#x0000B07A Bota Systems Ltd https://www.botasys.com/ 424D54010000000000007200000028000000100000000E0000000100080000000000E2000000C30E0000C30E00000F0000000F000000565556000200000047464600242322000C09050006050300878068008DA8FE001647F6003E67F500FFFFFF006B6B6B003535350014141400000000000A0A0A0A0A0A0A0A0A0C0C0A0A0A0A0A0A0A0A0A0A0A0A000E0E0E040A0A0A0A0A0A0A0A0A0A010E0E0E030A0A0A0A0A0A0A0A0A020E0E0E0D0A0A0A0C0A0A0A0A0A0A0A0E0E050A0A0A000E0E020A0A0A0A0A040E040A0A0A0A0A030E0E0A0A0A0A0A0E0E060A08090A0A0A0E0E0A0A0A0A0A0A020A0A090908070A040E030A0A0E0E0B0A0A0A0809070A0A010E0D0A0A010E0E050A0A0A0A0A0A0A0E0E030A0A0A0C0E0E0E030A0A0A0A0A0E0E030A0A0A0A0B0E0E0E0E0E0E000A0E0E0D0A0A0A0A0A0A020E0E0E0E020A0E0E0A0A0A0A0A0A0A0A0A0B0D0B0A0A020A0A0A0000 Force Torque Sensors Force Torque Sensors BFT-xxx-xx-xx-xx BFT true Force Torque Sensors 5001 0 DT1018 144 0 Max SubIndex USINT 8 0 ro 0 1 Vendor ID UDINT 32 16 ro 0 2 Product Code UDINT 32 48 ro 0 3 Revision Number UDINT 32 80 ro 0 4 Serial Number UDINT 32 112 ro 0 DT1600 48 0 Max SubIndex USINT 8 0 ro 0 1 Digital Output UDINT 32 16 ro 0 DT1A00 496 0 Max SubIndex USINT 8 0 ro 0 1 Status UDINT 32 16 ro 0 2 Force x UDINT 32 48 ro 0 3 Force y UDINT 32 80 ro 0 4 Force z UDINT 32 112 ro 0 5 Torque x UDINT 32 144 ro 0 6 Torque y UDINT 32 176 ro 0 7 Torque z UDINT 32 208 ro 0 8 Timestamp UDINT 32 240 ro 0 9 Temperature UDINT 32 272 ro 0 10 Acceleration x UDINT 32 304 ro 0 11 Acceleration y UDINT 32 336 ro 0 12 Acceleration z UDINT 32 368 ro 0 13 Angular Rate x UDINT 32 400 ro 0 14 Angular Rate y UDINT 32 432 ro 0 15 Angular Rate z UDINT 32 464 ro 0 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Max SubIndex USINT 8 0 ro 0 Elements DT1C00ARR 32 16 ro 0 DT1C12ARR UINT 16 1 1 DT1C12 32 0 Max SubIndex USINT 8 0 ro 0 Elements DT1C12ARR 16 16 ro 0 DT1C13ARR UINT 16 1 1 DT1C13 32 0 Max SubIndex USINT 8 0 ro 0 Elements DT1C13ARR 16 16 ro 0 DT2000 2424 0 Max SubIndex USINT 8 0 ro 0 1 Password UDINT 32 16 rw 0 2 Force Torque Calibration Matrix 0 0 REAL 32 48 rw 0 3 Force Torque Calibration Matrix 0 1 REAL 32 80 rw 0 4 Force Torque Calibration Matrix 0 2 REAL 32 112 rw 0 5 Force Torque Calibration Matrix 0 3 REAL 32 144 rw 0 6 Force Torque Calibration Matrix 0 4 REAL 32 176 rw 0 7 Force Torque Calibration Matrix 0 5 REAL 32 208 rw 0 8 Force Torque Calibration Matrix 1 0 REAL 32 240 rw 0 9 Force Torque Calibration Matrix 1 1 REAL 32 272 rw 0 10 Force Torque Calibration Matrix 1 2 REAL 32 304 rw 0 11 Force Torque Calibration Matrix 1 3 REAL 32 336 rw 0 12 Force Torque Calibration Matrix 1 4 REAL 32 368 rw 0 13 Force Torque Calibration Matrix 1 5 REAL 32 400 rw 0 14 Force Torque Calibration Matrix 2 0 REAL 32 432 rw 0 15 Force Torque Calibration Matrix 2 1 REAL 32 464 rw 0 16 Force Torque Calibration Matrix 2 2 REAL 32 496 rw 0 17 Force Torque Calibration Matrix 2 3 REAL 32 528 rw 0 18 Force Torque Calibration Matrix 2 4 REAL 32 560 rw 0 19 Force Torque Calibration Matrix 2 5 REAL 32 592 rw 0 20 Force Torque Calibration Matrix 3 0 REAL 32 624 rw 0 21 Force Torque Calibration Matrix 3 1 REAL 32 656 rw 0 22 Force Torque Calibration Matrix 3 2 REAL 32 688 rw 0 23 Force Torque Calibration Matrix 3 3 REAL 32 720 rw 0 24 Force Torque Calibration Matrix 3 4 REAL 32 752 rw 0 25 Force Torque Calibration Matrix 3 5 REAL 32 784 rw 0 26 Force Torque Calibration Matrix 4 0 REAL 32 816 rw 0 27 Force Torque Calibration Matrix 4 1 REAL 32 848 rw 0 28 Force Torque Calibration Matrix 4 2 REAL 32 880 rw 0 29 Force Torque Calibration Matrix 4 3 REAL 32 912 rw 0 30 Force Torque Calibration Matrix 4 4 REAL 32 944 rw 0 31 Force Torque Calibration Matrix 4 5 REAL 32 976 rw 0 32 Force Torque Calibration Matrix 5 0 REAL 32 1008 rw 0 33 Force Torque Calibration Matrix 5 1 REAL 32 1040 rw 0 34 Force Torque Calibration Matrix 5 2 REAL 32 1072 rw 0 35 Force Torque Calibration Matrix 5 3 REAL 32 1104 rw 0 36 Force Torque Calibration Matrix 5 4 REAL 32 1136 rw 0 37 Force Torque Calibration Matrix 5 5 REAL 32 1168 rw 0 38 Force Torque Calibration Temperature REAL 32 1200 rw 0 39 ADC Calibration Offset 0 UDINT 32 1232 rw 0 40 ADC Calibration Offset 1 UDINT 32 1264 rw 0 41 ADC Calibration Offset 2 UDINT 32 1296 rw 0 42 ADC Calibration Offset 3 UDINT 32 1328 rw 0 43 ADC Calibration Offset 4 UDINT 32 1360 rw 0 44 ADC Calibration Offset 5 UDINT 32 1392 rw 0 45 ADC Range BIT8 8 1424 rw 0 54 Acceleration Calibration Offset x REAL 32 1432 rw 0 55 Acceleration Calibration Offset y REAL 32 1464 rw 0 56 Acceleration Calibration Offset z REAL 32 1496 rw 0 57 External Acceleration Calibration Offset x REAL 32 1528 rw 0 58 External Acceleration Calibration Offset y REAL 32 1560 rw 0 59 External Acceleration Calibration Offset z REAL 32 1592 rw 0 60 Angular Rate Calibration Offset x REAL 32 1624 rw 0 61 Angular Rate Calibration Offset y REAL 32 1656 rw 0 62 Angular Rate Calibration Offset z REAL 32 1688 rw 0 66 Sensor Inertia Mass REAL 32 1720 rw 0 67 Sensor Inertia Dx REAL 32 1752 rw 0 68 Sensor Inertia Dy REAL 32 1784 rw 0 69 Sensor Inertia Dz REAL 32 1816 rw 0 70 Sensor Inertia Ixx REAL 32 1848 rw 0 71 Sensor Inertia Iyy REAL 32 1880 rw 0 72 Sensor Inertia Izz REAL 32 1912 rw 0 73 Sensor Inertia Ixy REAL 32 1944 rw 0 74 Sensor Inertia Iyz REAL 32 1976 rw 0 75 Sensor Inertia Ixz REAL 32 2008 rw 0 76 ADC Calibration Gain 0 UDINT 32 2040 rw 0 77 ADC Calibration Gain 1 UDINT 32 2072 rw 0 78 ADC Calibration Gain 2 UDINT 32 2104 rw 0 79 ADC Calibration Gain 3 UDINT 32 2136 rw 0 80 ADC Calibration Gain 4 UDINT 32 2168 rw 0 81 ADC Calibration Gain 5 UDINT 32 2200 rw 0 82 Rated load Fx REAL 32 2232 rw 0 83 Rated load Fy REAL 32 2264 rw 0 84 Rated load Fz REAL 32 2296 rw 0 85 Rated load Tx REAL 32 2328 rw 0 86 Rated load Ty REAL 32 2360 rw 0 87 Rated load Tz REAL 32 2392 rw 0 DT2001 528 0 Max SubIndex USINT 8 0 ro 0 1 Product name STRING(16) 128 16 rw 0 2 Serial number STRING(16) 128 144 rw 0 3 Firmware version STRING(16) 128 272 rw 0 4 Board identifier STRING(16) 128 400 rw 0 DT2002ARR REAL 192 1 6 DT2002 208 0 Max SubIndex USINT 8 0 ro 0 Elements DT2002ARR 192 16 rw 0 DT6000 480 0 Max SubIndex USINT 8 0 ro 0 1 Status UINT 16 16 ro T 0 2 Force x REAL 32 32 ro T 0 3 Force y REAL 32 64 ro T 0 4 Force z REAL 32 96 ro T 0 5 Torque x REAL 32 128 ro T 0 6 Torque y REAL 32 160 ro T 0 7 Torque z REAL 32 192 ro T 0 8 Timestamp UDINT 32 224 ro T 0 9 Temperature REAL 32 256 ro T 0 10 Acceleration x REAL 32 288 ro T 0 11 Acceleration y REAL 32 320 ro T 0 12 Acceleration z REAL 32 352 ro T 0 13 Angular Rate x REAL 32 384 ro T 0 14 Angular Rate y REAL 32 416 ro T 0 15 Angular Rate z REAL 32 448 ro T 0 DT8000ARR REAL 192 1 6 DT8000 208 0 Max SubIndex USINT 8 0 ro 0 Elements DT8000ARR 192 16 rw 0 DT8001 64 0 Max SubIndex USINT 8 0 ro 0 1 mode USINT 8 16 rw 0 2 sub mode USINT 8 24 rw 0 3 Update rate REAL 32 32 ro 0 DT8002ARR REAL 192 1 6 DT8002 208 0 Max SubIndex USINT 8 0 ro 0 Elements DT8002ARR 192 16 rw 0 DT8003 32 0 Max SubIndex USINT 8 0 ro 0 1 request USINT 8 16 rw 0 2 error code USINT 8 24 rw 0 SINT 8 STRING(3) 24 REAL 32 BIT8 8 UDINT 32 UINT 16 STRING(16) 128 USINT 8 #x1000 Device Type UDINT 32 #x00001389 ro m 0 #x1008 Manufacturer Device Name STRING(16) 128 BFT-xxx-xx-xx-xx ro 0 #x1009 Manufacturer Hardware Version STRING(3) 24 1.0 ro o 0 #x100A Manufacturer Software Version STRING(3) 24 1.0 ro 0 #x1018 Identity Object DT1018 144 Max SubIndex 4 Vendor ID #x0000B07A Product Code #x00000002 Revision Number #x00000000 Serial Number #x00000000 ro 0 #x1600 Digital Output DT1600 48 Max SubIndex 1 Digital Output #x70000008 ro 0 #x1A00 Sensor Data DT1A00 496 Max SubIndex 15 Status #x60000110 Force x #x60000220 Force y #x60000320 Force z #x60000420 Torque x #x60000520 Torque y #x60000620 Torque z #x60000720 Timestamp #x60000820 Temperature #x60000920 Acceleration x #x60000A20 Acceleration y #x60000B20 Acceleration z #x60000C20 Angular Rate x #x60000D20 Angular Rate y #x60000E20 Angular Rate z #x60000F20 ro 0 #x1C00 Sync Manager Communication Type DT1C00 48 Max SubIndex 4 Communications Type SM0 1 Communications Type SM1 2 Communications Type SM2 3 Communications Type SM3 4 ro 0 #x1C12 Sync Manager 2 PDO Assignment DT1C12 32 Max SubIndex 1 PDO Mapping #x1600 ro 0 #x1C13 Sync Manager 3 PDO Assignment DT1C13 32 Max SubIndex 1 PDO Mapping #x1A00 ro 0 #x2000 Calibration DT2000 2424 Max SubIndex 87 Password 0 Force Torque Calibration Matrix 0 0 #x0 Force Torque Calibration Matrix 0 1 #x0 Force Torque Calibration Matrix 0 2 #x0 Force Torque Calibration Matrix 0 3 #x0 Force Torque Calibration Matrix 0 4 #x0 Force Torque Calibration Matrix 0 5 #x0 Force Torque Calibration Matrix 1 0 #x0 Force Torque Calibration Matrix 1 1 #x0 Force Torque Calibration Matrix 1 2 #x0 Force Torque Calibration Matrix 1 3 #x0 Force Torque Calibration Matrix 1 4 #x0 Force Torque Calibration Matrix 1 5 #x0 Force Torque Calibration Matrix 2 0 #x0 Force Torque Calibration Matrix 2 1 #x0 Force Torque Calibration Matrix 2 2 #x0 Force Torque Calibration Matrix 2 3 #x0 Force Torque Calibration Matrix 2 4 #x0 Force Torque Calibration Matrix 2 5 #x0 Force Torque Calibration Matrix 3 0 #x0 Force Torque Calibration Matrix 3 1 #x0 Force Torque Calibration Matrix 3 2 #x0 Force Torque Calibration Matrix 3 3 #x0 Force Torque Calibration Matrix 3 4 #x0 Force Torque Calibration Matrix 3 5 #x0 Force Torque Calibration Matrix 4 0 #x0 Force Torque Calibration Matrix 4 1 #x0 Force Torque Calibration Matrix 4 2 #x0 Force Torque Calibration Matrix 4 3 #x0 Force Torque Calibration Matrix 4 4 #x0 Force Torque Calibration Matrix 4 5 #x0 Force Torque Calibration Matrix 5 0 #x0 Force Torque Calibration Matrix 5 1 #x0 Force Torque Calibration Matrix 5 2 #x0 Force Torque Calibration Matrix 5 3 #x0 Force Torque Calibration Matrix 5 4 #x0 Force Torque Calibration Matrix 5 5 #x0 Force Torque Calibration Temperature #x0 ADC Calibration Offset 0 0 ADC Calibration Offset 1 0 ADC Calibration Offset 2 0 ADC Calibration Offset 3 0 ADC Calibration Offset 4 0 ADC Calibration Offset 5 0 ADC Range 0 Acceleration Calibration Offset x #x0 Acceleration Calibration Offset y #x0 Acceleration Calibration Offset z #x0 External Acceleration Calibration Offset x #x0 External Acceleration Calibration Offset y #x0 External Acceleration Calibration Offset z #x0 Angular Rate Calibration Offset x #x0 Angular Rate Calibration Offset y #x0 Angular Rate Calibration Offset z #x0 Sensor Inertia Mass #x0 Sensor Inertia Dx #x0 Sensor Inertia Dy #x0 Sensor Inertia Dz #x0 Sensor Inertia Ixx #x0 Sensor Inertia Iyy #x0 Sensor Inertia Izz #x0 Sensor Inertia Ixy #x0 Sensor Inertia Iyz #x0 Sensor Inertia Ixz #x0 ADC Calibration Gain 0 0 ADC Calibration Gain 1 0 ADC Calibration Gain 2 0 ADC Calibration Gain 3 0 ADC Calibration Gain 4 0 ADC Calibration Gain 5 0 Rated load Fx #x0 Rated load Fy #x0 Rated load Fz #x0 Rated load Tx #x0 Rated load Ty #x0 Rated load Tz #x0 ro 0 #x2001 Identification DT2001 528 Max SubIndex 4 Product name BFT-xxxx-xxx-xx Serial number SN000000 Firmware version 0 Board identifier 0 ro 0 #x2002 Transformation frame DT2002 208 Max SubIndex 6 x #x0 y #x0 z #x0 r #x0 p #x0 w #x0 ro 0 #x6000 Sensor Data DT6000 480 Max SubIndex 15 Status 0 Force x #x0 Force y #x0 Force z #x0 Torque x #x0 Torque y #x0 Torque z #x0 Timestamp 0 Temperature #x0 Acceleration x #x0 Acceleration y #x0 Acceleration z #x0 Angular Rate x #x0 Angular Rate y #x0 Angular Rate z #x0 ro 0 #x7000 Digital Output SINT 8 0 ro R 0 #x8000 Wrench Offset DT8000 208 Max SubIndex 6 Wrench Offset Fx #x0 Wrench Offset Fy #x0 Wrench Offset Fz #x0 Wrench Offset Tx #x0 Wrench Offset Ty #x0 Wrench Offset Tz #x0 ro 0 #x8001 Application mode DT8001 64 Max SubIndex 3 mode 2 sub mode 4 Update rate #x0 ro 0 #x8002 Temperature coefficients DT8002 208 Max SubIndex 6 Temperature coefficients Fx #x0 Temperature coefficients Fy #x0 Temperature coefficients Fz #x0 Temperature coefficients Tx #x0 Temperature coefficients Ty #x0 Temperature coefficients Tz #x0 ro 0 #x8003 Action DT8003 32 Max SubIndex 2 request 0 error code 0 ro 0 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Digital Output #x7000 #x0 8 Digital Output SINT #x1A00 Sensor Data #x6000 #x1 16 Status UINT #x6000 #x2 32 Force x REAL #x6000 #x3 32 Force y REAL #x6000 #x4 32 Force z REAL #x6000 #x5 32 Torque x REAL #x6000 #x6 32 Torque y REAL #x6000 #x7 32 Torque z REAL #x6000 #x8 32 Timestamp UDINT #x6000 #x9 32 Temperature REAL #x6000 #xa 32 Acceleration x REAL #x6000 #xb 32 Acceleration y REAL #x6000 #xc 32 Acceleration z REAL #x6000 #xd 32 Angular Rate x REAL #x6000 #xe 32 Angular Rate y REAL #x6000 #xf 32 Angular Rate z REAL 768 05020B0000000000 0010800080108000