M8128 User`s Manual - Sunrise Instruments
Contents
1. 10 4 1 3 PONER is BIN T x n 10 4 2INDICATED LIGHTS ccccssscccsscccccsceccesceccssccsscccccscecesececescecccsceccnscsccscesecececcsceccnscsccsceseuses 10 COMMUNICATION 11 5b e 11 52 AN 11 5 3 1 11 592 PAUD RATE NN 11 SO ETHERNET 11 6 HOW TO CONFIGURE SYSTEM AND GET REALTIME DATA 12 6 1SYSTEM INITIALIZATION 12 6 2 SYSTEM PARAMEBTERS Le 12 6 3 GET REALTIME DATA Qpad 12 6 3 1 FOR STRUCTURALLY DECOUPLED LOADCELL ssssseeeecccccccceeceeeeeseseesnnneececeeceeeeeessesesttnneeeees 12 6 3 2 FOR MATRIX DECOUPLED LODGE Lue Sal Eram aeo cue ERR run ta Ernie R a RH UP DRM HS 13 Te COMMAND M 14 7 1 COMMANDS TO CONFIGURE RS232 CAN 16 7 1 1 PARAMETERS PR eee 16 7 1 2 ID TYPE FOR CAN BUS ccc rats a costes nee 16 7 1 3 PRE 17 7 1 4 2 EE 18 7 1 5 INTERVAL TIME BETWEEN FRAMES OF CAN 18 7 1 6 ETHERNET IP ADDRESS ME eo eer 18 7 12. CHx CHx CHx String Character comprised of three ASCII codes and is less than 80 0 255 For example if 20 data points are desired Num must be written as 20 Filter model and relevant parameters The Weighted Mean Algorithm is supported by M8128 Every sampling point will be averaged with previous N N lt 17 points FM Filter model Set to WMA p1 p2 p3 pn The weight of each point where pn is the weight of the latest sampling point They must FM p1 p2 p3 pn be integer For example WMA 1 1 1 2 4 means that the average will be got from five points D1 D2 D3 D4 D5 The average is defined as 05 4 04 2 03 1 02 1 01 1 4 2 1 1 1 Note Please input WMA 1 if the Weighted Mean Algorithm is not needed Document NO M8128 131106 M8128 Users Manual V1 3 Page 23 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 3 2 To get one package data every time Description To get one package data from M8128 Command Syntax AT GOD AT GOD DataFormat Note If it s necessary please use command SGDM to set the mode to receive data Variable Type DataFormat Data package refer to the following for details Data package refer to the following for details refer to the following for details 7 3 3 To get data repeatedly Description To get data from M8128 repeatedly
3. 7 2 3 Sensor Excitation Voltage Description To read excitation voltage of sensor Command Syntax AT EXMV AT EXPOS V1 V2 Vn Note ________________________________________________ Variable Type Float T 3 4E38 3 4E38 Excitation voltage of Channel N The unit is in volt Example Send AT EXMV Vin Response ACK EXMV 5 007853 5 007853 5 007853 5 007853 5 007853 5 007853 0K r n Document NO M8128 131106 M8128 Users Manual V1 3 Page 21 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 2 4 Sensor Sensitivity Description To read or set the sensitivity of sensor Command Syntax AT SENS Sen 1 Sen 2 Sen 3 Sen n AT SENS Sen 1 Sen 2 Sen 3 Sen n AT SENS Sen 1 Sen 2 Sen 3 Sen n OK ERROR Note After the sensitivities of sensor are configured by the command SENS the real time data in engineering unit can be obtained from M8128 Variable Type 2 Parameter Valid Range Description Float Sen n 3 4E38 3 4E38 The sensitivity of Channel n It s a floating point number Example Send AT SENS 0 324 0 286 0 324 0 286 0 324 0 286 0 324 0 286 r n Response ACK SENS 0 324 0 286 0 324 0 286 0 324 0 286 0 324 0 286 OK r n 7 2 5 Amplifier Zero offset Description To read amplifier zero offset of each channel Command Syntax AT AMPZ AT AMPZ Am
4. CH1x 0 125 CH2x 0 125 CH2x 0 125 CH2x 0 125 CH2x 0 125 CH2x 0 125 CH2x 0 CH2x 0 CH2x 0 125 0 125 0 125 0 125 0 125 0 125 0 0 Import 0 125 CH4x 0 125 CH4x 0 125 CH4x 0 125 CH4x 0 125 CH4x 0 125 CH4x 0 CH4x 0 0 125 5 0 125 5 0 125 5 0 125 5 0 125 CH5x 0 125 CH5x 0 CH5x 0 5 0 125 CH6x 0 125 CH6x 0 125 CH6x 0 125 CH6x 0 125 CH6x 0 125 CH6x 0 CH6x 0 CH6x Enable Decoupling 0 125 CH7x 0 125 CH7x 0 125 CH7x 0 125 CH7x 0 125 CH7x 0 125 CH7x 0 7 0 CH7x 7 AutoFit Port Settin Open Port OG Fit View Pause Disp SaveWaves Openwaves gs Ethernet Type TCP LocalHost Realtek RTL8168 PortName COM1 m TargetHost 192 168 0 168 0 108 BaudRate 115200 Port 4008 Document NO M8128 131106 HexShow Discover iDAS ClearShow 50 ms times Auto Send Hex Send V SendNewLine Info Input US v cH2 V V CH5 CH3 V CH4 7 CH8 CH9 E 1 14 15 CH11 CH12 CH16 ChOffset 1 SaveValue
5. RealTime M8128 Users Manual V1 3 Page 5 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 0181 1 248 962 3088Email sri srisensor com Web www srisensor com Step7 Select Unit There are two types of loadcells A and B depending on the electronics within the sensor The specific type of the sensor is indicated in the calibration report For A Unit should be set to mV V For Type B Unit should be set to mV Display Settings Value Vpp Offset 7 CH1 E CH2 B CH3 CH4 E CH5 CH6 EJ CH7 E CH8 m DP1 S DP2 Lj DP3 ES DP4 DPS DP6 DP7 Fors EI Display Adjust RealTime Settings WinZoomIn AxisHZoomIn AxisVZoomin AxisHShiftLeft AxisVShiftUp SSID ModulelD PointPerPackage HexShow autorit Fitview Pause Disp SaveWaves OpenWaves FM J cHi 2 CH3 CH4 Port Settings Ethernet V CH5 V CH6 CH7 CH8 EN Type TCP CH9 CH10 CHii 12 LocalHost cH13 cH14 cH15 6 Realtek RTL8168 50 ms times mm Mg PortName coMi TargetHost F Auto Send Input C lUsers Administrator Desktop CmdTest txt 192 168 0 108 Hex Send BaudRate RealTime Stop 1152001 Port 4008 SendNewLine Info ee Em 2 0 110 D m m I 8 S 00 00 00 000 21 21 nd er
6. n Ur d 2 Step8 Select CH1 through CH6 at the lower right corner on the screen Click RealTime button and the engineering unit data will be shown in the curve window Note DP 1 through DP6 are the decoupled data in engineering unit Typically DP1 FX DP2 FY DP3 FZ DP4 MX DP5 MY DP6 MZ CH1 through CH6 are the raw data in the unit as selected in Step7 Test Help Display Settings Value Vpp Offset M 0 0528 oo co NE 0 0269 0 0130 0 0230 0 0173 oo oo 0 0220332 cHs 0 0463 oos cHe EM 0 0571 0 0192 7 0 0000 0 0000 M ooo 0 0166563 M 0 0091 pp2 0 0091 0 0091 0 0198 0 0091 pps M 00 00 12 945 00 00 13 445 00 00 13 945 00 00 14 445 00 00 14 945 00 00 15 445 00 00 15 945 DP6 B 0 0198 0 0091 00 00 16 395 0 0000 0 0000 lors 0 0000 0 0000 Display Adjust ACK SMPR 2200 0K RealTime Settings WinZoomin AxisHZoomin AxisVZoomin AxisHShiftteft AxisvShiftup 5510 ModuleID M82175N00002 WinZoomOut AxisHZoomOut AxisVZoomOut AxisHShiftRight AxisVShiftDown SampRate 2
7. If communication is set up successfully 1 iDAS found will be shown on screen Discovering IDAS 58 BaudRate 115200 Discovering IDAS Please waiting 100 95 0 iDAS found Document NO M8128 131106 M8128 Users Manual V1 3 Page 7 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 0181 1 248 962 3088Email sri srisensor com Web www srisensor com 4 Click Open Port button the indicated light will be red when Ethernet is working properly LIspiay AUJUSL zonam titor Aio astra mue WinZoomOut AxisHZoomOut AxisVZoomOut AxisHShiftRight AxisvshiftDown E Hexshow PauseShow Port Settings Ethernet per Realtek RTL8168 500 ms times PortName Ethrox w TargetHost E Auto Send Input OpenFile 192 168 0 108 Hex Send AT CHNNUM BaudRate 115200 Port 4008 ina 3 3 Send Commands Input command to Command Input Box it can be sent to M8125 by clicking Send button 3 4 Get Real time Data iDAS Debug Tools 12 ae x 2 Display Settings Value Vpp Offset 44463 7 Me E 36166 498 0 V CH2 32183 1560 0 V CH3 32693 2297 0 Wo 3878 3315 o 38191 1 vios MEL v4 1667 voe f s o7 o V CH7 32415 15 0 V CH8 32507 16 0 0 0 0 1918 6 al 0 0 0 0 0 0 pl 0 0 0 0 0 0 25646 00 00 03
8. be Engineering unit AD Counts AmpZero 65535 5 Gain Sensitivity Ex If sensitivity unit is V Eu formula should be Engineering unit AD Counts AmpZero 65535 5 Gain Sensitivity If sensitivity unit is mV Eu formula should be Engineering unit 1000 AD Counts AmpZero 65535 5 Gain Sensitivity Where AD Counts is the data received from M8128 Gain is the actual gain of each channel which is obtained from the command CHNAPG The sensitivity of a sensor is typically reported in the sensor s calibration document A typical unit for a loadcell is mV V Eu where Eu is N or Nm Ex is the actual excitation voltage which is obtained from Command EXMV AmpZero is the amplifier zero offset of each channel it is obtained from Command AMPZ 999 6 3 2 For matrix decoupled loadcell Method to decouple a 6 axis load cell is described in it s calibration report The following figure is an example 5 26023 0 82822 7 26005 282 60288 4 48842 284 01162 3 99885 329 09963 2 06366 161 62996 7 02214 164 61785 DECOUPLED 896 25932 6 78126 895 94760 4 17719 917 06987 0 75944 0 03227 0 01827 48 71672 0 19332 49 63531 0 13131 57 14424 0 42225 27 22186 0 13688 ZESSEN 0 14478 0 33726 19 16262 0 17452 19 20376 0 30048 19 36831 The six axis loads can be decoupled as follows Step 1 Obtain the raw data of Channels 1 through 6 into Volt RAW rawchn1
9. 00 Hz uim PointPerPackage 80 Skip 0 3 F HexShow AutoFit Fit View Pause Disp SaveWaves OpenWaves FM PauseShow V VicH3 Port Settings Ethernet TCP iscover CH9 CH11 CH12 WW Localost CH13 cH15 6 Realtek RTL8168 50 ms times 192 168 0 108 meN leare rater a VmdTa ChOffset i SaveValue PortName COM1 TargetHost I Auto Send Input C Users Administrator Desktop VCmdTest tx T SendFil RealTime BaudRate 115200 Port 4008 ER 8128 131106 M8128 Users Manual V1 3 Page 6 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 0181 1 248 962 3088Email sri srisensor com Web www srisensor com IDAS RD Debugging Software iDAS RD is a debugging software that supports the commands of M8128 which can be used for the user to send a series of commands to M8128 to achieve a special application PC Requirement arcae sun e em Win7 Installation Procedures Uncompressed iDAS RD Curve Window S E E Egg 2 5 a w o PR ee eee G 9t T Egi DER i s a u d FE 3 1 Set RS232 Show Setting 1 Set PortName COMx x depends on user s computer sinis Cs 2 Set BaudRate as 115200 Make sure Window RS232 of PC has a sam
10. 28 Users Manual V1 3 Page 10 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 5 Communication BUS 5 1 RS232 M8128 supports RS232 communication with the default Baud Rate 115200bps The baud rate can be changed to 921600bps 460800bps 256000bps 230400bps 57600bps 56000bps 38400bps 19200bps 14400bps or 9600bps by Command UARTCFG 5 2 CAN Bus M8128 supports CAN 2 0 and the maximum baud rate is 1Mb s 5 3 1 ID M8128 uses CAN Bus with standard 11 bits ID or extended 29 bits ID The default ID is 0 and ID can be configured by Command CIDT and CFIDL Please note that the configured ID is unavailable until M8128 is restarted One M8128 can have up to 14 IDs 5 3 2 Baud Rate The default Baud Rate of CAN Bus in M8128 is 1Mb s and the Baud Rate can be changed by Command CRATE in two ways One method is to send AT CRATE BR rate to set the Baud Rate where the rate should be 1Mb s 0 8Mb s 0 75Mb s 0 6Mb s 0 5Mb s 0 45Mb s 0 25Mb s or 0 125Mb s The other method is to send AT CRATEZRP BS1 BS2 Prescaler to set the Baud Rate More Baud Rate can be achieved by this method The Baud Rate is defined as follows Baud Rate 36 1 BS1 BS2 1 Prescaler Mbps LJ Note The configured Baud Rate is unavailable until M8128 is restarted 5 3 Ethernet M8128 also supports Ethernet IP address 192 168 0 108 Po
11. 610 00 00 03 890 00 00 04 170 00 00 04 450 00 00 04 731 00 00 05 011 00 00 05 291 CH 0 0 0 000005543 9 9 o 0 0 0 Display Adjust RealTime Settings WinZoomIn AxisHZoomIn AxisVZoomIn AxisHShiftLeft AxisVShiftUp SSID ModuleID M8 116SN00384 WinZoomOut AxisHZoomOut AxisVZoomOut AvisHshiftRight AxisvshiftDown SampleRate 357 V Hexshow Wlautorit Fit view Pause Disp SaveWaves DpeniWaves Data Unit aD Counts PauseShow P z c Port Settings Ethernet 5 V CH6 V CH8 i i learShow 5 Type TCP Discover iDAS 7 CH12 LocalHost 14 15 1 6 Realtek RTL8168 100 ms times PortName COM3 TargetHost T Auto Send Input OpenFile E SensorRoboticsV6 0 Release CmdTest txt SendFile High 16CH 192 168 1 101 F Hex Send AT SENS 0 0 0 0 0 0 0 0 Send ml i RealTime Stop mr IM SendNewline Info Tx 1038 Rx 35381 Clear 1 Select CH1 through CH6 at the lower right corner on screen 2 Click Data Unit to select the data unit AD Count mV mv V N or Nm 3 Click Realtime to get data from M8128 the real time data will be shown in the window Note that if data in engineering unit want to be shown please refer Step5 through Step8 in Quick start chapter 2 4 Click SaveWaves to export
12. 6x6 diagonal matrix If sensitivity unit is V V Eu or V Eu 1 divided by 1000 sensitivity i e 1 1000 sensitivity should be fill in a 6x6 diagonal matrix For example a Structurally Decoupled Loadcell with sensitivity unit in V Eu as shown in the following figure Voltage Calibration Bridge Capacity Zero Offset Nonlinearity Hysteresis Output Sensitivity Change N Nm V FS FS V FX 165 0 0108 0 53 0 95 1 7815 1 0797E 02 0 00 EY 165 0 0175 0 55 0 57 1 7546 1 0634E 02 0 00 FZ 495 0 0331 0 44 0 36 1 8365 3 7101E 03 0 00 MX 15 0 0152 0 93 0 89 1 8050 1 2034E 01 0 00 MY 15 0 0213 0 75 0 79 1 8927 1 2618E 01 0 00 MZ 15 0 0060 0 94 0 45 1 9111 4 1 2741E 01 0 00 Its matrix should be 009008 0 of of o 0 000408 0 0 0 O0 0 0 026085 amp 0 0 0 0f 0 0 000881 0 0 0 0 of 000095 0 ofl 0 0 0 007849 Click Test at the upper left corner and fill in the 6x6 decoupling matrix got by Step5 Coefficients in Columns amp CH8 and Rows DP7 amp DP8 should be set to zero Click Enable Decoupling button to activate the decouple algorithm Click OK to return to the main window ss ibas R amp D Display Settings Value Vpp Offset E 0 coo NE 0 uos m 0 v CH4 E 0 V 0 94 CH5 otep6 Decoupling Setting DP1 CHix DP2 CHix CH1x DP4 CH1x DP5 CH1x DP6 CH1x DP7 CH1x DP8
13. 7 ETHERNET NA 19 7 1 8 ETHERNET GATEWAY ADDRESS 19 7 1 9 FETE 19 7 2 SYSTEM PARAMETERS eeaosonosovvnenesnnnennnenennnansnnnunnenenenenenesennenenenenensnsnnnunnenenenenenesnnnenesennnenenenenenes 21 7 2 1 Fe INI Ne 21 7 2 2 SAMPONG EN 21 7 2 3 SENSOR TINN 21 7 2 4 SENSOR SENSITIVITY 25 bua amid satus tett ttt ttt tt temi Ur aa Me Ri EK a oca sund 22 7 2 5 AMPLIFIER ZERO FF EG 22 7 3GET REAL TIME DATA HH 23 7331 ETEN EEE 23 7 3 2 TO GET ONE PACKAGE DATA EVERY TIME ssseeseecccccccceceeeeeeesesssnnccceccceeeceesesstensnnnnacececeeeeeeers 24 7 9 8 TO GET DATA REPEATEDLY 24 Document NO M8128 131106 M8128 Users Manual V1 3 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 1 Introduction The Interface Box M8128 provides bridge excitation signal conditioning data acquisition and digital communication to the user s controller or PC via RS232 CAN Bus or Ethernet The interface box has six analog input channels with programmable gains to allow for low voltage such as strain gage bride signal A 24 bit sigma delta AD converter 16 bit effective is used to provide high resolution 1 5000 to 1 10000 of full scale digital signal The data rate is up to 2KH
14. 8 Users Manual V1 3 Page 18 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com Response ACK EIP 192 168 0 108 OK r n 7 1 7 Ethernet MAC Description To set Ethernet MAC Command Syntax AT EMAC addr0 addr1 addr2 addr3 addr4 addr5 AT EMAC addr0O addr1 addr2 addr3 addr4 addr5 AT EMAC addr0 addr1 addr2 addr3 addr4 addr5 OK ERROR Note It will be available after M8128 is restarted Variable Type Ethernet address eg 12 13 14 15 16 17 Example Send AT EMAC 12 13 14 15 16 1 Response ACK EMAC 12 13 14 15 16 17 OK Wn Send AT EMAC Vn Response ACK EMAC 12 13 14 15 16 17 OK Wn 7 1 8 Ethernet Gateway address Description To set Ethernet gateway address Command Syntax AT EGW2 addr0 addr1 addr2 addr3 AT EGW addrO addr1 addr2 addr3 AT EGW addrO addr1 addr2 addr3 OK ERROR Note It will be available after M8128 is restarted Variable Type Ethernet gateway address eg 192 168 0 1 Example Send AT EGW 192 168 0 1 r n Response ACK EGW 192 168 0 1 0OK Vin Send AT EGW Vin Response ACK EGW 192 168 0 1 0OK Vin 7 1 9 Ethernet netmask Description To set Ethernet netmask Command Syntax AT ENM addrO addr1 addr2 addr3 AT ENM addrO addr1 addr2 addr3 addrO addr1 addr2 addr3 OK ERROR Note It will be available after M8128 is restarted Va
15. Command Syntax AT GSD AT GSD DataFormat Note 1 If it s necessary please use command SGDM to set the mode to receive data 2 stop receiving data send AT GSD STOP r n to M8128 Variable Type DataFormat Data package refer to the following for details Data package refer to the following for details refer to the following for details DataFormat is defined as follows Package Length 0x55 HB LB Note 0x55 Frame header of data package 5 PackageLength The length of data of each channel It equals to 2 ChNum N DNpCH 1 ChNum N DNpCH Byte Where ChNum is the number of required channel N equals to 2 if the data unit is in AD Counts and equals to 4 if the data unit is in engineering unit or mV V DNpCH is the number of sampling points to upload The resolution of AD chip is 16 bits Each sampling point has two bytes with the high 8 bits followed by the low 8 bits if the data unit is AD Counts Each sampling point has four bytes if the data unit is engineering unit or mV V 2 lt Each sampling point is labeled by MCU in M8128 Therefore each point has a unique ID i e DataNo DataNo is comprised of two Bytes with the high 8 bits followed by the low 8 bits The actual clock time can be calculated from the sampling rate and the of points The DataNo also can be used to determine if missing points occur For example in the condition of DNpCH equa
16. S2 Prescaler 1 AT CRATE BR rate 2 AT CRATE RP BS1 BS2 Prescaler OK ERROR Note 1 The default Baud Rate of CAN Bus in M8128 is 1Mb s and the baud rate can be changed by the command CRATE through two ways 1 1 One method is to send AT CRATE BRirate to set the Baud Rate where the rate should be 1Mb s 0 8Mb s 0 75Mb s 0 6Mb s 0 5Mb s 0 45Mb s 0 25Mb s or 0 125Mb s 1 2 The other method is to send AT CRATE RP BS1 BS2 Prescaler to set the Baud Rate More Baud Rate can be achieved by this method The Baud Rate is defined as following Baud Rate 36 1 BS1 BS2 1 Prescaler Mbps 2 Only one method can be used each time 3 It will be available after M8128 is restarted Variable Type eR O Smg Keyword SCS Baud Rate in bps This parameter can be E Int 1000000 800000 750000 600000 500000 450000 250000 or 125000 Unsigned short int 0 65535 Unsigned short int DON Unsigned short int Prescaler 0 65535 An integer which is through 1 to 1024 Example Send AT CRATE Vin Response ACK CRATE BR 1000000 OK r n An integer which is through 1 to 16 Send AT CRATE Vin Response ACK CRATE RP 7 8 20 OK r n Send AT CRATE BR 125000 r n Response ACK CRATE BR 125000 OK r n Send AT CRATE RP 7 8 20 r n Response ACK CRATE RP 7 8 20 OK r n Document NO M8128 131106 M8128 Users Manual V1 3 Page 17 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374
17. SRI Document No M8128 131106 I509001 2008 CERTIFIED M8128 User s Manual This document is the User s Manual for M8128 the interface box for the force torque sensor loadcell manufactured by SRi Sunrise Instruments Co Ltd It s strongly recommended that anyone who uses M8128 should read this document before any operation Please do not hesitate to contact SRi if there is any question Document NO M8128 131106 M8128 Users Manual V1 3 SRI Document No M8128 131106 I509001 2008 CERTIFIED Contents INTRODUC HON re 3 2 QUICKSTART e ee eee 4 3 IDAS RD DEBUGGING 7 TETEN 7 S SETETERNET 2 7 8 3 4GET REAL TIME DATA eesosonesevvnevevnnnenenenennnennnnnnnnnnenensnenennnnnnenenenenennnnnnnneneuennnenennnsnnennunneneuesenenenee 8 3 5 GET ENGINEERING UNIT DATA FOR STRUCTURALLY DECOUPLED LOADCELL 8 4 CONNECTORS AND LED LIGHTS eeeerneevrnnevvennnvvnnnnvennnnvnnnnnnnnnnnennunnnnnunennnunennunnennunennuunennuneennunenen 9 m 9 4 1 1 19 PIN LEMO CONNECTOR 9 4 1 2 ETHERNET RS232 CAN BUS
18. SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 4 1 2 Ethernet RS232 CAN Bus connector Table 4 2 Definition of Ethernet RS232 CAN Pin 4 5 Pin Definition Co Do 2 RS232 3 RS232 3 CAN BUS eo B 3 6 CAN BUS RDP Ethernet TEN 779 mon Ethernet M8128 has a 2 meters long power cable It operates on DC 12 36V not included and requires 200mA maximum supply current The cable color codes are defined as follows Table 4 3 Definition of the power cable Color Definition Note gt Red Blue Orange The red clip Black Brown Yellow Green The black clip The power cable shield is connected to the Shield Shield line external case of M8128 To reduce noise it is recommended to connect the shield to the true ground in your test lab 4 2 Indicated Lights There are two indicated lights PWR Power and STA Status The conditions of these lights are defined in Table4 4 Table 4 4 Indicated lights PWR STA Definition Whatshoulddo ON J J Powerison For ON Sensor excitation is Check the sensor cable abnormal System works ok PWR net damadcd Either ignore or repair PWR light Sensor excitation is abnormal and PWR light Check the sensor cable may get damaged Document NO M8128 131106 M81
19. USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 1 4 ID of CAN Bus Description To read or set ID of CAN Bus Command Syntax AT CFIDL id1 id2 id3 idn AT CFIDL id1 id2 id3 idn AT CFIDL id1 id2 id3 idn OK ERROR Note One M8128 can have maximum 14 IDs It will be available after M8128 is restarted Variable Type 2 idn 0 2 or 0 27 Decimal number Example Send AT CFIDL 128 r n Response ACK CFIDL 128 OK r n Send AT CFIDL Vin Response ACK CFIDL 0 125 126 127 128 OK Vin 7 1 5 Interval time between frames of CAN Bus Description To set or read interval time between frames of CAN Bus Command Syntax AT CFl IntervalTime AT CFI IntervalTime AT CFI IntervalTime OK ERROR Note It will be available after M8128 is restarted Variable Type 0 10000 Interval time in us The default value in firmware is Ous Example Send AI CFl 10 r n Response ACK CFI 10 OK Vin Send AT CFl Vin Response ACK CFI 10 OK Vin 7 1 6 Ethernet IP Address Description To set Ethernet IP address Command Syntax AT EIP addr0 addr1 addr2 addr3 AT EIP addrO addr1 addr2 addr3 AT EIP addrO addr1 addr2 addr3 OK ERROR Note It will be available after M8128 is restarted Variable Type Example Send AT EIP 192 168 0 108 r n Response ACK EIP 192 168 0 108 OK r n Send AT EIP Vin IP address eg 192 168 0 108 Document NO M8128 131106 M812
20. a 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com M8128 Command Index UARTCFG To read or set parameters of RS232 a IP error ren Become available after restart M8128 Become available ENM Ethernet netmask after restart M8128 CHNAPG To read the gain of each channel D To read or set sampling rate To read or set the sensitivity of sensor It is saved to the embedded memory AMPZ To read amplifier zero offset of each channel SGDM To set the mode to receive data EE GSD 9 To get data from M8128 repeatedly GOD To get one package data from M8128 8128 131106 M8128 Users Manual V1 3 Page 15 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 71 Commands to configure RS232 CAN 7 1 1 Parameters of RS232 Description To read or set parameters of RS232 Command Syntax AT UARTCFG RATE rate AT UARTCFG RATE rate AT UARTCFG RATE rate OK ERROR Note The Master Equipment will receive messy codes after sending a new Baud Rate X to Slave Equipment by command UARTCFG This situation is caused by the different Baud Rate between Master Equipment and Slave Equipment Therefore it s recommended that the Baud Rate for the Master Equipment is changed to X and the comm
21. ad bas a c c k e gt c ud ws 2 c 0 i te WY H c gt o DIMENSIONS ARE IN MM Document NO M8128 131106 M8128 Users Manual V1 3 Page 26
22. and UARTCFG is sent to M8128 again to get a correct response Variable Type RATE RATE is the key word of Baud Rate it can t be left out Baud Rate of RS232 in bps For example 115200bps Unsigned long int Baud Rate of RS232 in M8128 can be 115200bps 0 27 1 921600bps 460800bps 256000bps 230400bps 57600bps 56000bps 38400bps 19200bps 14400bps or 9600bps rate Example Send AT UARTCFG Vin Response ACK UARTCFG RATE 115200 OK r n Send AT UARTCFG RATE 57600 r n Response Messy code Master Equipment Baud Rate is changed to the new one Send AT UARTCFG RATE 57600 r n Response ACK UARTCFG RATE 57600 OK r n 7 1 2 ID type for CAN Bus Description To read or set ID type for CAN Bus Command Syntax AT CIDT Type AT CIDT AT CIDT Type OK ERROR Note The configured ID type will be available after M8128 is restarted Strin The Type can be STD or EXT STD denotes the standard 9 11 bits ID and EXT denotes the extended 29 bits ID Example Send AT CIDT Vin Response ACK CIDT STD OK r n Document NO M8128 131106 M8128 Users Manual V1 3 Page 16 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 1 3 Baud Rate of CAN Bus Description To read or set baud rate of CAN Bus Command Syntax 1 AT CRATE BR rate 2 AT CRATEZHRP BS1 BS2 Prescaler ve 1 BR rate 2 RP BS1 B
23. ck Open Port to open RS232 communication port and the indicated light next to the Open Port button will be red when the port is working Fen Display IESU Asstioom Assiisomin mastetan wasto ssp Modulet 175 60002 EL 20 Cau PnPePadage Sp 0 aeri FW pne Do save rris opereres Henshaw ni aoe zm rene Hon Zoe ics Fon set men Yow E uere 8 me Flos Mom Bou Gent sores SaveShow Oms Hia Bestek ETLI T s Tees input aerae SE 5 1 Savent EY 168 0 108 Em pier Send nait Lam Por Nom Info Tail or el ele a olol alet ele elepejenu Uu u 0 0 0 0 0 Document NO M8128 131106 M8128 Users Manual V1 3 Page 4 Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 0181 1 248 962 3088Email sri srisensor com Web www srisensor com SRI Step5 Obtain the decoupling matrix in calibration report of each loadcell Matrix Decoupling Loadcell The matrix is contained in the calibration report otructurally Decoupled Loadcell 1 Find sensitivities in the calibration report 2 If sensitivity unit is mV V Eu or mV Eu the reciprocal of each channel s sensitivity should be fill in a
24. data to a ixt file 3 5 Get engineering unit data for Structurally Decoupled Loadcell This is another method to get engineering unit data for Structurally Decoupled Loadcell 1 Send command AT SENS sen1 sen2 sen3 sen4 sen5 sen6 to M8128 where sen1 through sen6 are each channel s sensitivity of sensor Sensitivities can be fund in the calibration report Note 1 If sensitivity unit is mV V Eu or mV Eu sen1 through sen6 should be sent to M8128 directly 2 If sensitivity unit is V V Eu or V Eu sen1 through sen6 should be divided by 1000 2 If sensitivity unit is mV V Eu send command AT SERLA 1 1 1 1 1 1 to M8128 If sensitivity unit is mV Eu send command AT SERLA 0 0 0 0 0 0 to M8128 Click Data Unit to set the data unit as N or Nm 4 Click Realtime to get data in engineering unit from M8128 Document NO M8128 131106 M8128 Users Manual V1 3 Page 8 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 4 Connectors and LED lights 41 Connector 4 1 1 19 pin LEMO Connector Figure 4 1 LEMO 19 pin order Table 4 1 LEMO 19 pin definition ___ The negative excitation The positive excitation GND The shield line of cable it s recommended SNE INE that connect the shield line to ground Document NO M8128 131106 M8128 Users Manual V1 3 Page 9
25. e baud rate for M8128 The default baud rate of M8128 is 115200bps Command Input Box 3 2 Set Ethernet 1 Set Ethernet IP of your PC as 192 168 0 2 set subnet mask as 255 255 255 0 ___ u ue _ Ge gt SEE M Internet gt N STE gt BR v Esca ix NER me eue EH SU Fine A HARE 7 Realtek R i uem ET Internet MWR 4 4 BE 9 EE ER MIELE 198 251 Realtek RTLB168D 8111D FM PCI E FJELLA I Re I es CERO BERIS 1P HEREA TUE 0 PETEN IP v DW Microsoft Pim IP 192 168 0 fuge v Microsoft PIRAT HE FPS 0 255 255 255 0 Internet Hive 6 ICP IPv6 Mm 4 Internet 4 ICP IPv4 MAPEK 0 v 2 ARERIA 1 0 ize 5 GENE DNS HER EH REEF PETEN DS RENE 2 DNS 858 0 ft T DNS 6528 P IP o wen GRRE ee E cue T HSE ERO WE BA 2 Open IDAS RD As shown in the following figure set PortName as EthToX set Ethernet Type as TCP select LocalHost your PC s Ethernet card set Port as 4008 Port Settings Ethernet Type Discover iDAS 88 LocalHost Realtek RTL8168 2000 PortName EthTox 12192108 Auto Send 192 168 0 108 Port 4008 SendNewLine 3 Click Discover iDAS button software will connect to M8128 automatically
26. ls to 20 DataNo of the latest data package is 512 DataNo of the next package will be less than 532 if no missing point occur Similarly missing point occur when DataNo is more than 532 5 CRC32 is the the CRC32 check of Data CRC32 function MyCRC GetCRC32 uint8 t pData uint16 t Length in C program is including in the CD ROM As shown in the following figure Document NO M8128 131106 M8128 Users Manual V1 3 Page 24 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com Condi tons 1 Just CHa and are required cilo get 4 points of each channel every time Command point Number 4085 Time Sampling point number CHO r G MM Dae Da3 Da4 Das Time lt Sampling point number Or e s Do 104 DbS When M8128 received the command AT GOD assume that the DataNo of the latest sampling data Da5 and Db5 is OxA085 Therefore Da2 to Da5 and Db2 to Db5 will be sent to Master Equipment by M8128 with the following format Package Length 0x55 HB LB Data Da2 Db2 Da3 Db3 Da4 Db4 Dad Db5 Document NO M8128 131106 M8128 Users Manual V1 3 Page 25 Sunrise Document No M8128 131106 ISO9001 2008 CERTIFIED Appendix Dimension of M8128 gt lt a d UJ C aer lt L ee Lit 2 5 lt L om I cc ues Ey LEE ce L
27. m Web www srisensor com 7 Command Definitions Master The equipment that send commands to M8128 such as PC or the user s control system M8128 is called as Slave Equipment ASCII Code America Standard Code for Information Interchange refer to ISO 646 M8128 commands are comprised of ASCII codes Command structures are shown as follows Send to Slave Equipment AT CMD Parameter r n Response from Slave Equipment Except for the command GOD and GSD ACK CMD Parameter ResponseCode r n All data that sent to slave equipment must be ASCII code All data that received from slave equipment are ASCII code Before sent or after received the data must be converted to or from ASCII Descriptions AT Frame Header when sending data All data that are sent to Slave Equipment must be started with AT ACK Frame Header when receiving data All data that are received from Slave Equipment are started with ACK CMD Command such as SMPR etc Parameter Parameters follow a command Enter It denotes the end of Command ResponseCode Response code such as OK or ERROR Interval symbols Note 5 Parameter denotes that Master is asking for response data from Slave Equipment Otherwise Master is sending data to Slave Equipment Response will be sent from Slave Equipment just after the command is executed Document NO M8128 131106 M8128 Users Manual V1 3 Page 14 SRI Sunrise InstrumentsNanning 530007 Chin
28. pZero1 AmpZero2 AmpZeron Note Variable Type E Vaid Rando AmpZeron Float The amplifier zero offset of Channel n It s a floating point P 3 4E38 3 4E38 number Example Send AT AMPZ Vin Response ACK AMPCZTB 32688 000000 32657 000000 32565 000000 32409 000000 32717 000000 32714 000000 OK r n Document NO M8128 131106 M8128 Users Manual V1 3 Page 22 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 3 Get Real time Data 7 3 1 Set the mode to receive data Description To set the mode to receive data Command Syntax AT SGDM CHx CHx CHx DataUnit PNoCH FM p1 p2 p3 on AT SGDM CHx CHx CHx DataUnit PNoCH FM p1 p2 p3 0n OK ERROR Note The default parameter is A01 A02 A03 A04 A05 A06 C 1 WMA 1 Variable Type E The relevant analog channels CHx is comprised of three ASCII codes Note that the parentheses is necessary For example if channel 2 5 and 1 are required CHx must be written as A02 A05 A01 and the uploaded data will be in the order of Channel 2 Channel 5 and Channel 1 The unit of uploaded data It s comprised of one Characier character E V M or C which denote Engineering DataUnit 0 255 unit mV V mV or AD Counts respectively The method to convert data to Engineering unit value is shown in Section 3 5 Number of data which are desired PNpCH is
29. rawchn2 rawchn3 rawchn4 rawchn5 rawchn6 where rawchn1 rawchn2 rawchn3 rawchn4 rawchn5 and raw chn6 are in V Step 2 Convert the raw data into mv V Assume the raw data output in Volt Excitation voltage EXC Amplifier gain GAIN DAT chn1 chn2 chn3 chn4 chn5 chn6 1000 EXC GAIN where chn1 chn2 chn3 chn4 chn5 and chn6 are in mv V Step 3 To calculate decoupled loads RESULT DECOUPLED DAT where RESULT FX FY FZ MX MY MZ Force Unit N Moment Unit Nm DECOUPLED is the above decoupled matrix Recommended steps Step1 Get system parameters 1 Send command AT EXMV Vn to get sensor excitation Ex 2 Send command AT AMPZz n to get amplifier zero offset of each channel AmpZero Send command AT CHNAPG Vn to get channel gains Gain Step2 Send command AT GOD r n or command AT GSD r n to get real time data in AD Counts unit convert it to voltage by the following formula According to different loadcell calibration reports the matrix decoupled loadcell is classified into types A and type B For Type A Data 1000 AD Counts AmpZero 65535 5 Gain Ex For Type B Data 1000 AD Counts AmpZero 65535 5 Gain Step3 Execute step3 described in calibration report to calculate FX FY MZ Document NO M8128 131106 M8128 Users Manual V1 3 Page 13 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor co
30. red by Command SGDM Data in AD Counts is comprised with 2 characters data in mV or mV V or Engineering unit is comprised with 4 characters Therefore to achieve high data rate it s recommended to get data in AD Counts There are two kinds of multi axis loadcell structurally decoupled and matrix decoupled For structurally decoupled loadcell engineering unit data can be obtained by formula 6 3 1 For matrix decoupled loadcell engineering unit data can be got by formula 6 3 2 An example with C source code M812x Demo sln and executable file M812x Demo exe is supplied by SRI It can be found in the CD ROM 6 3 1 For structurally decoupled loadcell Hecommended steps Step1 Get system parameters 1 Send command AT EXMV Vrn to get sensor excitation Ex 2 Send command AT AMPZz n to get amplifier zero offset of each channel AmpZero Send command AT CHNAPG Vn to get channel gains Gain Step2 Send command AT GOD 7 r n or command AT GSD Vin to get real time data in AD Counts unit convert it to voltage by the following formula If sensitivity unit is mV V Eu formula should be Document NO M8128 131106 M8128 Users Manual V1 3 Page 12 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com Engineering unit 1000 AD Counts AmpZero 65535 5 Gain Sensitivity Ex If sensitivity unit is V V Eu formula should
31. riable Type s Ethernet netmask eg 255 255 255 0 Example Send AT ENM 255 255 255 0 r n Response ACK ENM z255 255 255 0 OK Vin Document NO M8128 131106 M8128 Users Manual V1 3 Page 19 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com Send AT ENM r n Response ACK ENM 255 255 255 0 0K r n Document NO M8128 131106 M8128 Users Manual V1 3 Page 20 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 7 2 System parameters 7 2 1 Channel gain Description To read the gain of each channel Command Syntax AT CHNAPG AT CHNAPG GV Ch1 GV Ch2 GV Chn Variable Type Parameter Valid Range Description Float GV Chn 3 4E38 3 4E38 The actual gains of M8128 Example Send AT CHNAPG Vin Response ACK CHNAPG 123 94 123 92 124 05 124 11 124 03 124 03 124 015123 85 0K r n 7 2 2 Sampling Rate Description To read or set sampling rate Command Syntax AT SMPR SampleRate AT SMPR SampleRate AT SMPR SampleRate OK ERROR Noter Variable Type Parameter Valid Range Description Unsigned short int SampleRate 0 65535 Sampling rate in Hz For example 200 Example Send AT SMPR Vin Response ACK SMPR 300 OkK r n Send AT SMPR 200 r n Response ACK SMPR 200 OkK r n
32. rt 4008 M8128 can communicate with PC when computer IP is192 168 0 2 Document NO M8128 131106 M8128 Users Manual V1 3 Page 11 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 01 81 1 248 962 3088Email sri srisensor com Web www srisensor com 6 How to configure system and get realtime data 6 1 System initialization The indicated light STA does not flicker until M128 is initialized successfully At the same time System Init OK will be sent to user s controller or PC via RS232 Or CAN Bus Do not perform any operation until the initialization process is completed 6 2 System parameters All internal parameters in M8128 can be configured by commands in Table6 1 and they are still available after restarting Table 6 1 System parameters and commands System Parameters Command Sampling Rate SMPR Sampling rate of each channel is 500HZ To obtain the actual gain an additional command VISA CHNAPG need be sent to M8128 Sensor sensitivity SENS o Amplifier zero offset of each channel Mode to receive data SGM To set the mode to receive data CAN ID om O ep EhemeMAG emae Gateway Address EhemetNemask 6 3 Get realtime data In default mode the data are uploaded in AD Counts Other units mV or mV V or Engineering unit are also possible configu
33. z A 6 axis loadcell is connected to the Interface Box via a 19 pin LEMO connector Specifications e Analog of Channels 6 Programmable gain Automatically adjusting sensor s zero offset Low noise instrumentation amplifiers RS232 CAN Bus and Ethernet 24 bit sigma delta ADC 16 bit effective Sampling rate up to 2 kHz Resolution 1 5000 to 1 10000 of full scale when connected to SRI s sensors Programmable system parameters e Frontal Panel Loadcell connector LEMO FGG 2B 319 CLAD52Z Digital Standard RS232 connector Power supply 12 to 36V 200mA Power cable Diameter 3 5mm amp Length 2m Indicated lights Power amp Status Document NO M8128 131106 M8128 Users Manual V1 3 Page 3 SRI Sunrise InstrumentsNanning 530007 China 45499 Irvine Dr Novi MI48374 USA Tel 86 137 0788 0181 1 248 962 3088Email sri srisensor com Web www srisensor com 2 Quick start Step1 Connect the loadcell to M8128 via a LEMO connector and connect M8128 to PC via RS232 as shown in the following figure 4 79 Connector Loadcell Step2 Connector Power Supply DC 12V to 36V The maximal dissipated current by M8128 is 200mA at 12V DC Step3 Uncompressed the rar file DAS RD contained in the CD ROM to install software in Win7 system Step4 Open Debugging software iDAS RD Set PortName as COMXx where x depends on user s PC Set BaudRate as 115200 Cli
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