additionally, I tried sending 'rq_set_zero' through the socket, but this didn't change the FT300's readings at all
Toby
@louis_bergeron Thank you, this works well.
I use python-urx: https://github.com/SintefRaufossManufacturing/python-urx for the connection, and use this python code to reset the FT300:
def reset_FT300(rob, wait=True):
prg = '''def prog():
if(socket_open("127.0.0.1",63350,"acc")):
socket_send_string("SET ZRO","acc")
sleep(0.1)
socket_close("acc")
end
end
'''
programString = prg
rob.send_program(programString)
time.sleep(0.25)
Afterwards, I can take into account the location of my weight by taking my mass vector: [0, 0, -9.81*mass] and rotating it into tool-frame, and then subtracting from my force readings.
Hey All,
Our application involves a payload that is quite large, and can vary in its CG / total mass. I was curious how the FT150/300 calibrates itself, so that we can replicate that in our code to run it when needed. I attempted a simple statics calculation to account for CG, but the output was not correct.
Best,
Toby