Application Note
R01AN5447EJ0100 Rev.1.00 Page 1 of 35
Nov.15.21
RX23E-A Group
Force Sensor Measurement Example
Overview
This document describes the example of the program which obtains three-dimensional force and torque by
the strain gauge based 6-axis force sensor, using RX23E-A. This example uses two units of DSAD to obtain
output from six channels of the force sensor by scanning three channels with one unit of DSAD. We have
measured the force sensor with this program. The appearances of the force sensor and the evaluation
environment, and the evaluation results are shown below.
Target Device
RX23E-A
Appearance of Force Sensor and Evaluation Environment
Result of Force Measurement (Left) and Torque Measurement (Right)
Measurement Uncertainty
Item
:
[%FS]
:
[%FS]
:
[%FS]
:
[%FS]
:
[%FS]
:
[%FS]
9105-TWE-Gamma SI-130-10
Measurement uncertainty (95% CI)
1.00% 1.25% 0.75% 1.00% 1.25% 1.50%
Result of full-scale error measurement
(Worst case)
0.13% 0.14% 0.07% 0.95% 0.68% 0.89%
-1.
00%
-0.75%
-0.
50%
-0.25%
0.00
%
0.25%
0.50%
0.75
%
1.00%
-120
-90
-60
-30
0
30
60
90
120
-120 -80 -40 0 40 80 120
Full-Scale Error [%FS]
Measured Force (Calibrated) [N]
Input Force [N]
Fx[N] Fy[N] Fz[N]
Efx[%FS] Efy[%FS] Efz[%FS]
-5%
-4%
-3%
-2%
-1%
0%
1%
2%
3%
4%
5%
-10
-8
-6
-4
-2
0
2
4
6
8
10
-10 -8 -6 -4 -2 0 2 4 6 8 10
Full-Scale Error [%FS]
Measured Torque(Calibrated) [Nm]
Input Torque [Nm]
Tx [Nm] Ty [Nm] Tz[Nm]
Etx[%FS] Ety[%FS]
Etz[%
FS]
Force Sensor
Load
Weight
Force Sensor
RX23E-A Group Force Sensor Measurement Example
R01AN5447EJ0100 Rev.1.00 Page 2 of 35
Nov.15.21
Contents
1. Overview ................................................................................................................................. 3
2. Related Documents ................................................................................................................. 3
3. Environment for Operation Confirmation .................................................................................. 4
4. Force Sensor Measurement .................................................................................................... 5
4.1 Force Sensor ........................................................................................................................................... 6
4.2 A/D Conversion of Strain Gauge Output ................................................................................................. 7
4.3 Calculation Procedure ............................................................................................................................. 8
4.4 Zero-Reset ............................................................................................................................................... 8
5. Sample Program ...................................................................................................................... 9
5.1 Operation Overview ................................................................................................................................. 9
5.2 Peripheral Functions and Pins to be Used ............................................................................................ 11
5.2.1 AFE・DSAD0・DSAD1 ...................................................................................................................... 12
5.2.2 SCI1・DMAC0・DMAC3・CMT0....................................................................................................... 13
5.2.3 PORT ................................................................................................................................................... 14
5.3 Zero-Reset Processing .......................................................................................................................... 15
5.4 Communication Control ......................................................................................................................... 16
5.5 Program Configuration .......................................................................................................................... 18
5.5.1 File Configuration ................................................................................................................................ 18
5.5.2 Macro Definition................................................................................................................................... 19
5.5.3 Structure .............................................................................................................................................. 19
5.5.4 Functions ............................................................................................................................................. 20
6. Importing a Project................................................................................................................. 27
6.1 Importing a Project into e2 studio .......................................................................................................... 27
6.2 Importing a Project into CS+ ................................................................................................................. 28
7. Measurement Result using Sample Program ......................................................................... 29
7.1 Memory Usage and Execution Cycle .................................................................................................... 29
7.1.1 Build Conditions................................................................................................................................... 29
7.1.2 Memory Usage .................................................................................................................................... 29
7.1.3 The number of Execution Cycle .......................................................................................................... 29
7.2 Force Sensor Measurement .................................................................................................................. 30
7.2.1 Measurement Appearance .................................................................................................................. 30
7.2.2 Measurement Condition ...................................................................................................................... 31
7.2.3 Measurement Result ........................................................................................................................... 33
Revision History ............................................................................................................................ 35