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KMS Scripting

Reference Manual

Firmware Version 1.1.1

June 2014

KMS Scripting Reference Manual

Weiss Robotics GmbH & Co. KG In der Gerste 2 71636 Ludwigsburg, Germany

For updates and further information, please visit http://www.weiss-robotics.com

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© 2012 Weiss Robotics, all rights reserved

Contents

Contents 2

1 Introduction ...................................................................................................... 4

1.1 The LUA Scripting Language .......................................................................................... 4

1.2 The Scripting Environment ............................................................................................ 4

1.2.1 Using the Interactive Script Editor......................................................................................... 4

1.2.2 Uploading and downloading scripts ...................................................................................... 6

1.2.3 Automatically run a script on startup .................................................................................... 6

1.2.4 Accessing files from within a script ....................................................................................... 7

1.2.5 Restrictions ............................................................................................................................ 8

2 KMS-specific script extensions ........................................................................... 9

2.1 Generic Extensions ....................................................................................................... 9

2.1.1 Print a formatted string - printf() .......................................................................................... 9

2.1.2 Wait some time - sleep() ..................................................................................................... 10

2.1.3 Convert bytes into a LUA number - bton() .......................................................................... 11

2.1.4 Convert LUA number into bytes - ntob() ............................................................................. 12

2.1.5 Replace characters inside a string – replace() ..................................................................... 13

2.2 System ....................................................................................................................... 14

2.2.1 Get system information - system.info() .............................................................................. 14

2.2.2 Get firmware version – system.version() ............................................................................ 15

2.2.3 Get serial number – system.serial() ..................................................................................... 16

2.2.4 Get system type – system.id() ............................................................................................. 17

2.2.5 Get or set device tag - system.tag() ..................................................................................... 18

2.2.6 Get service tag - system.servicetag() ................................................................................... 19

2.2.7 Get temperature - system.temperature() ........................................................................... 20

2.2.8 Get system flags - system.flags() ......................................................................................... 21

2.3 Sensor and Data Acquisition ....................................................................................... 22

2.3.1 Acquire a single sensor data frame – daq.get() ................................................................... 22

2.3.2 Get or set filter – daq.filter() ............................................................................................... 23

2.3.3 Control sensor tare – daq.tare() .......................................................................................... 24

2.4 Calibration Settings .................................................................................................... 25

2.4.1 Get calibration matrix – calibration.matrix() ....................................................................... 25

2.4.2 Get calibration date and lifetime– calibration.date().......................................................... 26




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3 Interactive Scripting on the Command Interface ............................................... 27

3.1 Scripting vs. Command Interface ................................................................................. 27

3.2 Load custom function libraries .................................................................................... 27

3.3 Limitations ................................................................................................................. 28

3.4 Example ..................................................................................................................... 28

4 Appendix A: System State Flags ........................................................................ 30

5 Appendix B: Filter types ................................................................................... 32

6 Appendix C: Syntax Notation ............................................................................ 33

Parameters ..................................................................................................................... 33

Values 33




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1 Introduction

The KMS family of force/torque sensors includes a powerful scripting engine based on the LUA language

that enables you to implement application specific behavior of your sensor. The KMS includes the LUA

interpreter version 5.1.

1.1 The LUA Scripting Language

LUA is a lightweight and extensible programming language and was developed by a research group around

Roberto Ierusalimschy at Pontifical Catholic University of Rio de Janeiro, Brazil in 1993. This manual will not

give you a complete introduction in how to program LUA, but will focus on the sensor-specific extensions of

the programming language. A good source for learning LUA and for programming examples is the official

LUA Website at http://lua.org and the LUA User’s website at http://lua-users.org.

In addition, the following books will give you an introduction to the LUA programming language:

For beginners in programming, we recommend this book:

K. Jung, A. Brown: Beginning LUA Programming, 2007, ISBN 0-470-06917-1

If you are already familiar with programming, you may read instead:

R. Ierusalimschy: LUA 5.1 Reference Manual, August 2006, ISBN 85-903798-3-3

R. Ierusalimschy: Programming in LUA, March 2006, ISBN 85-903798-2-5

There is also a German edition of the latter one:

R. Ierusalimschy: Programmieren mit LUA, September 2006, ISBN 3-937514-22-8

1.2 The Scripting Environment

1.2.1 Using the Interactive Script Editor

For developing and testing scripts, the KMS contains an interactive script editor (see Figure 1) that is

accessible over its web interface. It consists of an editor with syntax highlighting and a console window to

display log messages from your script. To open the interactive script editor, go to the sensor’s website by

entering its IP address in your browser’s address line. Alternatively, you can use the symbolic name

http://kms40-00000000.local of your sensor, replacing the “00000000” by the serial number of your sensor

(this requires mDNS to be enabled on the sensor and an mDNS service like “Bonjour” running on your PC).

http://lua.org/

http://lua-users.org/




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This 8 digit number can be found on the type label located above the connectors. When accessing the

sensor’s web interface, you may have to log in first, depending on the security settings of the KMS.

You will need administrator rights to use the interactive script editor

Go to the interactive scripting page by choosing “Scripting -> Interactive Scripting” from the main menu.

You can now either write a new script or load one from the sensor’s SD-Card by pressing the “Open”

button. To run a script, it has to be saved first. Select a name that allows an easy identification of the script

by its function. The file extension has to be “.lua”. To abort a currently running script, press the “Stop”

button.

The editor supports common hotkeys, e.g. CTRL-C for copy, CTRL-P for paste and CRTL-S for save.

Figure 1: The Interactive Scripting Editor




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1.2.2 Uploading and downloading scripts

You can either copy your scripts to the SD card manually by placing the SD card into a compatible reader or

you can use the upload feature of the sensor’s web interface, see Figure 2.

Scripts must be located in the /user directory or any subdirectory and must end with “.lua” to be started.

You will need administrator rights to upload or download scripts

1.2.3 Automatically run a script on startup

Via the web interface of the KMS (go to the system settings page via “Settings -> System”), you may specify

any script from the /user directory to be automatically executed when the sensor starts up (see Figure 3).

Care should be taken that the script runs error-free. It is easy to imagine that you can seriously disturb the

normal operation of the sensor with an erroneous script. We recommend testing the script extensively

using the interactive scripting editor before using it as an autorun script.

Figure 2: Up-/Download Page




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In autorun mode, all console outputs are discarded, unless you open the web interface and go to the

interactive scripting editor page. There, you can see the currently running script.

Errors will be written to the system log.

Scripts must be located in the /user directory to be selectable as autostart script.

You will need administrator rights to configure the autostart feature

1.2.4 Accessing files from within a script

You can create and access files on the sensor’s integrated SD card. The default directory when starting a

script is /user. To read the content of a file, you can use the example code below. It accesses the file test.txt

Figure 3: Configuring an autostart script




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which is assumed to be located in the user directory on the SD card. For a complete “How To” on accessing

files from within LUA, please see the LUA Manual at http://lua.org.

Example

f = assert( io.open("test.txt", "r" ));

text = f:read( "*all" );

f:close();

print( text );

Care should be taken if accessing a file using an absolute path, as manipulation of system-related files

(outside the /user directory) may endanger the correct operation of the sensor!

1.2.5 Restrictions

Even if the KMS supports the complete functional range and syntax of the LUA programming language, the

following restrictions apply when running a script on the sensor hardware:

Arithmetic calculations are done using single precision floating point functions.

Environment variables are not available.

Console buffer does not block if full. Prints to the console (either via “print” or “printf”) are

internally buffered with a buffer of constant length. If the script constantly prints messages but

they are not polled by a client (i.e. the web interface’s console window is not active), the message

buffer may discard new messages if it is already full.

The script cannot read characters from the standard input (e.g. keyboard input).

http://lua.org/




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2 KMS-specific script extensions

2.1 Generic Extensions

2.1.1 Print a formatted string - printf()

Print a formatted string to the console. The format string follows the same rules as the ANSI C printf()

command. The following options/modifiers are not supported: *, l, L, n, p, h. For further details on

formatting strings, see the description of string.format in the LUA Reference Manual.

The console uses line buffering for printf() outputs. To force a line to be printed immediately, terminate it

using a carriage return ('\n') character.

The internal buffer of the console output will hold a limited number of characters. If no console window is

open or your script prints too much text, this buffer may become full and additional text may be lost!

Syntax

printf( fmt, […] )

Parameters

fmt

Format string

… (optional)

Optional list of parameters that are output using the format described in fmt.

Return Value

none

Example

printf( “Hello World!\n” ); -- outputs “Hello World” at the console

printf( “This is a %s: %d\n”, “ten”, 10 ); -- outputs “This is a ten: 10” at the console




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2.1.2 Wait some time - sleep()

Pauses the script execution for a given time.

Syntax

sleep( ms )

Parameters

ms (integer)

Time to wait in milliseconds. Negative values are treated as 0.

Return Value

none

Example

sleep( 1000 ); -- waits for 1 second




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2.1.3 Convert bytes into a LUA number - bton()

Converts a table with 4 bytes representing an IEEE 754 single precision floating point number into a LUA

number.

Syntax

<number> = bton( bytes )

Parameters

bytes <table>

Table containing four integers in the range of [0..255]. Byte addressing is little endian.

Return Value

floating point number

Example

number = bton( {164, 112, 157, 63} );

printf( “Number is %g\n”, number ); -- outputs “Number is 1.23” at the console




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2.1.4 Convert LUA number into bytes - ntob()

Interprets a LUA number as an IEEE 754 single precision floating point number and converts it into its byte

representation.

Syntax

<number> = ntob( number )

Parameters

number <number>

LUA Floating point number.

Return Value

Returns a table with four integers in the range of [0..255] that holds the binary representation of the

passed LUA number.

Example

bytes = {};

bytes = ntob( 1.23 );

print( bytes ); -- outputs “164 112 157 63” at the console




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2.1.5 Replace characters inside a string – replace()

Replace all occurrences of the old character inside a string by a new character.

Syntax

<string> = replace( str, oldch, newch )

Parameters

str (string)

String where the characters should be replaced.

oldch (string)

Character to be replaced. This string must only contain one character.

newch (string)

Replacement character. This string must only contain one character.

Return Value

Returns a copy of the given string where the characters have been replaced.

Example

-- Replace all points by commas:

s = "These are numbers: 1.234 and 3.45";

print( replace( s, ".", "," )); -- -> produces "These are numbers: 1,234 and 3,45"




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2.2 System

2.2.1 Get system information - system.info()

Returns a table containing the system information and the sensor-specific physical limits.

Syntax

<table> = system.info()

Parameters

none

Return Value

Table containing the system information:

<table>.serial_number = <int> Serial Number

<table>.hw_revision = <int> Hardware revision

<table>.sw_version = <string> Software version

<table>.bl_version = <string> Bootloader version

<table>.type = <string> System type, e.g. "KMS 40"

<table>.macaddr = <string> The sensor’s MAC address

Example

info = {};

info = system.info();

printf( "type: %s mm\n", info.type ); -- outputs: “type: KMS 40”




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2.2.2 Get firmware version – system.version()

Get the firmware version string.

This function is the scripting equivalent of the command interface’s V() command.

Syntax

<string> = system.version()

Parameters

none

Return Value

String containing the firmware version.

Example

version =system.version();

printf( "version: %s\n", version ); -- outputs something like: “version: 1.0.0”




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2.2.3 Get serial number – system.serial()

Get the sensor serial number.

This function is the scripting equivalent of the command interface’s SN() command.

Syntax

<integer> = system.serial()

Parameters

none

Return Value

Integer value containing the sensor’s serial number.

Example

serial =system.serial();

printf( "serial: %d\n", serial ); -- outputs something like: “serial: 12345678”




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2.2.4 Get system type – system.id()

Get the system type string. This can be used for example to distinguish between different devices

manufactured by Weiss Robotics that support the scripting interface.

This function is the scripting equivalent of the command interface’s ID() command.

Syntax

<string> = system.id()

Parameters

none

Return Value

String containing the system type.

Example

type =system.type();

printf( "type: %s\n", type ); -- outputs something like: “type: KMS 40”




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2.2.5 Get or set device tag - system.tag()

Sets and/or returns the system tag. The system tag is a string that can be set to any value. You can write

e.g. application specific data or the sensor location to it. The system tag can be accessed via the command

interface, too.

This function is the scripting equivalent of the command interface’s D() command.

Syntax

<string> = system.tag( [value] )

Parameters

value (string), optional

If this parameter is passed, it defines the new value for the tag.

Return Value

Current tag value.

Example

system.tag( "Example" ); -- Set the system tag to "Example"

printf( "System tag is %s\n", system.tag()); -- outputs: "System tag is Example"




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2.2.6 Get service tag - system.servicetag()

Return the service tag of the sensor. The service tag is an alphanumeric string that is used to identify the

device for service purposes.

Syntax

<string> = system.servicetag()

Parameters

none

Return Value

String containing the service tag of the device

Example

tag = system.servicetag();

printf("The system service tag is %s\n", tag );




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2.2.7 Get temperature - system.temperature()

Return the temperature of the device.

This function is the scripting equivalent of the command interface’s T() command.

Syntax

<number> = system.temperature()

Parameters

none

Return Value

Temperature in degrees celsius

Example

t = system.temperature();

printf("The current system temperature is %f degC\n", t );




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2.2.8 Get system flags - system.flags()

Return the current system flags value. The returned value is the decimal representation of a bit vector of 32

bit length, encoded as an integer value. A return value of 12 (binary 1100), for example, indicates that bit 2

and bit 3 are set, which means that the flags SF_FILTER_EN and SF_TARA are enabled.

Chapter 4 gives an overview of the available flags.

This function is the scripting equivalent of the command interface’s FLAGS() command.

Syntax

<integer> = system.flags()

Parameters

none

Return Value

System flags value

Example

f = system.flags();

printf( "The current system flag value is %d\n", f );




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2.3 Sensor and Data Acquisition

2.3.1 Acquire a single sensor data frame – daq.get()

Get a single sensor data frame that contains the currently measured values as well as a time stamp.

This function is the scripting equivalent of the command interface’s F() command.

Syntax

<table>, <int> = daq.get()

Parameters

none

Return Value

Returns a table holding the six measured force/torque values (floating point) and an integer value holding a

timestamp.

The first three numbers in the table indicate the forces Fx, Fy and Fz (in this order) in Newton (N). The three

following numbers indicate the torque values Mx, My and Mz in Newton meters (Nm). The timestamp value

is given in 1/10 Milliseconds (ms).

Example 1

f, ts = daq.get(); -- returns frame f and timestamp ts

Example 2

f = daq.get(); -- returns frame f only




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2.3.2 Get or set filter – daq.filter()

Get or set the type of filter that is currently used or should be used for filtering the sensor values. Several

types of filters are available. If a parameter is given, the function will return the state after the parameter

has been applied. The returned value should never be different from the given parameter’s value.

This function is the scripting equivalent of the command interface’s FLT() command.

Please note that this value will not be saved persistently, i.e. it will be lost when power-cycling the device.

Use the sensor’s web interface to change the default value that is loaded at boot time.

Syntax

<integer> = daq.filter( [id] )

Parameters

id (integer), optional

If given, the filter with this ID will be used for filtering. A value of 0 means that filtering is turned off.

Return Value

The function returns the ID of the filter currently in use.

Example

filter = daq.filter (); -- returns current filter id

if not filter == 0 then -- if filtering is not disabled at the moment

daq.filter(3); -- set filter to filter 3

end;




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2.3.3 Control sensor tare – daq.tare()

Tare or untare the sensor and/or return if it is currently tared. If taring is selected, the sensor will record a

number of measured values over a short time period and calculate average values that will be subtracted as

an offset value from all future measured values, making the currently measured value become 0. If untaring

is selected, this offset value will be cleared.

This function is the scripting equivalent of the command interface’s TARE() command.

Please note that this value will not be saved permanently, i.e. it will be lost when power-cycling the device.

Syntax

<boolean> = daq.tare( [enable] )

Parameters

enable (boolean), optional

If true, the sensor will be tared. If false, the sensor will be untared.

Return Value

The function returns the current taring state, detected after the given parameter has been applied.

Example

daq.tare( true ); -- tare the sensor

for i=1,10 do

x = daq.get(); -- acquire 10 frames and print them to stdout

print( x );

end;

daq.tare( false ); -- untare the sensor




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2.4 Calibration Settings

2.4.1 Get calibration matrix – calibration.matrix()

Get the sensor’s calibration matrix.

This function is the scripting equivalent of the command interface’s CALMATRIX() command.

Syntax

<table> = calibration.matrix()

Parameters

none

Return Value

The function returns a nested table of 6 x 6 values of type number holding the sensor’s calibration matrix.

Example

matrix = calibration.matrix(); -- get calibration matrix




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2.4.2 Get calibration date and lifetime– calibration.date()

Get the sensor’s calibration date as a UNIX-like timestamp1 and the calibration lifetime in seconds.

This function is the scripting equivalent of the command interface’s CALDATE() command.

You may use the function os.date() to convert the timestamp value into a human-readable formatted

date string.

Syntax

<integer>, <integer> = calibration.date()

Parameters

none

Return Value

The function returns two integer values. The first value represents a UNIX-like timestamp that indicates the

sensor’s calibration date. The second value represents the calibration lifetime in seconds.

Example

date, lifetime = calibration.date(); -- get calibration date and lifetime

print( os.date( “%x”, date ) ); -- convert date to human-readable string and print it

print( os.date( “%x”, date + lifetime ) ); -- calculate calibration timeout date and print it

1 Number of seconds passed since Jan. 1, 1970 0:00 h




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3 Interactive Scripting on the Command Interface

The KMS offers scripting extensions not only by executing program files from its web interface but also on

the default command interface as it is described in the Command Set Reference Manual. The command

strings submitted to the sensor will be interpreted as chunks of LUA code, offering a wide range of

possibilities e.g. by using control structures like loops or conditional branches in conjunction with the

commands described above or in the Command Set Reference Manual.

Opening the sensor’s command interface with a standard telnet client will provide an interactive scripting

console, ready to type in some code.

3.1 Scripting vs. Command Interface

You may have already noticed that some of the sensor-specific commands are available on the command

interface as well as on the scripting engine. The Command Set Reference Manual for example describes the

command F(), acquiring a single data frame, whereas the scripting command daq.get() does

practically the same.

The difference between the two commands is that F() outputs the result as a string to the command

interface while daq.get() does not. However, both functions return the same value that can be assigned

to a variable, so it depends solely on your intention which command should be preferred.

Examples

F() -- outputs something like

-- F={949732,-329790,-5681618,239,-8883,4742},472416

f, ts = daq.get() -- outputs nothing, just assigns return values to variables f and ts

PRINT( daq.get() ) -- outputs something like

PRINT={949732,-329790,-5681618,239,-8883,4742},472496

f, ts = F() -- assigns return values and prints result

3.2 Load custom function libraries

The functionality of the command interface can be extended by using your own LUA function libraries on

the command interface. To load these libraries, make them available in the file autoexec.lua that can be

found in the /user directory. If you saved your functions for example to /user/myfunctions.lua, you can

include them by adding the line

require “myfunctions.lua”




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to the appropriate section of /user/autoexec.lua.

Note that the file autoexec.lua must always be present. If it is deleted, a new empty file will be created

automatically at boot time.

Errors in autoexec.lua or in included files will be noted in the sensor’s log files.

3.3 Limitations

Interactive scripting on the command interface has some limitations compared to standard LUA. Most

important, there is no standard output to the interface, which means the common functions printf()

and print() are not available. Instead, there is the command interface’s PRINT() command that can

be used to output the values of variables. Please refer to the sensor’s Command Set Reference Manual for

further details on this command.

Another limitation is that a scripting chunk that should be executed at once must fit into one single line. For

complex operations, this may lead to a pretty confusing code structure. In this case, it may be a good idea

to put your code into a function library on the sensor’s SD card and to make these functions available on

the command interface using the autoexec.lua file as described in section 3.2.

3.4 Example

The following code example shows step by step how to acquire 10 data frames in a row, calculating the

average of each measured value and printing the result.

First of all, create a LUA table that should hold the intermediate result of the data acquisition by typing

frame = { 0, 0, 0, 0, 0, 0 }

followed by <Enter>. As this code chunk will not cause any output, we can check what happened by typing

PRINT( frame )

again followed by <Enter>. Note that the default LUA functions printf() and print() are not available on the

command interface. Instead, the special PRINT() command must be used.

Now let’s get the 10 frames in a row and sum up the measured values by using LUA’s for-loops. Type:

for i=1,10 do f = daq.get(); for j=1,6 do frame[j] = frame[j] + f[j]; end; end

and press <Enter>. Note that the whole string must be sent in one line to work.

Again, this string should be accepted without returning any response. Once more, we can check the result

by typing




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PRINT( frame )

which should return the sum vector of the acquired sensor values.

As final step, we can calculate the average values by using a for-loop again:

for j=1,6 do frame[j] = frame[j] / 10 end

and print the final result with

PRINT( frame )

We can also put the complete example code into a single line, of course, executing all the steps at once.




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4 Appendix A: System State Flags

The System State Flags are arranged as a 32-bit wide integer value that can be read using the function

system.state() (see chapter 2.3.1). Each bit has a special meaning listed below.

Bit No. Flag Name Description

D31 reserved These bits are currently unused but may be used in a

future release of the KMS firmware.

D30 SF_SCRIPT_FAILURE

Script Error.

An error occurred while executing a script and the script

has been aborted. This flag is reset whenever a script is

started.

D29 SF_CMD_FAILURE Command Error.

The last command returned an error.

D28 SF_POWER_FAULT Power Fault.

The power supply is out of range.

D27 SF_TEMP_FAULT

Temperature Fault.

The sensor hardware has reached a critical temperature limit.

D26 SF_CAL_FAULT Calibration Fault.

Calibration fault.

D25 SF_OV_MZ Overrun Mz.

Overrun for Mz value.

D24 SF_OV_MY Overrun My.

Overrun for My value.

D23 SF_OV_MX Overrun Mx.

Overrun for Mx value.

D22 SF_OV_FZ Overrun Fz.

Overrun for Fz value.




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D21 SF_OV_FY Overrun Fy.

Overrun for Fy value.

D20 SF_OV_FX Overrun Fx.

Overrun for Fx value.

D19..12 reserved These bits are currently unused but may be used in a future release of the KMS firmware.

D11 SF_TEMP_WARNING

Temperature Warning.

The sensor hardware will soon reach a critical temperature level.

D10 SF_CAL_EXPIRED Calibration expired.

Sensor calibration has expired

D9..6 reserved These bits are currently unused but may be used in a future release of the KMS firmware.

D5 SF_SCRIPT_RUNNING Script running.

A script is currently running.

D4 SF_DAQ_RUNNING

Data acquisition running.

Data acquisition is running. Frames are submitted using the command interface.

D3 SF_FILTER_EN Filtering enabled.

Filtering of sensor values is enabled.

D2 SF_TARA The sensor is tared.

Set if the sensor is tared.

D1 SF_STABLE Values stable.

The sensor measured values are stable.

D0 SF_CAL_VALID Calibration valid.

Sensor calibration is valid.




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5 Appendix B: Filter types

The sensor offers seven predefined filter settings of different frequency range to filter the acquired data.

The following diagram and table indicate the filter characteristics.

ID Filter Cutoff Frequency (-3 dB)

1 Filter 1 5 Hz

2 Filter 2 15 Hz

3 Filter 3 35 Hz

4 Filter 4 65 Hz

5 Filter 5 120 Hz

6 Filter 6 170 Hz

7 Filter 7 240 Hz

-30

-20

-10

0

0 50 100 150 200 250

Dam

pin

g [d

B]

Frequency [Hz]

Filter characteristics

Filter 1

Filter 2

Filter 3

Filter 4

Filter 5

Filter 6

Filter 7




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6 Appendix C: Syntax Notation

The following command syntax notation is used throughout this document:

Parameters

a Denotes a mandatory parameter

[a] Denotes an optional parameter

{a, b, c} Denotes a selection of mandatory parameters (exactly one must be present)

[{a, b, c}] Selection of optional parameters (either exactly one or none must be present)

Values

<integer> An integer value

<number> A floating point value

<string> A string literal

<table> A table

<var> variable type




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Weiss Robotics GmbH & Co. KG In der Gerste 2

D-71636 Ludwigsburg, Germany

e-mail: [email protected]

For further information and other products from Weiss Robotics, please visit our homepage at http://www.weiss-robotics.com. _________________________________________________________________________________________ © 201212 Weiss Robotics, all rights reserved. All technical data mentioned in this data sheet can be changed to improve our products without prior notice. Used trademarks are the property of their respective trademark owners. Our products are not intended for use in life support systems or systems whose failure can lead to personal injury.

http://www.weiss-robotics.com/

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