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Barrett Wraptor BH8-610 Series User Manual

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Wraptor™
BH8-610 Series User Manual
Document: D2000
Version: AB.00

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Summary of Contents for Barrett Wraptor BH8-610 Series

  • Page 1 Wraptor™ BH8-610 Series User Manual Document: D2000 Version: AB.00...

  • Page 2: Table Of Contents

    Motor Parameter Commands .................... 10 4.1.3 Administrative Commands ....................11 Parameters..........................11 4.2.1 Movement Parameters ...................... 12 4.2.2 Status Parameters ......................12 4.2.3 Advanced Parameters......................13 4.2.4 Configuration Parameters ....................15 © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 1 of 15...

  • Page 3: System Description

    Ethernet communications and DC power. We hope that you enjoy the versatility and functionality of the Wraptor™. Please never hesitate to give feedback to Barrett’s engineers and to ask Barrett’s engineers for advice. You may contact Barrett’s engineers at <service@barrett.com>, or US+617-252-9000, or at <http://www.barrett.com/robot/>.

  • Page 4: Technical Specifications

    Environmentally sealed: IP-65 Figure 2: Mechanical schematic of Wraptor Table 1 - Joint Ranges Inner Link Outer Link Spread -5,500 -35,000 GCL Counts 72,000 79,000 37,000 Degrees © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 3 of 15...

  • Page 5: Conversion Ratios

    Position Feedback for inner and outer link motors Absolute Magnetic Encoder Sensor on Motor Shaft: Absolute 4,096 positions/motor rev. via magnetic encoder, so inner and outer link resolutions are 0.0018 & 0.0023 degrees respectively. © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 4 of 15...

  • Page 6: Theory Of Operation

    Wraptor™ from a custom control application. 1.8 Control Software/Firmware Upgrades Barrett Technology makes software and firmware upgrades periodically. Upgrades are available for purchase or free of charge for customers of Barrett’s subscription service. Refer to Barrett’s enclosed Warranty and Subscription Service Policy for more information.

  • Page 7: Safety And Cautions

    Do not expose the Wraptor™ to mud or slurries. • Ensure that the electrical Wraptor™ cable and connector cannot be damaged by collision, cutting, pulling, or twisting. • © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 6 of 15...

  • Page 8: Initial Setup And Walk-Through

    13) Get the final temperature of the inner joint motors: Type “123 GET TEMP” 14) Save the present positions for shutting down: Type “SAVE” 15) Remove power from the Wraptor™. Figure 3: Screenshots of computer windows © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 7 of 15...

  • Page 9: Supervisory Control

    "12SET DP 8000" sets the default position for fingers 1 and 2 to 8000 GCL counts Supervisory mode commands are organized into the following categories: 1) Movement Commands 2) Motor Parameter Commands 3) Administrative Commands © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 8 of 15...

  • Page 10: Movement Commands

    Notes: the target position. If an object is encountered before the trapezoidal velocity profile completes, the torque will ramp up to MT. See HOLD for more info. © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 9 of 15...

  • Page 11: Motor Parameter Commands

    Gets and prints the given parameter's value for the selected motor(s). Each parameter prints one value for Purpose: each selected motor separated by spaces. <parameterName> Arguments: SFGET DS Example: GET is a synonym for FGET Notes: © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 10 of 15...

  • Page 12: Administrative Commands

    4.2 Parameters Motor parameters change how a motor functions. Parameters are organized into the following categories: 1) Movement Parameters 2) Status Parameters 3) Advanced Parameters 4) Configuration Parameters © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 11 of 15...

  • Page 13: Movement Parameters

    See Table 1- Joint limits Values: Default: Notes: TEMP Parameter: Temperature Name: The present temperature on the controller in degrees C. Purpose: 0 to 125 Values: Default: Notes: © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 12 of 15...

  • Page 14: Advanced Parameters

    Inner Link: 0 Default: Outer Link: 0 Spread: 1 Since the fingers are not back-drivable, this is generally set to 1 only for the spread motor. Notes: © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 13 of 15...
  • Page 15 -32768 to +32,767 Values: Inner Link: 2500 Default: Outer Link: 2500 Spread: 1500 Increasing this value makes the joint control stiffer with a risk of instability. Notes: © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 14 of 15...

  • Page 16: Configuration Parameters

    Default: “1 SET TIE 5” will make motor 1 echo to motor 5 any commands it receives. “1 SET TIE 0” will turn off Notes: the TIE. © 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 15 of 15...

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