ACS)，XJC(0-XJC-6F-D82)，NSR(0-NSR-FTSensorA);
Default parameters	softversion: software version number, not used for now, default is 0; bus: device mount end bus location, not used yet, default is 0;
Return Value	Error Code Success-0 Failure- errcode

12.2. Get Force Sensor Configuration

Prototype	FT_GetConfig()
Description	Get Force Sensor Configuration
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [number,company,device,softversion,bus]：number 传感器编号;company 力传感器厂商，17-坤维科技，19-航天十一院，20-ATI 传感器，21-中科米点，22-伟航敏芯;device 设备号，坤维 (0- KWR75B), Aisino Eleven (0-MCS6A-200-4), ATI (0-AXIA80-M8), Zhongke MiDot (0-MST2010), Weihang Minxin (0-WHC6L-YB10A); softvesion software version number, not used for the time being, the default is 0.

12.3. Force sensor activation

Prototype	FT_Activate(state)
Description	Force sensor activation
Mandatory parameters	state: 0-reset, 1-activate
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.4. Force Sensor Zeroing

Prototype	FT_SetZero(state)
Description	Force Transducer Zeroing
Mandatory parameters	state: 0-removal of zeros, 1-zero correction
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.5. Setting the force transducer reference coordinate system

Changed in version python: SDK-v2.0.5

prototype	FT_SetRCS(ref,coord=[0,0,0,0,0,0,0])
Description	Setting the force transducer reference coordinate system
Mandatory parameters	ref: 0 - tool coordinate system, 1 - base coordinate system
Default parameters	coord: [x,y,z,rx,ry,rz] customized coordinate system values, default [0,0,0,0,0,0,0]
Return Value	Error Code Success-0 Failure- errcode

12.6. Setting the load weight under the force transducer

New in version python: SDK-v2.0.5

Prototype	SetForceSensorPayload(weight)
Description	Set the load weight under the force transducer
Mandatory parameters	weight: load weight kg
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.7. Setting the load center of mass under the force transducer

New in version python: SDK-v2.0.5

Prototype	SetForceSensorPayloadCog(x,y,z)
Description	Setting the center of mass of the load under the force transducer
Mandatory parameters	x: load center of mass x mm y: load center of mass y mm z: load center of mass z mm
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.8. Getting the load weight under the force transducer

New in version python: SDK-v2.0.5

Prototype	GetForceSensorPayload()
Description	Get the weight of the load under the force transducer.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode weight: loaded weight kg

12.9. Obtaining the center of mass of the load under the force transducer

New in version python: SDK-v2.0.5

Prototype	GetForceSensorPayloadCog()
Description	Getting the center of mass of the load under the force transducer
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode x: load center of mass x mm y: load center of mass y mm z: load center of mass z mm

12.10. Automatic zeroing of force sensors

New in version python: SDK-v2.0.5

Prototype	ForceSensorAutoComputeLoad()
Description	Automatic zeroing of force sensors
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode weight: sensor mass kg pos=[x,y,z]: sensor center of mass mm

12.11. Obtaining force/torque data in the reference coordinate system

Prototype	FT_GetForceTorqueRCS()
Description	Get force/torque data in reference coordinate system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[fx,fy,fz,tx,ty,tz]: force/torque data in the reference coordinate system.

12.12. Obtaining Force Sensor Raw Force/Torque Data

Prototype	FT_GetForceTorqueOrigin()
Description	Get force sensor raw force/torque data
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode data=[fx,fy,fz,tx,ty,tz]: Force sensor raw force/torque data

12.13. Force sensor configuration and automatic zero correction code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
company = 24
device = 0
softversion = 0
bus = 1
index = 1
robot.FT_SetConfig(company, device, softversion, bus)
time.sleep(1)
error,[company, device, softversion, bus] = robot.FT_GetConfig()
print(f"FT config:{company},{device},{softversion},{bus}")
time.sleep(1)
robot.FT_Activate(0)
time.sleep(1)
robot.FT_Activate(1)
time.sleep(1)
time.sleep(1)
robot.FT_SetZero(0)
time.sleep(1)
error,ft = robot.FT_GetForceTorqueOrigin()
print(f"ft origin:{ft[0]},{ft[1]},{ft[2]},{ft[3]},{ft[4]},{ft[5]}")
robot.FT_SetZero(1)
time.sleep(1)
ftCoord = [0, 0, 0, 0, 0, 0]
robot.FT_SetRCS(0, ftCoord)
robot.SetForceSensorPayload(0.824)
robot.SetForceSensorPayloadCog(0.778, 2.554, 48.765)
error,weight = robot.GetForceSensorPayload()
error,x, y, z = robot.GetForceSensorPayloadCog()
print(f"the FT load is  {weight}, {x} {y} {z}")
robot.SetForceSensorPayload(0)
robot.SetForceSensorPayloadCog(0, 0, 0)
error,computeWeight, tran = robot.ForceSensorAutoComputeLoad()
print(f"the result is weight {computeWeight} pos is {tran[0]} {tran[1]} {tran[2]}")
robot.CloseRPC()

12.14. Load weight identification records

Prototype	FT_PdIdenRecord(tool_id)
Description	Load weight identification record
Mandatory parameters	tool_id: sensor coordinate system number, range [0~14]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.15. Load weight identification calculation

Prototype	FT_PdIdenCompute()
Description	Load weight identification calculation
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode weight: weight of the load in kg

12.16. Load center of mass identification records

prototype	FT_PdCogIdenRecord(tool_id,index)
Description	Load center of mass identification record
Mandatory parameter	tool_id: sensor coordinate system number, range [0~14]. index: point number [1 to 3]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

12.17. Load center of mass identification calculation

Prototype	FT_PdCogIdenCompute()
Description	Load center of mass identification calculation
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode cog=[cogx,cogy,cogz]: center of mass of load in mm

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