I. Explanation

The specific parameters of the force controller may vary depending on the model. Prior to using the force controller, please read the manufacturer's instructions thoroughly.

1. RBK version

Version 3.4.0.4 and above

Step 2: Model

KWR94 Series

3. Communication mode

RS485
Transmission speed: 460,800 baud

4. Support platforms and connection modes

• SRC800
  • Connect using RS485
  • Connect via USB converter (USB to RS485)
• SRC2000
  • Connect via USB converter (USB to RS485)

5. USB Converter Model

6. Sequence of lines

The force control model may vary. The actual sequence description takes precedence.

Step 7: Supply Power

9 to 24 volts DC

8. Equipment manual

KWR94 Series Six Axis Force Sensor User Manual V21.6.94.11.4LB-28 bytes (485)(1).pdf
Six axis force sensor KWR94 supply drawing.pdf

2. Configuration of Device Parameters

Step 1 Explanation

The default frequency for automatic data reporting in force control is 1KHz. To switch to question and answer mode, it is necessary to change the force control mode. This setting is only required for force control that has not been previously set. Ensure that the power and communication cables for force control are connected correctly and that the force control indicator blinks to confirm proper operation. Proceed to Step 2 and then to Step 3.

2. Initialize force control

After connecting the 485 device to the computer via USB, plug the USB end into the debugging computer. Open the serial port assistant SSCOM and let it automatically identify the serial port. Then, open the serial port and configure the serial port assistant as shown in the figure below. Once the serial port is correctly opened, the force control will automatically report data messages.
To send the initialization message, use the following code: 51 00 0D 0A If the force control stops reporting data packets after sending the packets, the settings have been successful.

3. Verify the configuration

Use the serial port assistant to send query messages: 49 AA 0D 0A

Once the query packet has been sent, the force control return packet can be observed. The reply packet's frame header is **49 AA** and the end of the frame is **0D 0A**. If the frame header or frame tail is incorrect, please contact the force control supplier. The complete format of the reply message is as follows:

4. Restart the device

The configuration will take effect once the device is powered on.

Three, Configuration of Model Files

1. Brand

KunWei Force Sensor 485

2. Directly Connect the RS485 Port

Directory for model parameters: type-devName
/dev/ttyUartx
Set the UART number based on the description of the serial port.

For example, connect the communication cable to pin 1 and pin 2. Enter dev/ttyUart0 in devName.

3. Via USB converter

This configuration method is applicable to both SRC800 and SRC2000.

1. Keep only the USB converter connected to the device and unplug all others.
2. Use the MobaXterm_Personal remote SRC method, following the MobaXterm_Personal method.
3. Input the command: ls /dev (with a space between ls and /dev).
4. Check if the returned data contains the word ttyUSBx, and fill ttyUSBx into the model file devName.
5. If a new USB device is available, repeat Steps 1 to 4. When a new USB device is added, do not remove the first identified USB device. Otherwise, the USB name will be reassigned.

In the figure below, the USB device name identified is ttyUSB0, and devName is set to dev/ttyUSB0.

IV. Frequently Asked Questions

1. USB converters are only suitable for use in small enclosures, not large blue enclosures.

The manufacturer of force control devices offers USB converter models. Incorrect usage of the USB converter may result in data truncation and confusion between the frame header and frame tail (additional USB converter models to be added...).

2. There is no data for force control

• Force control malfunction: the force control indicator light does not illuminate
• Incorrect USB converter model: Symptoms include data truncation when using the serial port assistant and an incorrect frame header (49 AA)
• Incorrect recognition name for USB converter in controller (USB0 or USB1)