
Home› Programming
Discussion
Back to discussions page
Catherine_Bernier
Posts: 144 Handy
How to program the Robotiq FT sensor with a Denso RC8 Controller |
118 views
|
Not answered yet | |
/ Started by Unknown
in Programming
|
0 comments |

in Programming
Hey there,
So here are some command reference and example so that you can program your Robotiq FT sensor on a Denso RC8 controller.
Info Command
Obtain hardware information.
Example - Info
Start data streaming.
Example - Start_Stream
Stop_Stream Command
Stop data streaming.
Example - Stop_Stream
Get FT300 sensor data.
Example - Get_Data
Application Example: Force Data HMI

Force.pn1 Code:
So here are some command reference and example so that you can program your Robotiq FT sensor on a Denso RC8 controller.
Notice that all programs starts with #Include "Robotiq_FS.pcs" - This is the required driver : Get it here.
Info Command
Obtain hardware information.
Example - Info
#Include "Robotiq_FS.pcs" Sub Main Dim Opt As Variant Call Robotiq_FS("Info", Opt) 'Get FT300 Sensor Information PrintMsg "Firmware Ver.: " & Opt(0) PrintMsg "Serial No.: " & Opt(1) PrintMsg "Production Year: " & Opt(2) End SubStart_Stream Command
Start data streaming.
Example - Start_Stream
#Include "Robotiq_FS.pcs" Sub Main Dim Opt As Variant Call Robotiq_FS("Start_Stream", Opt) 'Start Streaming End Sub
Stop_Stream Command
Stop data streaming.
Example - Stop_Stream
#Include "Robotiq_FS.pcs" Sub Main Dim Opt As Variant Call Robotiq_FS("Stop_Stream", Opt) 'Start Streaming End SubGet_Data Command
Get FT300 sensor data.
Example - Get_Data
#Include "Robotiq_FS.pcs" Sub Main Dim Opt As Variant Call Robotiq_FS("Get_Data", Opt) 'Get Force Data PrintMsg "Fx: " & Opt(0) PrintMsg "Fy: " & Opt(1) PrintMsg "Fz: " & Opt(2) PrintMsg "Mx: " & Opt(3) PrintMsg "My: " & Opt(4) PrintMsg "Mz: " & Opt(5) End Sub
Application Example: Force Data HMI

Force.pn1 Code:
#Include raw #Include "Robotiq_FS.pcs" Dim Option As Variant 'Return Variable Dim stream_flag As Integer Dim zero_fx As Single Dim zero_fy As Single Dim zero_fz As Single Dim zero_mx As Single Dim zero_my As Single Dim zero_mz As Single Sub Panel_INITIALIZE() 'Check if Connection has been made before trying to connect If Comm.State(COM_PORT_FT) = 1 Then 'Get Sensor HW Information Call Robotiq_FS("Stop_Stream", Option) Call Robotiq_FS("Info", Option) 'Get Data Label10.Caption = Option(0) Label11.Caption = Option(1) Label12.Caption = Option(2) PBSTART.Active = 3 'Enable Start Button PLCOMSTATE.FG = &h00FF00 Else 'Terminate HMI Panel Program PrintMsg "Connection Failed... Exit Panel and Retry" PLCOMSTATE.FG = &h0000FF Exit Sub End If End Sub Sub PBSTART_CLICKED() 'Start Streamming Call Robotiq_FS("Start_Stream", Option) stream_flag = 1 'Turn Stream Flag -> ON PBSTOP.Active = 3 PBSTART.Active = 1 PBZERO.Active = 3 End Sub Sub PBSTOP_CLICKED() 'Stop Streaming Call Robotiq_FS("Stop_Stream", Option) stream_flag = 0 'Turn Stream Flag -> OFF PBSTOP.Active = 1 PBSTART.Active = 3 PBZERO.Active = 1 End Sub Sub TIMER1_TIMER() If stream_flag = 1 Then 'Get Data Call Robotiq_FS("GetData", Option) Label18.Caption = SprintF("%-08.3f", Option(0) - zero_fx) Label17.Caption = SprintF("%-08.3f", Option(1) - zero_fy) Label16.Caption = SprintF("%-08.3f", Option(2) - zero_fz) Label15.Caption = SprintF("%-08.3f", Option(3) - zero_mx) Label14.Caption = SprintF("%-08.3f", Option(4) - zero_my) Label13.Caption = SprintF("%-08.3f", Option(5) - zero_mz) End If End Sub Sub PBZERO_CLICKED() 'Zero calibration If stream_flag = 1 Then Call Robotiq_FS("GetData", Option) zero_fx = Option(0) zero_fy = Option(1) zero_fz = Option(2) zero_mx = Option(3) zero_my = Option(4) zero_mz = Option(5) End If End SubHope this helps.
Catherine Bernier, Jr. Eng.
Tagged: