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Summary of Contents for Geomagic Geomagic Phantom Premium 1.56DOF
- Page 1 Premium 1.56DOF/1.5HF6DOF Device Guide...
- Page 2 Geomagic does not warrant that this publication is error free. This publication could include technical or typographical errors or other inaccuracies. Geomagic may make changes to the product described in this publication or to this publication at any time, without notice.
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Page 3: Table Of Contents
Contents Preface....................Chapter 1 Getting Started ................1-1 Contents of the Shipping Box ..................1-1 The Phantom Premium Haptic Device ................1-2 System Requirements ..................... 1-2 Proper Handling and Positioning of the Phantom Premium Device ......1-2 Chapter 2 Installing the Phantom Premium Device ........2-1 Installing the Phantom Device Drivers ................ - Page 4 Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 5: Preface
Preface About this Guide The Phantom Premium® Device Guide describes the process of installing the required device drivers for your new Phantom Premium haptic device and connecting the hardware device to your computer. You will also find information on how to use the device and other information about the device. - Page 6 REFACE Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 7: Getting Started
G etting Started C h a p t e r This guide covers the currently shipping Phantom Premium haptic device. The information contained in this manual was current at the time of publication. Visit www.sensable.com for the latest information. This chapter describes the following: •... -
Page 8: The Phantom Premium Haptic Device
ETTING TARTED The Phantom Premium Haptic Device If any items are missing, please call Support at 1-888-736-7225. The Phantom Premium Haptic Device The Phantom Premium device enhances productivity and efficiency by enabling the most intuitive human/computer interaction possible, the ability to solve problems by touch. The Phantom Premium 1.5 6DOF and 1.5HF 6DOF devices sense motion in 6 degrees of freedom. - Page 9 ETTING TARTED Proper Handling and Positioning of the Phantom Premium Device Calibrating the device: The Phantom Premium device may need to be recalibrated from Handling the Phantom Premium Device time to time, particularly if it has lost power. You can use the Phantom Test application (Start>All Programs>Sensable) to recalibrate the device.
- Page 10 ETTING TARTED Proper Handling and Positioning of the Phantom Premium Device Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 11: Installing The Phantom Premium Device
I nstalling the Phantom Premium C h a p t e r Device This chapter will describe, step by step, how to install the Phantom Premium haptic device. The installation is done in two steps. • Install the software, the Phantom Device Driver, that allows your computer to communicate with the Phantom Premium device. - Page 12 NSTALLING THE HANTOM REMIUM EVICE Connecting the Phantom Premium Device The high demands of the Phantom Premium device on the parallel port require the device to have a dedicated parallel port for its use. If you are currently using your parallel port for a printer, dongle or other peripheral, you will need to install an additional parallel port card in your system.
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Page 13: Run Phantom Test To Verify Setup
These switches can be used to cut off motor power for debugging purposes. Position the Phantom Premium device. IMPORTANT Geomagic uses only Parallel Port components that exceed the IEEE 1284 EPP implementation recommendations. Geomagic is not responsible for any damage that may result from using 3rd party cables. - Page 14 NSTALLING THE HANTOM REMIUM EVICE Run Phantom Test to Verify Setup Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 15: Using The Phantom Premium Device
U sing the Phantom Premium C h a p t e r Device This chapter will introduce you to working with the Phantom Premium haptic device and the physical limits of the device’s range of motion. It is important to understand these physical limitations so that you do not inadvertently damage the device by forcing it past its designed limits. -
Page 16: Physical Limits Of The Device
SING THE HANTOM REMIUM EVICE Physical Limits of the Device Physical Limits of the Device The Phantom Premium device has six degrees of motion provided by six axis points. All the degrees of motion have physical limits. When you reach one of these limits you will feel a sudden stop;... - Page 17 SING THE HANTOM REMIUM EVICE Using the Motors The second motor power switch is used to cut off the power to the three gimbal motors which are responsible for rotational torque feedback. When the switch is in the "ON" position, the motors and encoders are bothe connected. When the switch is in the "OFF" position, the encoders are still powered but the motors are not.
- Page 18 SING THE HANTOM REMIUM EVICE Using the Motors Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 19: Appendix Troubleshooting
Customer Support immediately for further assistance. Do not proceed further until you call our toll-free number (1-888-736-7225) or email SensableSupport@geomagic.com. When contacting Support, you may be asked to run the “Phantom Test” application to help with diagnosis. This application can be found in the directory where you installed the Phantom Device Drivers or via the Start>All Programs>Sensable menu. - Page 20 PPENDIX ROUBLESHOOTING Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 21: Appendix Customer Support
• If you purchased your Phantom Premium device from a distributor, please contact them first. • Customer Support can be reached via e-mail at SensableSupport@geomagic.com. • Customer Support can also be reached via telephone: In the United States: 1-888-736-7225 Outside the United States: +1-781-939-7444... - Page 22 PPENDIX USTOMER UPPORT Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 23: Appendix Regulatory Notices
Company Name: Geomagic, Inc. NOTES Any changes or modifications to the hardware not expressly approved by Geomagic could void the user's authority to operate this equipment. This device is to be used with the supplied power supply only. Replacement power supplies are available directly from Geomagic. - Page 24 European Requirements: EN 55022 Statement This is to certify that the Geomagic Phantom Premium haptic devices are shielded against the generation of radio interference in accordance with the application of Council Directive 89/336/EEC, Article 4a. Conformity is declared by the application of EN 55022 Class B (CISPR 22).
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Page 25: Appendix Maximizing Positioning Accuracy
Appendix: Maximizing A p p e n d i x Positioning Accuracy The objective of this technical note is to help you achieve a high level of positioning accuracy in the Phantom devices as specified in our product literature. Phantom devices have excellent inherent repeatability under no-load conditions. However, they can only be accurate if they have been initialized properly. - Page 26 PPENDIX AXIMIZING OSITIONING CCURACY The goal of this procedure is to line up the four rotary joints of the Phantom 4-bar linkage to form a rectangle. If the two joints on the short linkage closest to the base are called Joints 1 and 2, and the joints on the second linkage are called Joints 3 and 4, the lines between Joints 1 and 3 and Joints 2 and 4 must be horizontal, and...
- Page 27 PPENDIX AXIMIZING OSITIONING CCURACY Onthe other hand, for applications in which position is critical, such as teleoperation, 3D digitization or operation of two Phantom’s in the same virtual space, it is generally advisable to create a jig for accurate initialization. Premium 1.56DOF/1.5HF6DOF Device Guide...
- Page 28 PPENDIX AXIMIZING OSITIONING CCURACY Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 29: Appendix Configuring Multiple Devices
Appendix: Configuring Multiple A p p e n d i x Devices If you want to use more than one Phantom haptic device with your computer, you can create as many as 20 uniquely named Phantom configurations. Each named Phantom configuration can refer to a particular system configuration that you use frequently. - Page 30 PPENDIX ONFIGURING ULTIPLE EVICES Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 31: Appendix Installing/Removing The Encoder Gimbal
Appendix: Installing/Removing A p p e n d i x the Encoder Gimbal Adding the Encoder Gimbal and counterweights to a Phantom Premium If you previously connected the Phantom device, unplug the power and parallel cables. Loosen the #4-40 set-screw in the last link using the hex key provided (.050") (part number 01641). - Page 32 PPENDIX NSTALLING EMOVING THE NCODER IMBAL For a Phantom Premium 1.5 6DOF/1.5HF 6DOF Position the counterweights on the 3rd axis motor as shown at right, being careful to avoid the motor driver wires. The counterweights should be perpendicular to the Phantom Premium's arms.
- Page 33 PPENDIX NSTALLING EMOVING THE NCODER IMBAL Removing the Encoder Gimbal and counterweights from a Phantom Pre- mium Unplug both the power and parallel cable from the Phantom. Unplug the 26 pin connector on the Phantom Premium base. Cut the cable ties that route the cable with the 26 pin connector. Be careful not to cut any part of the cable.
- Page 34 PPENDIX NSTALLING EMOVING THE NCODER IMBAL Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 35: Appendix Power Specifications
Appendix: Power Specifications A p p e n d i x With Internal Auto-Switching Power Supply Output Current Rating 8.3 A AC Input 100 ~120 VAC 200 ~ 240 VAC (auto-switching power supply) Input Frequency 50/60 Hz AC Current 5A / 115V, 2.5A / 230 V Inrush Current 15A / 115V, 30A / 230 V Premium 1.56DOF/1.5HF6DOF Device Guide... - Page 36 PPENDIX OWER PECIFICATIONS Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 37: Appendix Working With Pinch End Effectors
PPENDIX ORKING WITH INCH FFECTORS Appendix: Working with Pinch A p p e n d i x End Effectors The Phantom 6 DOF family of haptic devices enables attaching interchangeable end effectors that provide pinch functionality. There are two pinch-capable grips: thumb-pad and scissors (examples available in the following pages). - Page 38 PPENDIX ORKING WITH INCH FFECTORS Scissors end effector The diagrams on the following page show the thumb-pad and scissors attachments before and after assembly. Thumb-pad end effector End clip (shown closed) End effector connector Handle Removing the End Effectors Open the end clip. Carefully disconnect the end effector from the 6 DOF handle.
- Page 39 PPENDIX ORKING WITH INCH FFECTORS Calibrating the End Effectors After you have installed the Phantom Device Driver (PDD) and have connected the Phantom device to your computer, you will need to calibrate the device and the thumb-pad or scissors end effectors. End effectors are calibrated through the Read encoders tab of the Phantom Test dialog.
- Page 40 PPENDIX ORKING WITH INCH FFECTORS Premium 1.56DOF/1.5HF6DOF Device Guide...
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Page 41: Appendix Device Specifications
Appendix: Device Specifications A p p e n d i x Product specifications are subject to change without notice. Device specifications continue onto the following page. Premium 1.5 6DOF Premium 1.5 High Force 6DOF Workspace Translational= 15 W x 10.5 H x 7.5 D inches 381 W x 267 H x 191 D mm Rotational= Yaw: 297 degrees/ 5.18 radians Pitch: 260 degrees/ 4.54 radians... - Page 42 PPENDIX EVICE PECIFICATIONS Premium 1.56DOF/1.5HF6DOF Device Guide...
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