SRI Sunrise Instruments

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M8128 User’s Manual

This document is the User’s Manual for M8128, the interface box for the
force/torque sensor (loadcell) manufactured by SRI, Sunrise Instruments Co.,
Ltd. It’s strongly recommended that anyone who uses M8128 should read
this document before any operation. SRI reserves all the rights of this
document. Please do not hesitate to contact SRI if there is any question.

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Table of Content

1. INTRODUCTION ....................................................................................................................................... 3
2. QUICK START ............................................................................................................................................ 4
2.1 RS232 COMMUNICATION ..................................................................................................................... 4
2.2 ETHERNET COMMUNICATION ............................................................................................................... 5
2.3 CAN BUS COMMUNICATION ................................................................................................................ 6
3. POWER CABLE, CONNECTORS AND LED LIGHTS ......................................................................... 7
3.1 POWER CABLE...................................................................................................................................... 7
3.2 CONNECTOR DEFINITION ...................................................................................................................... 7
3.2.1 19 PIN LEMO CONNECTOR .................................................................................................................. 7
3.2.2 ETHERNET / RS232 / CAN BUS CONNECTOR ....................................................................................... 8
3.3 INDICATED LIGHTS ............................................................................................................................... 8
4. IDAS R&D DEBUGGING SOFTWARE................................................................................................... 8
4.1 SOFTWARE INTERFACE ......................................................................................................................... 9
4.2 SEND COMMANDS ....................................................................................................................................... 9
4.3 GET REAL-TIME DATA .................................................................................................................................. 9
5. COMMANDS ............................................................................................................................................. 10
5.1 COMMANDS TO CONFIGURE RS232/ETHERNET/CAN ........................................................................ 12
5.1.1 UARTCFG / COMMUNICATION PARAMETERS FOR RS232 ................................................................ 12
5.1.2 EIP / ETHERNET IP ADDRESS .............................................................................................................. 13
5.1.3 EMAC / ETHERNET MAC ................................................................................................................. 13
5.1.4 EGW / ETHERNET GATEWAY ADDRESS .............................................................................................. 13
5.1.5 ENM / ETHERNET NETMASK .............................................................................................................. 14
5.1.6 CIDT / ID TYPE FOR BUSCAN ........................................................................................................... 14
5.1.7 CFIDL / ID OF CAN BUS................................................................................................................... 14
5.1.8 CRATE / BAUD RATE OF CAN BUS ................................................................................................... 15
5.1.9 CFI / INTERVAL TIME BETWEEN FRAMES OF CAN BUS....................................................................... 15
5.2 SFWV / SEARCH FIRMWARE VERSION ............................................................................................... 16
5.3 DCPM / READ OR SET DECOUPLED MATRIX ....................................................................................... 16
5.4 DCPCU / CALCULATION UNIT FOR DECOUPLED DATA........................................................................ 16
5.5 CHNAPG / READ THE GAIN FOR EACH CHANNEL .............................................................................. 16
5.6 SMPR / READ OR SET SAMPLING RATE .............................................................................................. 17
5.7 DCKMD / SET DATA-CHECK METHOD ............................................................................................... 17
5.8 SGDM / SET THE FORMAT FOR UPLOADING DATA .............................................................................. 17
5.9 GOD / GET ONE PACKAGE DATA FROM M8128................................................................................... 18
5.10 GSD / GET DATA CONTINUOUSLY ....................................................................................................... 18
6. STEPS TO COMMUNICATE WITH M8128......................................................................................... 19
7. DECOUPLED CALCULATION ............................................................................................................. 20
7.1 MATRIX DECOUPLED LOADCELL ........................................................................................................ 20
7.2 STRUCTURALLY DECOUPLED LOADCELL ............................................................................................ 20
7.3 SENSORS OTHER THAN 6 AXIS LOADCELL........................................................................................... 21

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1. Introduction
The interface box M8128 provides bridge excitation, signal conditioning, data
acquisition and digital communication to the user’s controller or PC via RS232,
CAN Bus or Ethernet. The interface box has six analog input channels with
programmable gains to allow for low voltage such as strain gage bridge signal. A
24 bit sigma-delta AD converter (16 bit effective) is used to provide high resolution
(1/5000 to 1/10000 of full scale) digital output. The data rate is up to 2 kHz. A 6
axis loadcell is connected to the interface box via a 19 pin LEMO connector

Specifications：
• Analog
– # of Channels: 6
– Programmable gain
– Automatically adjusting sensor’s zero offset
– Low noise instrumentation amplifiers
• Digital
– RS232 , CAN Bus and Ethernet
– 24 bit sigma-delta ADC (16 bit effective), Sampling rate: 10~2k Hz
– Resolution: 1/5000 to 1/10000 of full scale, when connected to SRI’s sensors
– Programmable system parameters
• Frontal Panel
– Loadcell connector: LEMO FGG.2B.319.CLAD52Z
– Digital: Standard DB-9 connector(includes RS232 , CAN Bus and Ethernet
communication)
– Power supply: 12 to 36V, 200mA. Power cable - Diameter 3.5mm& Length
2m
– Indicated lights: Power & Status
• Software
– iDAS RD：Debugging software to display real-time sampling curve.
– Open communication command
– RS232 and Ethernet TCP routine code: C++ source code

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2. Quick Start
(a) Connect the loadcell to M8128 via a LEMO connector;
(b) Communicate to PC via RS232/Ethernet/CAN;
(c) Provide 24V DC power supply (not included) to the interface box M8128.

2.1 RS232 communication

Step1：Run iDAS R&[Link]. Then select PortName and BaudRate, and click Open Port. If
the port is working, the indicated light will turn red.
Step2：Turn power on. Initialization information will appear in the information box.

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Step 3：Select Eng in the output Unit box, check CH1~CH6 boxes to represent FX, FY, FZ,
MX, MY, MZ, then click “RealTime” button to start obtaining real-time force
curves.

If the information box doesn’t show initialization information after 1 minute of power-on, please check if: 1)
connection and PortName are correct；2) BaudRate is selected as 115200.
If the real time data of CH1~CH6 are incorrect, please exam the decoupled matrix and the calculation unit, and
refer to Chapters 4.0, 5.3, 5.4 and 7.0 of this Manual.

2.2 Ethernet communication

Step 1：Run iDAS R&[Link]. Then set PortName to EthToX; set Ethernet Type to TCP;
select LocalHost (your PC’s Ethernet card). Turn power on and wait for about half
a minute. After click “Discover iDAS” button, software will connect to M8128
automatically. If successfully, “1 iDAS found” will be shown on screen.

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Step 2：Click “Open Port”, the indicated light will turn red.
Step 3：Select Eng in the output Unit box; check CH1~CH6 boxes to represent FX，FY，
FZ，MX，MY，MZ; then click “RealTime” button to start obtaining real-time
force/torque curves.

If the pop-up window shows “0 iDAS found”, please try 1) click “Discover iDAS” button again；2) click
“ LocalHost”; 3) change the network card and try again.
If the real time data of CH1~CH6 are incorrect, please check the decoupled matrix and the calculation unit, and
refer to Chapters 4.0、5.3、5.4 and 7.0 of this Manual.

2.3 CAN Bus communication

Use RS232 communication to configure ID type, ID filter list, and baud rate for CAN
BUS (refer to chapters 4, 5.1.6, 5.1.7, and 5.1.8.). Note that CAN communication cable
assembly is not included, which can be make based on the pin definition for the DB9
connector in Section 3.2.2. All M8128 commands are supported by CAN
communication. The command should be converted into ASCII. When over 8 bytes, the
command needs to be divided into multiple frames and sent in succession.
Example:
RS232 communication
Sent：AT+CIDT=?\r\n
Reply：ACK+CIDT=STD$OK\r\n
Sent：AT+CFIDL=?\r\n
Reply：ACK+CFIDL=NULL$OK\r\n
Sent：AT+CRATE=?\r\n
Reply：ACK+CRATE=BR:1000000$OK\r\n
CAN communication
To convert AT+SMPR=?\r\n to ASCII: 41 54 2B 53 4D 50 52 3D 3F 0D 0A. The first frame is：41 54
2B 53 4D 50 52 3D，and the second frame is：3F 0D 0A（or：3F 0D 0A 00 00 00 00 00）

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3. Power Cable, Connectors and LED Lights

3.1 Power cable

M8128 comes with a 2-meters power cable, allowing for DC input of 12～36V,
with DC24V recommended. Note that DC power supply is not included. If
cconnected with a SRI six axis loadcell, the power consumed by the device is about
4.5W. The cable color codes are defined as follows:

Color Definition Note

Red, Blue, Orange +VIN +Power, red clip
Black, Brown, Yellow, Green -VIN -Power, black clip
The power cable shield is connected to the
external case of M8128. To reduce noise, it is
Shield Shield
recommended to connect the shield to both -Vin
(black clip) and the true ground in your test lab.

3.2 Connector definition

3.2.1 19 pin LEMO connector

LEMO Connector
Definition Note
Pin #
1 CH1+
Channel 1
2 CH1-
3 CH2+
Channel 2
4 CH2-
5 CH3+
Channel 3
6 CH3-
7 CH4+
Channel 4
8 CH4-
9 CH5+
Channel 5
10 CH5-
11 CH6+
Channel 6
12 CH6-
13~16 N/A

Negative excitation（if
17 -E
support）
18 +E Positive excitation
19 GND

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3.2.2 Ethernet / RS232 / CAN Bus connector

Ethernet/RS232/CAN bus are included the same DB9 connector. The pin
assignments are as follows:

DB Connector
Definition Note
Pin #
1 TDP Ethernet

2 RX RS232

3 TX RS232

4 CANH CAN BUS

5 GND Ground

6 CANL CAN BUS

Ethernet
7 TDN
Ethernet
8 RDP
Ethernet
9 RDN

3.3 Indicated lights

There are two indicated lights: PWR (Power) and STA (Status). The
conditions of these lights are defined as follows:

PWR STA Definition Instruction

ON Power is on

System is working
ON Flickering
properly
Check the loadcell
ON ON Excitation is abnormal
cable
System works ok. PWR Either ignore or
OFF Flickering
light may get damaged repair PWR light
Excitation is abnormal
Check the loadcell
OFF ON and PWR light may get
cable or contact us
damaged

4. iDAS R&D Debugging Software

iDAS RD is a debugging software that supports the commands of M8128, which
can be used to send a series of commands to M8128 to achieve a special
application.
Ø PC Requirement：WIN 7 and above
Ø Installation Procedure：Uncompressed iDAS RD
Ø Support RS232 & Ethernet communication only

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4.1 Software Interface

Show Setting
Curve Window

Command Response
Window
Upload
Channel

Port Setting
Command Input Box

4.2 Send Commands

According to the command format in Section 5.0, type in a command to the Command
Box, and click Send. The response information will be shown in the command response
window. Error will be prompted or no response will be given if the input command is
wrong or is not supported by M8128.

4.3 Get real-time data

Step 1：Open Port correctly.
Step 2：Select CH1 through CH6 at the lower right corner on screen.

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Step 3：Set SampRate to 100Hz，set Unit to N or Nm，set PointPerPackage to 10，and

put in 0 at Skip.
Step 4：Select CH1 through CH6 at the top right corner on screen.
Step 5：Click “Realtime” to get data from M8128, the real time data will be shown in
the window.

& Note:
With RS232 communication, SampRate is up to 300 Hz for 6-channel data upload and
1 kHz for 1-channel data upload.

With Ethernet communication, SampRate is up to 2K Hz for 6-channel data upload

and 10 kHz for 1-channel data upload.

If the real-time data shown by iDAS R&D is incorrect, please click Stop and send Commands
DCPM and DCPCU to make sure that current matrix coefficients and calculation unit match the
sensor calibration report. Refer to 5.3, 5.4 and 6.0 of this Manual.

5. Commands
Definition：

Master：The equipment that send commands to M8128, such as PC or the user’s control system. M8128 is
called as Slave Equipment.

ASCII Code：America Standard Code for Information Interchange，refer to ISO 646.

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M8128 commands are comprised of ASCII codes.

Command structures are shown as follows：

Send to Slave Equipment：
AT+CMD=Parameter\r\n
Response from Slave Equipment：(Except for the command GOD and GSD)
ACK+CMD=Parameter$ResponseCode\r\n

All data that sent to slave equipment must be ASCII code.

All data that received from slave equipment are ASCII code.
Before sent or after received, the data must be converted to or from ASCII
Descriptions：
AT：Frame Header when sending data. All data that are sent to Slave Equipment must be
started with AT.
ACK：Frame Header when receiving data. All data that are received from Slave Equipment
are started with ACK.
CMD：Command，such as SMPR.
Parameter：Parameters follow a command.
\r\n：Return symbol (Enter), which denotes the end of a command.
ResponseCode：Response code，such as OK or ERROR.
$：Interval symbol.

& Note：
? Parameter ‘?’ denotes that Master is asking for a response from Slave Equipment.
? M8128 will not respond until the command sent by Master is executed.
? When debugging with iDAS R&D software, the software performs ASCII conversion and put
\r\n at the end of the command automatically.

Example:
Send：AT+SMPF=?\r\n
ASCII: 41 54 2B 53 4D 50 52 3D 3F 0D 0A
Response：ACK+SMPF=100$OK\r\n
ASCII: 41 43 4B 2B 53 4D 50 52 3D 31 30 30 24 4F 4B 0D 0A
Send：AT+GOD\r\n
ASCII: 41 54 2B 47 4F 44 0D 0A
Response：AA 55 00 1B 04 BB A1 8C B8 41 E0 19 30 42 DD 82 B0 40 A2 62 B8 C0 DB 68 75 40 9B EB 16 40 30

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Command Function Note

Configuration of RS232/CAN/Ethernet

UARTCFG Read or set parameters of RS232 Immediate effect

EIP Read or set Ethernet IP address Effect after restart

EMAC Read or set Ethernet MAC address Effect after restart

EGW Read or set Ethernet gateway Effect after restart

ENM Read or set Ethernet netmask Effect after restart

CRATE Read or set CAN baud rate Effect after restart

CIDT Read or set ID type of CAN Bus Effect after restart

CFIDL Read or set ID of CAN Bus Effect after restart

Read or set internal time between frames
CFI Effect after restart
of CAN bus
System parameters

CHNAPG Read or set the gain of each channel

SMPR Read or set sampling rate

DCPM Read or set decoupling matrix coefficient

DCPCU Read or set matrix calculation unit （mV or mV/V)

SFWV Read firmware version

Get real-time data from M8128

SGDM Read or set the upload data format

DCKMD Read or set data validation method
GSD Get data from M8128 continuously
GOD Get one package data from M8128

5.1 Commands to configure RS232/Ethernet/CAN

5.1.1 UARTCFG / Communication Parameters for RS232

Description: To read or set parameters for RS232
Command Syntax:AT+UARTCFG=Rate,DataBit,StopBit,ParityBit

Command Possible Response(s)

AT+UARTCFG=? \r\n Rate,DataBit,StopBit,ParityBit
AT+UARTCFG=Rate, DataBit, StopBit, ParityBit\r\n OK/ERROR
Note: Immediate effect.
Parameters
Variable Type
Parameter Description
(Valid Range)
Unsigned long int Baud Rate of RS232 in bps. Baud Rate of RS232 in M8128 can be
Rate
(0～232-1)
9600, 14400, 19200, 38400, 56000, 57600,115200, 230400,
256000, 460800, 921600bps. Default 115200
Number of data bits in RS232 communication. The choices are:
DataBit Int
5,6,7 and 8. Default is 8
Number of stop bits in RS232 communication. The choices are:
StopBit float
0.5,[Link] and 2.0. Default is 1.0

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Parity in RS232 communication. Choices are N,O and E, which

ParityBit char
denote none, odd and even respectively. Default is N
Example:
Send：AT+UARTCFG=?\r\n
Response：ACK+UARTCFG=115200,8,1.00,N$OK\r\n

Send：AT+UARTCFG=19200,8,1.00,N\r\n
Response：Messy codes
The baud rate of the master equipment should be changed to the current set value of 19200 in order to communicate correctly.

5.1.2 EIP / Ethernet IP address

Description: To set Ethernet IP address
Command Syntax:AT+EIP=addr0.addr1.addr2.addr3
Command Possible Response(s)
AT+EIP=?\r\n addr0.addr1.addr2.addr3
AT+EIP= ddr0.addr1.addr2.addr3\r\n OK/ERROR
Note: Effect after M8128 is restarted.
Parameters
Variable Type
Parameter Description
(Valid Range)
ddr0.addr1.addr2.addr3 String Default：[Link]
Example:
Send：AT+EIP=?\r\n
Response：ACK+EIP=[Link]$OK\r\n

Send：AT+ EIP=[Link]\r\n
Response：ACK+EIP=[Link]$OK\r\n

5.1.3 EMAC / Ethernet MAC

Description: To set Ethernet MAC.
Command Syntax:AT+EMAC=addr0-addr1-addr2-addr3-addr4-addr5
Command Possible Response(s)
AT+EMAC=?\r\n addr0-addr1-addr2-addr3-addr4-addr5
AT+EMAC= addr0-addr1-addr2-addr3-addr4-addr5\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
addr0-addr1-addr2-addr3-addr4-addr5 String 12-13-14-15-16-17
Example:
Send：AT+EMAC=?\r\n
Response：ACK+EMAC=12-13-14-15-16-17$OK\r\n

Send：AT+EMAC=12-13-14-15-16-17\r\n
Response：ACK+EMAC=12-13-14-15-16-17$OK\r\n

5.1.4 EGW / Ethernet Gateway address

Description: To set Ethernet gateway address.
Command Syntax:AT+EGW= addr0.addr1.addr2.addr3
Command Possible Response(s)
AT+EGW=?\r\n addr0.addr1.addr2.addr3
AT+EGW=addr0.addr1.addr2.addr3\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
addr0.addr1.addr2.addr3 String [Link]
Example:
Send：AT+EGW=?\r\n
Response：ACK+EGW=[Link]$OK\r\n

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Send：AT+EGW=[Link]\r\n
Response：ACK+EGW=[Link]$OK\r\n

5.1.5 ENM / Ethernet netmask

Description: To set Ethernet netmask.
Command Syntax: AT+ENM= addr0.addr1.addr2.addr3
Command Possible Response(s)
AT+ENM=?\r\n addr0.addr1.addr2.addr3
AT+ENM= addr0.addr1.addr2.addr3\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
addr0.addr1.addr2.addr3 String [Link]
Example:
Send：AT+ENM=?\r\n
Response：ACK+ENM=[Link]$OK\r\n

Send：AT+ENM=[Link]\r\n
Response：ACK+ENM=[Link]$OK\r\n

5.1.6 CIDT / ID type for BusCAN

Description: To read or set ID type for CAN Bus.
Command Syntax: AT+CIDT=Type
Command Possible Response(s)
AT+CIDT=?\r\n Type
AT+CIDT=Type\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
STD: Standard 11 bits ID
Type String
EXT: Extended 29 bits ID
Example:
Send：AT+CIDT=?\r\n
Response：ACK+CIDT=STD$OK\r\n

Send：AT+CIDT=EXT\r\n
Response：ACK+CIDT=EXT$OK\r\n

5.1.7 CFIDL / ID of CAN Bus

Description: To read or set ID of CAN Bus.
Command Syntax:AT+CFIDL= id1,id2,id3,…,idn
Command Possible Response(s)
AT+CFIDL=?\r\n id1,id2,id3,…,idn
AT+CFIDL=id1,id2,id3,…,idn\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
NULL: no filter
idn 0～211 or 0～229
Up to 14 IDs: allow these IDs to be passed through
Example:
Send：AT+CFIDL=?\r\n
Response：ACK+CFIDL=NULL$OK\r\n

Send：AT+CFIDL=0,125,126,127,128\r\n
Response：ACK+CFIDL=0,125,126,127,128$OK\r\n

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5.1.8 CRATE / Baud Rate of CAN Bus

Description: To read or set baud rate of CAN Bus.
Command Syntax: 1. AT+CRATE=BR:rate 2. AT+CRATE=RP:BS1,BS2,Prescaler
Command Possible response(s)
AT+CRATE=? 1. BR:rate
2. RP:BS1,BS2,Prescaler
1. AT+CRATE=BR:rate
OK/ERROR
2. AT+CRATE=RP:BS1,BS2,Prescaler
Note:
1．The default Baud Rate of CAN Bus is 1Mb/s, and the baud rate can be changed by Command CRATE with
two methods:
1.1 Send “AT+CRATE=BR:rate” to set the Baud Rate, where the rate should
be 1Mb/s, 0.8Mb/s, 0.75Mb/s, 0.6Mb/s, 0.5Mb/s, 0.45Mb/s, 0.25Mb/s or 0.125Mb/s.
1.2 Send “AT+CRATE=RP:BS1,BS2,Prescaler” to set the Baud Rate.
More Baud Rate can be achieved by this method. The Baud Rate is defined as following:
Baud Rate = 36/((1+ BS1+ BS2)*(1+Prescaler))Mbps
2．Only one method can be used each time.
3. New Baud Rate will be effective after M8128 is restarted.
Parameters
Variable Type
Parameter Description
(Valid Range)
BR String Keyword
RP String Keyword
Unsigned long int Baud Rate in bps. This parameter can be 1000000, 800000,
rate
(0～232-1) 750000, 600000, 500000, 450000, 250000 or 125000.
Unsigned short int
BS1 1 ~ 16.
(0～65535)
Unsigned short int
BS2 1 ~ 8.
(0～65535)
Unsigned short int
Prescaler 1 ~ 1024.
(0～65535)
Example:
Send：AT+CRATE=?\r\n
Response：ACK+CRATE=BR:1000000$OK\r\n

Send：AT+CRATE=?\r\n
Response：ACK+CRATE= RP:7,8,20$OK\r\n

Send：AT+CRATE=BR:125000\r\n
Response：ACK+CRATE=BR:125000$OK\r\n

5.1.9 CFI / Interval time between frames of CAN Bus

Description: To set Interval time between frames of CAN Bus
Command Syntax: AT+CFI=IntervalTime
Command Possible response(s)
AT+CFI=? IntervalTime
AT+CFI=IntervalTime OK/ERROR
Note: New interval time will be effective after M8122C is restarted.
Parameters
Variable Type
Parameter Description
(Valid Range)
IntervalTime 0～10000 Interval time in µs. The default value in firmware is 0µs.
Example:
Send：AT+CFI=?\r\n
Response：ACK+CFI=10$OK \r\n

Send：AT+CFI=10\r\n
Response：ACK+CFI=10$OK \r\n

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5.2 SFWV / Search Firmware version

Description: To search firmware version.
Command Syntax:AT+SFWV=?
Command Possible Response(s)
AT+SFWV=?\r\n version
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
version String Version #
Example:
Send：AT+SFWV=?\r\n
Response：ACK+SFWV=V11.00$OK\r\n

5.3 DCPM / Read or set decoupled matrix

Description: To read or set decoupled matrix
Command Syntax:AT+DCPM=Matrix
Command Possible Response(s)
AT+DCPM=?\r\n Matrix data
AT+DCPM=Matrix\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
Matrix String The format is as follows.
Example:
Send：AT+DCPM=?\r\n
Response：
ACK+DCPM=(0.000041,-0.020164,-0.000348,0.020287,-0.000145,-0.000047);(-0.000160,-0.011703,-0.000089,-0.011668,-0.000217,0.023526
);(-0.031415,-0.000185,-0.032273,0.000010,-0.031708,-0.000481);(-0.000888,-0.000014,0.000951,-0.000006,0.000029,0.000009);(-0.000521,0
.000011,-0.000531,-0.000009,0.001061,0.000015);(0.000002,0.000754,-0.000008,0.000753,-0.000007,0.000768)$OK\r\n
Refer to Section 7.0 Loadcell Decoupled Calculation to obtain the decoupling matrix coefficients and calculation units of sensors

5.4 DCPCU / Calculation unit for decoupled data

Description: To set or read calculation unit.
Command Syntax:AT+DCPCU=Unit
Command Possible Response(s)
AT+DCPCU=?\r\n Uint
AT+DCPCU=Unit\r\n OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
Unit String MV and MVPV(mV/V)
Example:
Send：AT+DCPCU=?\r\n
Response：ACK+DCPCU=MV$OK\r\n

Send：AT+DCPCU=MVPV\r\n
Response：ACK+DCPCU=MVPV$OK\r\n

5.5 CHNAPG / Read the gain for each channel

Description: To read the gain for each channel
Command Syntax：AT+CHNAPG=?
Command Possible response(s)
AT+CHNAPG=? GV-Ch1;GV-Ch2;…;GV-Chn
Note:
Parameters

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Variable Type
Parameter Description
(Valid Range)
Float
GV-Chn Gain for Channels 1-6
(-3.4E38～3.4E38)
Example:
Send：AT+CHNAPG=?\r\n
Response：ACK+CHNAPG=123.94;123.92;124.05;124.11;124.03;124.03;124.01;123.85$OK\r\n

5.6 SMPR / Read or set sampling rate

Description: To read or set sampling rate.
Command Syntax: AT+SMPR=SampleFreq
Command Possible response(s)
AT+SMPR=? SampleFreq
AT+SMPR=SampleFreq OK/ERROR
Note:
Parameters
Variable Type
Parameter Description
(Valid Range)
Unsigned short int
SampleFreq Sampling Freq in Hz. For example, 200.
(1～2000)
Example:
Send：AT+SMPR=?\r\n
Response：ACK+SMPR=300$OK\r\n

Send：AT+SMPR=200\r\n
Response：ACK+SMPR=200$OK\r\n

5.7 DCKMD / Set data-check method

Description: To set data-check method.
Command Syntax: AT+DCKMD=Mod
Command Possible response(s)
AT+DCKMD=Mod OK/ERROR
Note: iDAS R&D debugging software only supports SUM check.
Parameters
Variable Type
Parameter Description
(Valid Range)
Data check methods include SUM and CRC32；The default method SUM is
Mod String used for data accumulation and verification. See the C language source code
of CRC32 in the attached CD.
Example:
Send：AT+DCKMD=?\r\n
Response：ACK+ DCKMD =SUM$OK\r\n

5.8 SGDM / Set the format for uploading data

Description: To set the format for uploading data.
Command Syntax:AT+SGDM=(CHx,CHx…,CHx);DataUnit;PNpCH;(FM:p1,p2,p3,…,pn)
Command Possible Response(s)
AT+SGDM=? \r\n (CHx,CHx,…,CHx);DataUnit;PNpCH;(FM:p1,p2,p3,…,pn)
AT+SGDM=(CHx,CHx,…,CHx);DataUnit;PNpCH;(FM:p1,p2,p3,…,pn) OK/ERROR
Note: Default :(A01,A02,A03,A04,A05,A06);C;1;(WMA:1)
Parameters
Variable Type
Parameter Description
(Valid Range)
M8128 has six data channels. You can choose one or more channels
(CHx,CHx,…,CHx) String and sort them in any order. For example, to upload channels 2, 5 and
1, the parameters are configured as (A02, A05, A01).
Character E: Engineering Unit, N or Nm,
DataUnit V: mV/V
(0～255)
M: mV,

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C: AD Count

Character # of Data Points: Upload channel data points up to 80 points in one

PNpCH package. For example, to upload 20 data points for each channel,
(0～255)
this parameter should be set to 20.
Filter model and relevant parameters. The Weighted
Mean Algorithm is supported by M8128. Every
sampling point will be averaged with previous N
(N<=17) points.
FM: Filter model. Set to WMA.
p1,p2,p3,…,pn：The weight of each point, where pn
(FM:p1,p2,p3,…,pn) is the weight of the latest sampling point. The weight must
be integer.
For example,(WMA:1,1,1,2,4) means that the
average value is obtained from the latest five points(D1, D2, D3,
D4, D5). The average is defined as:
(D5*4+D4*2+D3*1+D2*1+D1*1)/(4+2+1+1+1)
If average algorithm is not used, enter (WMA: 1)
Example:
Send：AT+SGDM=?\r\n
Response：ACK+SGDM=(A01,A02,A03,A04,A05,A06);E;1;(WMA:1)$OK\r\n

Send：AT+SGDM=(A02,A05,A01);E;1;(WMA:1)\r\n
Response：ACK+SGDM=(A02,A05,A01);E;1;(WMA:1)$OK\r\n

5.9 GOD / Get one package data from M8128

Description: To get one package data from M8128.
Command Syntax: AT+GOD
Command Possible response(s)
AT+GOD DataFormat
Note:
If necessary, please use Command SGDM to set the format for uploading data.
Parameters
Variable Type
Parameter Description
(Valid Range)
DataFormat Data package, refer to the following for details.

5.10 GSD / Get data continuously

Description: To get data continuously.
Command Syntax: AT+GSD
Command Possible response(s)
AT+GSD DataFormat
Note:
1. If necessary, please use Command SGDM to set the format for uploding data.
2. To stop receiving data, send “AT+GSD=STOP\r\n” to M8128.
Parameters
Variable Type
Parameter Description
(Valid Range)
DataFormat Data package, refer to the following for details.

“DataFormat” is defined as follows：

Frame Header PackageLength PackageNo Data CRC32/SUM
0xAA ,0x55 HB,LB 2Byte (ChNum*N*DNpCH) Byte 4Byte / 1Byte

& Note：
? 0xAA ,0x55：Frame header of data package.
PackageLength：Unsigned short int,16-bits, highest byte first, The length of data of each channel,
which equals to 2+ChNum*N*DNpCH+1(SUM check) or 2+ ChNum*N*DNpCH+4(CRC32 check)
Where

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ChNum: Total number of uploading channels.

N: = 2, if the output unit is in AD Counts
=4, if the output unit is in engineering unit or mV/V
DNpCH: Number of sampling points to upload in one package（refer to 5.8 SGDM）
? PackageNo: Every package is labeled, which increases in sequence from 0 to 65535.
? Data：Uploading data according to SGDM with the lowest byte first.
? CRC32/SUM: CRC32 or Checksum. The default data validation method is Checksum. Use Command
DCKMD to select the data validation method (Checksum or CRC32).
CRC32 function (MyCRC_GetCRC32 (uint8_t *pData, uint16_t Length)) in C program is included in
the CD-ROM.

Example:
Send：AT+DCKMD=SUM\r\n
Response：ACK+DCKMD=SUM$OK\r\n
Send：AT+SGDM=(A01,A02,A03,A04,A05,A06);E;1;(WMA:1)\r\n
Response：ACK+SGDM=(A01,A02,A03,A04,A05,A06);E;1;(WMA:1)$OK\r\n
Send：AT+GOD\r\n
Response：AA 55 00 1B C4 C7 01 6A F4 C0 EF 7D 33 C0 49 62 C9 C0 A2 5C C6 BD A6 19 8F BD AF DA 69
3E 6E

Where
0xAA ,0x55：Frame header
00 1B：PackageLength 2+6*4*1+1=27 bytes；
C4 C7：Package No 50375；
Channel 1 Engineering Unit：01 6A F4 C0, single-precision float（C0F46A01）converted into -7.637940；
Channel 2 Engineering Unit：EF 7D 33 C0, single-precision float（C0337DEF）converted into -2.804561；
Channel 3 Engineering Unit：49 62 C9 C0, single-precision float（C0C96249）converted into -6.293248；
Channel 4 Engineering Unit：A2 5C C6 BD, single-precision float（BDC65CA2）converted into -0.096856；
Channel 5 Engineering Unit：A6 19 8F BD, single-precision float（BD8F19A6）converted into -0.069873；
Channel 6 Engineering Unit：AF DA 69 3E, single-precision float（3E69DAAF）converted into 0.228373
SUM Check: 6E

6. Steps to communicate with M8128

Step 1: Use command SMPR to set sampling rate. If the sampling rate is 100Hz:
AT+SMPR=100\r\n
Step 2: Use command SGDM to set the format for uploading data. For example:
AT+SGDM=(A01,A02,A03,A04,A05,A06);E;1;(WMA:1)\r\n
Step 3: Use command GOD to get one package data or command GSD to get data
continuously from M8128. Refer to Sections 5.9 and 5.10

& Note：
? The parameters set by Command SMPR and SGDM are saved to M8128, and will not be lost
after power off.
? If iDAS R&D software is used, M8128 is required to restart (Power off and Power on) before
debugging your own codes.
? If the real time data of CH1~CH6 is incorrect, please check the decoupled matrix and the
calculation unit, and refer to Section 4.0, 5.3, 5.4 and 7.0 of this Manual

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7. Decoupled Calculation
If the M8128 is purchased together with SRI sensor, the decoupled matrix and calculation unit of
SRI sensor have been configured in the M8128. The decoupled matrix and calculation unit can
be updated by Command DCPM and DCPCU when necessary.

Decoupled matrix and calculation unit can be found in the calibration report. Two different
reporting formats will be provided according to the sensor's structure.

7.1 Matrix decoupled loadcell

The decoupled matrix and calculation unit are provided in the calibration report, as shown
below:

The Commands to input the matrix coefficients and to set the calculation unit are as follows:

AT+DCPM=(-0.03220,0.49984,0.00136,-1.01398,-0.01208,0.50908);(0.00046,0.84855,0.015
31,0.02114,-0.03126,-0.86432);(1.19167,0.00028,1.20748,0.00224,1.198078,0.00320);(-0.06
386,-0.00097,0.13028,-0.00009,-0.06523,0.00012);(-0.11090,0.00016,-0.00049,0.00075,0.11
138,-0.00019);(-0.00046,0.08401,-0.00067,0.083040,-0.00089,0.08433)
AT+DCPCU=MV

7.2 Structurally decoupled loadcell

The sensitivity provided in the calibration report needs to be converted into a matrix as
shown below:

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Sensitivity unit is mV/V/Eu,. The diagonal elements of the matrix are the inverse of the
sensitivities (1/Sensitivity). The calculation unit is mV/V.

1783.9940 0 0 0 0 0
0 1770.5069 0 0 0 0
0 0 14656.3095 0 0 0
0 0 0 288.7169 0 0
0 0 0 0 284.0102 0
0 0 0 0 0 220.3711

The Commands to input the matrix coefficients and to set the calculation unit are as follows:
AT+DCPM=(1783.9940,0,0,0,0,0);(0,1770.5069,0,0,0,0);(0,0,14656.3095,0,0,0);(0,0,0,288
.7169,0,0); (0,0,0,0,284.0102,0); (0,0,0,0,0,220.3711)
AT+DCPCU=MVPV

Four possibilities for the conversion formula:

1. Sensitivity unit is mV/V/Eu. The conversion formula is 1/Sensitivity.
Calculation unit is mv/V: AT+DCPCU=MVPV.
2. Sensitivity unit is mV/Eu. The conversion formula is 1/Sensitivity.
Calculation unit is mv: AT+DCPCU=MV.
3. Sensitivity unit is V/V/Eu. The conversion formula is 1/Sensitivity/1000.
Calculation unit mv/V: AT+DCPCU=MVPV.
4. Sensitivity unit is V/Eu. The conversion formula is 1/Sensitivity/1000.
Calculation unit is mv: AT+DCPCU=MV.

7.3 Sensors other than 6 axis loadcell

Matrix coefficients for 3 axis loadcell, single axis loadcell and torque loadcell are illustrated
below:
3 Axis loadcell

Sensitivity unit is mV/V/Eu. The diagonal elements of the matrix are the inverse of the
sensitivities (1/Sensitivity).

6910.3725 0 0 0 0 0
0 6921.8523 0 0 0 0
0 0 36755.2468 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0

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The Commands to input the matrix coefficients and to set the calculation unit are as follows:
AT+DCPM=(6910.3725,0,0,0,0,0);(0,6921.8523,0,0,0,0);(0,0,36755.2468,0,0,0);(0,0,0,0,0,0);(0,0,0,
0,0,0); (0,0,0,0,0,0)
AT+DCPCU=MVPV

Torque loadcell

Sensitivity unit is V/Eu. The first row and the first column equals to 1/sensitivity/1000.
Calculation unit is mV.

The Commands to input the matrix coefficients and to set the calculation unit are as follows:
AT+DCPM=(0.048913,0,0,0,0,0);(0,0,0,0,0,0);(0,0,0,0,0,0);(0,0,0,0,0,0);(0,0,0,0,0,0);(0,0,0,0,
0,0)
AT+DCPCU=MV

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