#x0000B07A Bota Systems Ltd https://www.botasys.com/ 424D54010000000000007200000028000000100000000E0000000100080000000000E2000000C30E0000C30E00000F0000000F000000565556000200000047464600242322000C09050006050300878068008DA8FE001647F6003E67F500FFFFFF006B6B6B003535350014141400000000000A0A0A0A0A0A0A0A0A0C0C0A0A0A0A0A0A0A0A0A0A0A0A000E0E0E040A0A0A0A0A0A0A0A0A0A010E0E0E030A0A0A0A0A0A0A0A0A020E0E0E0D0A0A0A0C0A0A0A0A0A0A0A0E0E050A0A0A000E0E020A0A0A0A0A040E040A0A0A0A0A030E0E0A0A0A0A0A0E0E060A08090A0A0A0E0E0A0A0A0A0A0A020A0A090908070A040E030A0A0E0E0B0A0A0A0809070A0A010E0D0A0A010E0E050A0A0A0A0A0A0A0E0E030A0A0A0C0E0E0E030A0A0A0A0A0E0E030A0A0A0A0B0E0E0E0E0E0E000A0E0E0D0A0A0A0A0A0A020E0E0E0E020A0E0E0A0A0A0A0A0A0A0A0A0B0D0B0A0A020A0A0A0000 Force Torque Sensors Force Torque Sensors BFT-MENS-ECAT-M8 BFT Force Torque Sensors 5001 0 DT1018 144 0 Max SubIndex USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT1600 48 0 Max SubIndex USINT 8 0 ro 1 Digital Output UDINT 32 16 ro DT1A00 720 0 Max SubIndex USINT 8 0 ro 1 Status UDINT 32 16 ro 2 Warnings Errors Fatals UDINT 32 48 ro 3 Force x UDINT 32 80 ro 4 Force y UDINT 32 112 ro 5 Force z UDINT 32 144 ro 6 Torque x UDINT 32 176 ro 7 Torque y UDINT 32 208 ro 8 Torque z UDINT 32 240 ro 9 Force Torque Saturated UDINT 32 272 ro 10 Acceleration x UDINT 32 304 ro 11 Acceleration y UDINT 32 336 ro 12 Acceleration z UDINT 32 368 ro 13 Acceleration Saturated UDINT 32 400 ro 14 Angular Rate x UDINT 32 432 ro 15 Angular Rate y UDINT 32 464 ro 16 Angular Rate z UDINT 32 496 ro 17 Angular Rate Saturated UDINT 32 528 ro 18 Temperature UDINT 32 560 ro 19 Orientation Estimate x UDINT 32 592 ro 20 Orientation Estimate y UDINT 32 624 ro 21 Orientation Estimate z UDINT 32 656 ro 22 Orientation Estimate w UDINT 32 688 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 Max SubIndex USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 16 1 1 DT1C12 32 0 Max SubIndex USINT 8 0 ro Elements DT1C12ARR 16 16 ro DT1C13ARR UINT 16 1 1 DT1C13 32 0 Max SubIndex USINT 8 0 ro Elements DT1C13ARR 16 16 ro DT2000 2632 0 Max SubIndex USINT 8 0 ro 1 Passphrase UDINT 32 16 rw 2 Force Torque Calibration Matrix 0 0 REAL 32 48 rw 3 Force Torque Calibration Matrix 0 1 REAL 32 80 rw 4 Force Torque Calibration Matrix 0 2 REAL 32 112 rw 5 Force Torque Calibration Matrix 0 3 REAL 32 144 rw 6 Force Torque Calibration Matrix 0 4 REAL 32 176 rw 7 Force Torque Calibration Matrix 0 5 REAL 32 208 rw 8 Force Torque Calibration Matrix 1 0 REAL 32 240 rw 9 Force Torque Calibration Matrix 1 1 REAL 32 272 rw 10 Force Torque Calibration Matrix 1 2 REAL 32 304 rw 11 Force Torque Calibration Matrix 1 3 REAL 32 336 rw 12 Force Torque Calibration Matrix 1 4 REAL 32 368 rw 13 Force Torque Calibration Matrix 1 5 REAL 32 400 rw 14 Force Torque Calibration Matrix 2 0 REAL 32 432 rw 15 Force Torque Calibration Matrix 2 1 REAL 32 464 rw 16 Force Torque Calibration Matrix 2 2 REAL 32 496 rw 17 Force Torque Calibration Matrix 2 3 REAL 32 528 rw 18 Force Torque Calibration Matrix 2 4 REAL 32 560 rw 19 Force Torque Calibration Matrix 2 5 REAL 32 592 rw 20 Force Torque Calibration Matrix 3 0 REAL 32 624 rw 21 Force Torque Calibration Matrix 3 1 REAL 32 656 rw 22 Force Torque Calibration Matrix 3 2 REAL 32 688 rw 23 Force Torque Calibration Matrix 3 3 REAL 32 720 rw 24 Force Torque Calibration Matrix 3 4 REAL 32 752 rw 25 Force Torque Calibration Matrix 3 5 REAL 32 784 rw 26 Force Torque Calibration Matrix 4 0 REAL 32 816 rw 27 Force Torque Calibration Matrix 4 1 REAL 32 848 rw 28 Force Torque Calibration Matrix 4 2 REAL 32 880 rw 29 Force Torque Calibration Matrix 4 3 REAL 32 912 rw 30 Force Torque Calibration Matrix 4 4 REAL 32 944 rw 31 Force Torque Calibration Matrix 4 5 REAL 32 976 rw 32 Force Torque Calibration Matrix 5 0 REAL 32 1008 rw 33 Force Torque Calibration Matrix 5 1 REAL 32 1040 rw 34 Force Torque Calibration Matrix 5 2 REAL 32 1072 rw 35 Force Torque Calibration Matrix 5 3 REAL 32 1104 rw 36 Force Torque Calibration Matrix 5 4 REAL 32 1136 rw 37 Force Torque Calibration Matrix 5 5 REAL 32 1168 rw 38 Force Torque Calibration Temperature REAL 32 1200 rw 39 ADC Calibration Offset 0 UDINT 32 1232 rw 40 ADC Calibration Offset 1 UDINT 32 1264 rw 41 ADC Calibration Offset 2 UDINT 32 1296 rw 42 ADC Calibration Offset 3 UDINT 32 1328 rw 43 ADC Calibration Offset 4 UDINT 32 1360 rw 44 ADC Calibration Offset 5 UDINT 32 1392 rw 45 ADC Range BIT8 8 1424 rw 46 Thermistor Calibration 0 REAL 32 1432 rw 47 Thermistor Calibration 1 REAL 32 1464 rw 48 Force Torque Temperature Gain 0 REAL 32 1496 rw 49 Force Torque Temperature Gain 1 REAL 32 1528 rw 50 Force Torque Temperature Gain 2 REAL 32 1560 rw 51 Force Torque Temperature Gain 3 REAL 32 1592 rw 52 Force Torque Temperature Gain 4 REAL 32 1624 rw 53 Force Torque Temperature Gain 5 REAL 32 1656 rw 54 Acceleration Calibration Offset x REAL 32 1688 rw 55 Acceleration Calibration Offset y REAL 32 1720 rw 56 Acceleration Calibration Offset z REAL 32 1752 rw 57 External Acceleration Calibration Offset x REAL 32 1784 rw 58 External Acceleration Calibration Offset y REAL 32 1816 rw 59 External Acceleration Calibration Offset z REAL 32 1848 rw 60 Angular Rate Calibration Offset x REAL 32 1880 rw 61 Angular Rate Calibration Offset y REAL 32 1912 rw 62 Angular Rate Calibration Offset z REAL 32 1944 rw 63 External Angular Rate Calibration Offset x REAL 32 1976 rw 64 External Angular Rate Calibration Offset y REAL 32 2008 rw 65 External Angular Rate Calibration Offset z REAL 32 2040 rw 66 Sensor Inertia Mass REAL 32 2072 rw 67 Sensor Inertia Dx REAL 32 2104 rw 68 Sensor Inertia Dy REAL 32 2136 rw 69 Sensor Inertia Dz REAL 32 2168 rw 70 Sensor Inertia Ixx REAL 32 2200 rw 71 Sensor Inertia Iyy REAL 32 2232 rw 72 Sensor Inertia Izz REAL 32 2264 rw 73 Sensor Inertia Ixy REAL 32 2296 rw 74 Sensor Inertia Iyz REAL 32 2328 rw 75 Sensor Inertia Ixz REAL 32 2360 rw 76 ADC Calibration Gain 0 UDINT 32 2392 rw 77 ADC Calibration Gain 1 UDINT 32 2424 rw 78 ADC Calibration Gain 2 UDINT 32 2456 rw 79 ADC Calibration Gain 3 UDINT 32 2488 rw 80 ADC Calibration Gain 4 UDINT 32 2520 rw 81 ADC Calibration Gain 5 UDINT 32 2552 rw 82 Gage DAC 0 SINT 8 2584 rw 83 Gage DAC 1 SINT 8 2592 rw 84 Gage DAC 2 SINT 8 2600 rw 85 Gage DAC 3 SINT 8 2608 rw 86 Gage DAC 4 SINT 8 2616 rw 87 Gage DAC 5 SINT 8 2624 rw DT6000 632 0 Max SubIndex USINT 8 0 ro 1 Status USINT 8 16 ro T 2 Warnings Errors Fatals UDINT 32 24 ro T 4 Force x REAL 32 56 ro T 5 Force y REAL 32 88 ro T 6 Force z REAL 32 120 ro T 7 Torque x REAL 32 152 ro T 8 Torque y REAL 32 184 ro T 9 Torque z REAL 32 216 ro T 10 Force Torque Saturated UINT 16 248 ro T 11 Acceleration x REAL 32 264 ro T 12 Acceleration y REAL 32 296 ro T 13 Acceleration z REAL 32 328 ro T 14 Acceleration Saturated USINT 8 360 ro T 15 Angular Rate x REAL 32 368 ro T 16 Angular Rate y REAL 32 400 ro T 17 Angular Rate z REAL 32 432 ro T 18 Angular Rate Saturated USINT 8 464 ro T 19 Temperature REAL 32 472 ro T 20 Orientation Estimate x REAL 32 504 ro T 21 Orientation Estimate y REAL 32 536 ro T 22 Orientation Estimate z REAL 32 568 ro T 23 Orientation Estimate w REAL 32 600 ro T DT8000ARR REAL 192 1 6 DT8000 208 0 Max SubIndex USINT 8 0 ro Elements DT8000ARR 192 16 rw DT8001ARR REAL 192 1 6 DT8001 208 0 Max SubIndex USINT 8 0 ro Elements DT8001ARR 192 16 rw DT8002ARR REAL 192 1 6 DT8002 208 0 Max SubIndex USINT 8 0 ro Elements DT8002ARR 192 16 rw DT8006 56 0 Max SubIndex USINT 8 0 ro 1 Sinc length UINT 16 16 rw 2 FIR disable USINT 8 32 rw 3 FAST enable USINT 8 40 rw 4 CHOP enable USINT 8 48 rw DT8010 64 0 Max SubIndex USINT 8 0 ro 1 Force Torque Calibration Matrix Active BIT8 8 16 rw 2 Force Torque Temperature Compensation Active BIT8 8 24 rw 3 IMU Active BIT8 8 32 rw 4 Coordinate System Configuration Active BIT8 8 40 rw 5 Inertia and Gravity Compensation Active BIT8 8 48 rw 6 Orientation Estimation Active BIT8 8 56 rw DT8030 32 0 Max SubIndex USINT 8 0 ro 1 command USINT 8 16 rw 2 status USINT 8 24 ro SINT 8 REAL 32 BIT8 8 UDINT 32 UINT 16 STRING(16) 128 STRING(0) 0 USINT 8 #x1000 Device Type UDINT 32 #x00001389 ro m #x1008 Device Name STRING(16) 128 BFT-LAXS-ECAT-M8 ro #x1009 Hardware Version STRING(0) 0 1.0 ro o #x100A Software Version STRING(0) 0 1.0 ro #x1018 Identity Object DT1018 144 Max SubIndex 4 Vendor ID #x0000B07A Product Code #x00000001 Revision Number #x00000003 Serial Number #x00000000 ro #x1600 Digital Output DT1600 48 Max SubIndex 1 Digital Output #x70000008 ro #x1A00 Sensor Data DT1A00 720 Max SubIndex 22 Status #x60000108 Warnings Errors Fatals #x60000220 Force x #x60000420 Force y #x60000520 Force z #x60000620 Torque x #x60000720 Torque y #x60000820 Torque z #x60000920 Force Torque Saturated #x60000A10 Acceleration x #x60000B20 Acceleration y #x60000C20 Acceleration z #x60000D20 Acceleration Saturated #x60000E08 Angular Rate x #x60000F20 Angular Rate y #x60001020 Angular Rate z #x60001120 Angular Rate Saturated #x60001208 Temperature #x60001320 Orientation Estimate x #x60001420 Orientation Estimate y #x60001520 Orientation Estimate z #x60001620 Orientation Estimate w #x60001720 ro #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 #x1C12 Sync Manager 2 PDO Assignment DT1C12 32 Max SubIndex 1 PDO Mapping #x1600 ro #x1C13 Sync Manager 3 PDO Assignment DT1C13 32 Max SubIndex 1 PDO Mapping #x1A00 ro #x2000 Calibration DT2000 2632 Max SubIndex 87 Passphrase 0 Force Torque Calibration Matrix 0 0 0 Force Torque Calibration Matrix 0 1 0 Force Torque Calibration Matrix 0 2 0 Force Torque Calibration Matrix 0 3 0 Force Torque Calibration Matrix 0 4 0 Force Torque Calibration Matrix 0 5 0 Force Torque Calibration Matrix 1 0 0 Force Torque Calibration Matrix 1 1 0 Force Torque Calibration Matrix 1 2 0 Force Torque Calibration Matrix 1 3 0 Force Torque Calibration Matrix 1 4 0 Force Torque Calibration Matrix 1 5 0 Force Torque Calibration Matrix 2 0 0 Force Torque Calibration Matrix 2 1 0 Force Torque Calibration Matrix 2 2 0 Force Torque Calibration Matrix 2 3 0 Force Torque Calibration Matrix 2 4 0 Force Torque Calibration Matrix 2 5 0 Force Torque Calibration Matrix 3 0 0 Force Torque Calibration Matrix 3 1 0 Force Torque Calibration Matrix 3 2 0 Force Torque Calibration Matrix 3 3 0 Force Torque Calibration Matrix 3 4 0 Force Torque Calibration Matrix 3 5 0 Force Torque Calibration Matrix 4 0 0 Force Torque Calibration Matrix 4 1 0 Force Torque Calibration Matrix 4 2 0 Force Torque Calibration Matrix 4 3 0 Force Torque Calibration Matrix 4 4 0 Force Torque Calibration Matrix 4 5 0 Force Torque Calibration Matrix 5 0 0 Force Torque Calibration Matrix 5 1 0 Force Torque Calibration Matrix 5 2 0 Force Torque Calibration Matrix 5 3 0 Force Torque Calibration Matrix 5 4 0 Force Torque Calibration Matrix 5 5 0 Force Torque Calibration Temperature 0 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 Thermistor Calibration 0 0 Thermistor Calibration 1 0 Force Torque Temperature Gain 0 0 Force Torque Temperature Gain 1 0 Force Torque Temperature Gain 2 0 Force Torque Temperature Gain 3 0 Force Torque Temperature Gain 4 0 Force Torque Temperature Gain 5 0 Acceleration Calibration Offset x 0 Acceleration Calibration Offset y 0 Acceleration Calibration Offset z 0 External Acceleration Calibration Offset x 0 External Acceleration Calibration Offset y 0 External Acceleration Calibration Offset z 0 Angular Rate Calibration Offset x 0 Angular Rate Calibration Offset y 0 Angular Rate Calibration Offset z 0 External Angular Rate Calibration Offset x 0 External Angular Rate Calibration Offset y 0 External Angular Rate Calibration Offset z 0 Sensor Inertia Mass 0 Sensor Inertia Dx 0 Sensor Inertia Dy 0 Sensor Inertia Dz 0 Sensor Inertia Ixx 0 Sensor Inertia Iyy 0 Sensor Inertia Izz 0 Sensor Inertia Ixy 0 Sensor Inertia Iyz 0 Sensor Inertia Ixz 0 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 Gage DAC 0 0 Gage DAC 1 0 Gage DAC 2 0 Gage DAC 3 0 Gage DAC 4 0 Gage DAC 5 0 ro #x6000 Sensor Data DT6000 632 Max SubIndex 23 Status 0 Warnings Errors Fatals 0 Force x 0 Force y 0 Force z 0 Torque x 0 Torque y 0 Torque z 0 Force Torque Saturated 0 Acceleration x 0 Acceleration y 0 Acceleration z 0 Acceleration Saturated 0 Angular Rate x 0 Angular Rate y 0 Angular Rate z 0 Angular Rate Saturated 0 Temperature 0 Orientation Estimate x 0 Orientation Estimate y 0 Orientation Estimate z 0 Orientation Estimate w 0 ro #x7000 Digital Output SINT 8 0 ro R #x8000 Force Torque Offset DT8000 208 Max SubIndex 6 Force_Torque_Offset0 0 Force_Torque_Offset1 0 Force_Torque_Offset2 0 Force_Torque_Offset3 0 Force_Torque_Offset4 0 Force_Torque_Offset5 0 ro #x8001 Acceleration Offset DT8001 208 Max SubIndex 6 Acceleration_Offset0 0 Acceleration_Offset1 0 Acceleration_Offset2 0 Acceleration_Offset3 0 Acceleration_Offset4 0 Acceleration_Offset5 0 ro #x8002 Angular Rate Offset DT8002 208 Max SubIndex 6 Angular_Rate_Offset0 0 Angular_Rate_Offset1 0 Angular_Rate_Offset2 0 Angular_Rate_Offset3 0 Angular_Rate_Offset4 0 Angular_Rate_Offset5 0 ro #x8004 Acceleration Range BIT8 8 0 rw #x8005 Angular Rate Range BIT8 8 0 rw #x8006 Force Torque Filter DT8006 56 Max SubIndex 4 Sinc length 0 FIR disable 0 FAST enable 0 CHOP enable 0 ro #x8007 Acceleration Filter BIT8 8 0 rw #x8008 Angular Rate Filter BIT8 8 0 rw #x8010 Device configuration DT8010 64 Max SubIndex 6 Force Torque Calibration Matrix Active 0 Force Torque Temperature Compensation Active 0 IMU Active 0 Coordinate System Configuration Active 0 Inertia and Gravity Compensation Active 0 Orientation Estimation Active 0 ro #x8011 Sampling Rate UINT 16 0 ro #x8030 Control DT8030 32 Max SubIndex 2 command 0 status 0 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Digital Output #x7000 #x0 8 Digital Output SINT #x1A00 Sensor Data #x6000 #x1 8 Status USINT #x6000 #x2 32 Warnings Errors Fatals UDINT #x6000 #x4 32 Force x REAL #x6000 #x5 32 Force y REAL #x6000 #x6 32 Force z REAL #x6000 #x7 32 Torque x REAL #x6000 #x8 32 Torque y REAL #x6000 #x9 32 Torque z REAL #x6000 #xa 16 Force Torque Saturated UINT #x6000 #xb 32 Acceleration x REAL #x6000 #xc 32 Acceleration y REAL #x6000 #xd 32 Acceleration z REAL #x6000 #xe 8 Acceleration Saturated USINT #x6000 #xf 32 Angular Rate x REAL #x6000 #x10 32 Angular Rate y REAL #x6000 #x11 32 Angular Rate z REAL #x6000 #x12 8 Angular Rate Saturated USINT #x6000 #x13 32 Temperature REAL #x6000 #x14 32 Orientation Estimate x REAL #x6000 #x15 32 Orientation Estimate y REAL #x6000 #x16 32 Orientation Estimate z REAL #x6000 #x17 32 Orientation Estimate w REAL 768 8002830000000000 0010800080108000