Units, status, and faults

Native units

Force enum	Serialized label
Pound force	lbf
Newton	N
Kilopound force	klbf
Kilonewton	kN
Kilogram force	kgf

Torque enum	Serialized label
Pound-force inch	lbf-in
Pound-force foot	lbf-ft
Newton-meter	N-m
Newton-millimeter	N-mm
Kilogram-force centimeter	kgf-cm
Kilonewton-meter	kN-m

Unknown serializes as unknown. ROS wrench interfaces use N and N·m regardless of native device selection.

Device status

0x00000000 is healthy. 0x80010000 is classified as a monitor-condition warning by the Net F/T software. Other nonzero values are serious device conditions and are decoded bit-by-bit for diagnostics.

Device status belongs to an RDT record. It is separate from receiver faults such as configuration failure, socket error, timeout, sequence stall, backward sequence, or malformed-packet storm.

Receiver fault codes

Fault	Meaning
none	No terminal receiver fault
sensor_configuration	Configuration discovery or validation failed
timeout	No valid record arrived within the receive timeout
socket	UDP socket setup or operation failed
serious_status	The device reported a serious status
ft_stall	Device measurement sequence stopped progressing
ft_backward	Device measurement sequence moved implausibly backward
malformed_storm	Malformed records exceeded the accepted window
callback	Native sample callback failed

Reconnect policy reports these events and attempts bounded recovery. Fail-stop policy latches the first fault and requires supervisory restart.