Hi all,
I'm running into a really weird problem trying to sample and calibrate data from an ATI F/T sensor with a cRIO. No matter how I press on or torque the sensor, the Z- or Z+ channels register. I have followed ATI's guide of sampling 12 signals (6 values and 6 references), subtracting the references from the values, and multiplying the calibration matrix specific to my sensor by the values.
I have checked pin configurations, unit tested all parts of my code, and tried manually calculating results to check my sanity. I was thinking it might be a pin configuration issue, but all my references are around the same value and if the pins were switched, why would Z- be registered all the time? I am extremely lost on what to do.
I have reached out to ATI and they suggested that I check my pins (checked and rechecked), use their example software (all configured for a DAQ and not a cRIO), and try their demo software (again not compatible with a cRIO). I was wondering if it's my LabView code and not the physical device setup that is the problem?
Problem Details:
- Applying force or torque on the F/T Sensor in any way except torque in the X+ and Y+ direction results in Z- force being registered.
- Applying torque in the X+ and Y+ directions results in Z+ force being registered.
- Flipping the sensor upside down and applying force in the Z direction still results in Z- force being registered.
Setup Information:
- ATI Mini85 F/T connected to ATI FTIFPS1 amplifier.
- ATI FTIFPS1 amplifier connected via a 9105-C-PS-D37-3.5 cable to a NI 9205 ADC.
- NI 9205 in Mod3 on a cRIO-9040.
- cRIO-9040 connected to PC via ethernet.
- Programmed in LabView 2023 Q3 (64-bit)
