Hi everyone,
I'm currently working on integrating an ATI Axia80-M20 Force/Torque sensor with a KUKA sunrise cabinet (iiwa 14 r820) via EtherCAT. The connection is up and running, and data is being received. However, I'm facing an issue with how the sensor data is being interpreted on the KUKA side.
According to ATI's documentation (and also verified in the ESI file), the force and torque outputs—Fx, Fy, Fz, Tx, Ty, Tz—are mapped as DINT (32-bit signed integers).
But on the KUKA controller, these values are being shown as UDINT (unsigned 32-bit integers). As a result, any negative force or torque value appears as a very large positive number, which completely breaks the logic in my control program (e.g., for a touch-stop condition based on force thresholds).
I’ve checked my workvisual project, and everything looks correctly configured. But I still have no idea why it happens.
Any advice or shared experience would be greatly appreciated!
Thanks in advance,
Sean
