ft_rtde_input_enable(enable, sensor_mass=0.0, sensor_measuring_offset=[0.0, 0.0, 0.0], sensor_cog=[0.0, 0.0, 0.0])

This function is used for enabling and disabling the use of external F/T measurements in the controller. Be aware that the following function is impacted:

  • force_mode
  • screw_driving
  • freedrive_mode

The RTDE interface shall be used for feeding F/T measurements into the real-time control loop of the robot using input variable external_force_torque of type VECTOR6D. If no other RTDE watchdog has been configured (using script function rtde_set_watchdog), a default watchdog will be set to a 10Hz minimum update frequency when the external F/T sensor functionality is enabled. If the update frequency is not met the robot program will pause.

Parameters

enable: enable or disable feature (bool)

sensor_mass: mass of the sensor in kilograms (float)

sensor_measuring_offset: [x, y, z] measuring offset of the sensor in meters relative to the tool flange frame

sensor_cog: [x, y, z] center of gravity of the sensor in meters relative to the tool flange frame

Notes:

This function replaces the deprecated enable_external_ft_sensor.

The TCP Configuration in the installation must also include the weight and offset contribution of the sensor.

Only the enable parameter is required; sensor mass, offset and center of gravity are optional (zero if not provided).

Example command:ft_rtde_input_enable(True, 1.0, [0.1, 0.0, 0.0], [0.2, 0.1, 0.5])

  • Example Parameters:
    • enable -> Enabling the feed of an external F/T measurements in the controller.
      • sensor_mass -> mass of F/T sensor is set to 1.0 Kg.
      • sensor_measuring_offset -> sensor measuring offset is set to [0.1, 0.0, 0.0] m from the tool flange in tool flange frame coordinates.
      • sensor_cog -> Center of Gravity of the sensor is set to x=200 mm, y=100 mm, z=500 mm from the center of the tool flange in tool flange frame coordinates.
    • ft_rtde_input_enable(True, 0.5)
      • Example Parameters:

        • enable S{​​​​​​rarr}​​​​​​ Enabling the feed of an external F/T measurements in the controller.

        • sensor_mass S{​​​​​​rarr}​​​​​​ mass of F/T sensor is set to 0.5 Kg.

        • Both sensor measuring offset and sensor's center of gravity are zero.

      • @example:

        • C{​​​​​​ft_rtde_input_enable(False)}​​​​​​

        • Disable the feed of external F/T measurements in the controller (no other parameters required)