ODV User Guide ODV2
User Manual:
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Page Count: 12
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
T a b l e of C o n t e n t s
OptoForce 2016 page 1
Introduction …….................................................................... Page 2
Starting the application ……………………………………………………. Page 3
DAQ Opening Settings …………………………………………………….. Page 4
Using the application (with 3-axis sensor) ……………………….. Page 6
Using the application (with 6-axis sensor) ……………………….. Page 8
About tab ………………………………………………………………………… Page 9
Modifying settings.ini ………………………………………………………. Page 10
Recorded file format ………………………………………………………… Page 11
Hotkeys ……………………………………………………………………………. Page 12
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
U S E R G U I D E - O D V –D o c u m e n t V e r s i o n : 1 . 0
OptoForce 2016 page 2
Analog data visualization
Force vector representation
2D and 3D plot
Data Logging
Easy to use
BE N E F I T S SY S T E M RE Q U I R E M E N T S
CPU: Intel Core i5 (or equivalent)
RAM: 2GB
Operating systems:
•Windows 7/8/10
•Linux (64 bit, Tested on Ubuntu 16.04)
•OpenGL 3.3 or greater
HDD space: 500 MB
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
U S E R G U I D E - O D V
OptoForce 2016 page 3
STARTING THE APPLICATION (WINDOWS)
•After installation, you can find the link of
the program on your desktop
•You may need to start the application as
administrator (right click on the icon and
choose „Run as Administrator”) in order
to use the recording to file function
STARTING THE APPLICATION (LINUX)
•After unpacking the archive, you need to
go through these steps:
1. Open a new Terminal
2. Change directory where you unpacked the
application
3. Start the application:
4. If you do not want to start the application
with sudo all the time, you need to use
the following command:
Do a logout/login to apply the setting.
5. If libicui18n.so.52 is not found on your
system, please download it from
http://packages.ubuntu.com/trusty/amd64/li
bicu52/download and install with the
following command:
sudo ./ODV2
sudo usermod -a -G dialout $USER
dpkg -i libicu52_52.13ubuntu0.4_amd64.deb
S e n s i n g F l e x i b i l i t y
Before opening a DAQ, speed and filter options can be set here
Custom speed can be set (eg. 111 Hz, 142 Hz, 166 Hz, etc)
M a i n F e a t u r e s
OPTOFORCE DATA VISUALIZATION
D A Q O p e n i n g S e t t i n g s
M a i n F e a t u r e s
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S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
D A Q O p e n i n g S e t t i n g s
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1. The Serial Number of the DAQ which is connected to the computer
2. The type of the DAQ (3-axis 1 channel, 3-axis 4 channel, 6-axis).
3. The preset speeds which can be selected.
4. Custom speed but not any speed can be set though. The closest speed supported by the DAQ
will be calculated by an internal formula after you set your desired speed.
5. The preset filterings which can be selected.
6. Open the DAQ. The set speed and filter settings will be used.
Note: Any number and type of DAQs can be connected to the application.
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S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
U s i n g t h e a p p l i c a t i o n ( w i t h 3 - a x i s s e n s o r )
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A B C
D
E
F G H I
1) Check or uncheck this box to hide or show the visualisation of the given DAQ. This is more
important when you have more than one DAQ opened and you want to see another DAQ’s
visualization in a bigger size.
2) The actual Fx, Fy, Fz force values of the given sensors. In the case of one channel DAQ only one
row of values will be shown.
3) The current samples per second calculated by the count of incoming packets
4) The current speed and filter of the given DAQ.
5) The speed and filter settings can be modified by these items. Note: If you want to modify one of
these settings you have to click on the appropriate button („Set Speed” or „Set Filter”) to send
the configuration.
6) Zero or Unzero the given DAQ. ‚Zero’ will set each sensor’s signal to zero. ‚Unzero’ will set signals
to default value.
7) Checking or unchecking these boxes will set the content of written file. Each box represents a
column in a file. Fx, Fy, Fz boxes are the force values of the sensor, Timestamp is an
HH:MM:SS.sss format of time where sss are milliseconds, Sample counter is the internal packet
counter of the DAQ.
8) You can set the name of the written file. By default it is set to the serial number of the DAQ. The
final form of the filename will be „ABCDEFGH_SENSOR_N_HH_MM_SS.txt” where ABCDEFGH will
be the name given by the user, N is the actual sensor (in the case of 4 channel DAQ it can be 1..4),
HH_MM_SS is the current time (the time when the given file created).
9) Start or stop file writing.
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J
K
L
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
U s i n g t h e a p p l i c a t i o n ( w i t h 3 - a x i s s e n s o r )
OptoForce 2016 page 7
A. The number of points to be shown on the X-axis of each graph. By default it is 500, maximal size
is 10000.
B. the minimum range of the Y axis can be set on each graph.
C. By checking this box, detailed values will be shown/hidden on each graph in real-time. (See D.)
D. These values are the current value, Minimum value, Maximum value and delta of Minimum and
Maximum values and FPS (frames per second, the number of redraw of each graph in one
second)
E. Pause or Resume of visualization of given DAQ. (This is a logical pause, so DAQ will not stop
broadcasting data and file writing will be continued too)
F. The type of 3D visualization can be selected here (Perspective, X –Y (Top), Y –Z (Front), X –Z
(Left)) by pushing left or right arrowed buttons.
G. Set the range of X, Y and Z on the 3D visualization.
H. Show/Hide cone on the 3D visualization. When cone is hidden only force-vectors will be drawn.
I. One can select the current sensor. (eg. In the case of 4 channel DAQ, one can select Sensor 1, …
Sensor 4 to be visualized)
J. By clicking this button, every opened DAQ can be zeroed.
K. By clicking this button, every opened DAQ can be unzeroed.
L. By checking the box, newly connected DAQs will be automatically opened
U s i n g t h e a p p l i c a t i o n ( w i t h 6 - a x i s s e n s o r )
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S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
1
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3
A
B
CD
E
Only extra cases described here. For example setting the Zoom threshold, change the speed or
filtering of the given DAQ and so on are the same as in 3-axis case.
1) The actual Fx, Fy and Fz force values and the actual Tx, Ty and Tz torque values of the given
sensor. These values can be dimensionless counts or Newton/Newton meter values (See 2.)
2) Change between dimensionless counts mode or Newton/Newton meter mode. If the actual DAQ
cannot be used in Newton/Newton meter mode, this checkbox is not shown. To use the
Newton/Newton meter mode, in some cases you have to copy the provided OSR file in the folder
where your ODV application has been installed. Note: After you started writing to file, changing
this setting has no effect on the content of the file (if the file writing started in counts mode, it will
stay in counts mode until you stop then restart writing)
3) The columns of the file writing supplemented with Tx, Ty and Tz values.
A. The size of the „cube” in 3D visualization
B. The overall sensitivity of the „cube” in 3D visualization. If set to zero, the cube stays still
otherwise the bigger the sensitivity the stronger the rotation and the translation of the cube.
C. By unchecking this box, cube will not „move” on the X, Y and Z axises.
D. By unchecking this box, cube will not be rotated by the values of Tx, Ty and Tz.
E. Clicking on this button will pop up a settings window, where one can change the sensitivity of
the „cube” on each axis (Fx, Fy, Fz, Tx, Ty, Tz) (See F)
F. This window pops up after pressing button E). Change of a value has immediately effect on the
„cube” For example if you want more sensitive moving on X-axis, change the value of Fx to
10,0. If you want to disable moving on X-axis, simply change Fx value to 0,0
F
About t a b
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S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
1
2
1) The version of the Application
2) The version of the API
Please always provide those informations when you found a bug or have any question about the
application!
M o d i f y i n g s e t t i n g s . i n i
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2016
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
The application is shipped with configuration file „settings.ini” This file can be modified by the end-
user so this guide will describe the modifiable values and the effects of modifications.
[Application] section
Key: „AutoOpen”
Values: True or False
Description: if set to true, the application automatically opens any connected DAQs. If false, the
DAQs must be opened manually
Key: „AutoZero”
Values: True or False
Description: DAQ is auto-zeroed after it has been opened when set to true.
Key: „DefaultSpeed”
Values: Any value between 4 and 1000.
Description: This setting has effect only when AutoOpen is set to True: the automatically opened
DAQ’s speed will be set to this value.
Key: „DefaultFilter”
Values:
0 - No filtering
1 - 500.0 Hz
2 - 150.0 Hz
3 - 50.0 Hz
4 - 15.0 Hz
5 - 5.0 Hz
6 - 1.5 Hz
Description: This setting has effect only when AutoOpen is set to True: the automatically opened
DAQ’s filtering will be set to this value.
Key: „3DPlotEnabled”
Values: True or False
Description: If set to true, 3D visualizations are enabled („Cone” and „Cube”), otherwise 3D
visualizations disabled
Key: „BaudRate”
Values: Any valid baudrate (eg. 384000)
Description: This setting only has effect, when DAQ is connected to the computer via UART.
R e c o r d e d f i l e f o r m a t
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2016
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
•The recorded file format is a simple text file, containing the selected columns selected by the
user (see page 5. and 7.)
•The recorded files can be found in the „LOGS” directory (where you started the application)
•Every line is closed by a ‚\r’ and a ‚\n’
•Columns separated by a „,” (comma)
•Time format is „HH:MM:SS.sss” Where HH means Hours (00-23), MM means Minutes (00-59), SS
means Seconds (00-59) and sss means milliseconds (000-999). The time is represents the time
when the application captured the packet.
•Sample Counter is an internal counter of the DAQ. It changes every ms. If the DAQ’s speed is set
to 1000, increment of the sample counter will be 1, if the speed set to 100, increment of the
sample counter will be 10, and so on.
•The created file is in CVS format, thus it makes it suitable and easy to open it even in Excel for
further data processes and display.
Example:
TimeStamp,SampleCounter,Fx,Fy,Fz
15:54:43.044,39985,-2,-1,0
15:54:43.054,39995,-2,0,0
15:54:43.064,40005,-2,0,0
15:54:43.074,40015,-2,-1,-1
15:54:43.084,40025,-2,-1,0
15:54:43.094,40035,-1,0,0
15:54:43.104,40045,-3,0,0
15:54:43.114,40055,-1,0,0
15:54:43.124,40065,-2,0,-1
15:54:43.134,40075,-2,0,0
The speed of the DAQ was 100 Hz here, so SampleCounter values incremented by 10 in every new
line.
S e n s i n g F l e x i b i l i t y
OPTOFORCE DATA VISUALIZATION
H o t k e y s
OptoForce 2016 page 12
You can use the following hotkeys in the application:
•F2 –Hide/Show left panel (list of DAQs) (It is useful when you need a bigger size of visualization
panel)
•Ctrl + H –Hide 3D visualization elements (the „Cube” or the „Cone”)
•Ctrl + S –Show 3D visualization elements (the „Cube” or the „Cone”) Note: if you modified your
settings.ini by setting 3DPlotEnabled to False, you cannot use this shortcut to make 3D
visualization to be shown!
•Ctrl + Z –Do a zeroing on all connected DAQs
•Ctrl + U –Do an unzeroing on all connected DAQs
