Movement Commands - Barrett Wraptor BH8-610 Series User Manual

Wraptor™ User Manual

4.1.1 Movement Commands

Movement commands are motor commands: they immediately affect one or more of the motors. Each can take motor
prefixes.
Command: C
Close
Name:
Commands the selected motor(s) to move fingers in close direction with a velocity ramp-down at target
Purpose:
limit. If selected, each finger moves towards the palm, and the spread motor moves so that fingers F1 and
F2 are adjacent to finger F3.
(none)
Arguments:
SC
Example:
The C command is similar to a MOVE command, with the value of the Close Target (CT) motor parameter
Notes:
as the destination. Move is trapezoidal: Uses ACCEL to ramp up the velocity to MV, then uses –ACCEL
when approaching 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.
Command: HI
Hand Initialize
Name:
Initializes the selected motor controller(s), preparing them for use by other movement commands.
Purpose:
(none)
Arguments:
HI
Example:
HI must be run before any other movement command. Generally it is run without a motor prefix,
Notes:
initializing all four motors; although, if desired, a subset of the motors can be specified. After an HI, all
motors are in their home position; at 0 encoder counts.
Command: HOME
Home
Name:
Moves the selected motor(s) to position 0.
Purpose:
(none)
Arguments:
SGHOME
Example:
Notes:
Command: IO
Incremental Open
Name:
Opens the selected motor(s) DS counts.
Purpose:
(none)
Arguments:
12IO
Example:
Notes:
Command: IC
Incremental Close
Name:
Closes the selected motor(s) DS counts.
Purpose:
(none)
Arguments:
GIC
Example:
Notes:
Command: M
Move
Name:
Moves the selected motor(s) to the given position. If no argument specified, then the motor(s) move(s) to
Purpose:
the position given by parameter DP.
Target position in GCL counts (optional)
Arguments:
13M 1000
Example:
Move is trapezoidal: Uses ACCEL to ramp up the velocity to MV, then uses –ACCEL when approaching
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.
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Document: D2000, Version: AB.00
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