Table of Contents
Advertisement
Wraptor™ User Manual
Command:
O
Open
Name:
Commands the selected motor(s) to move fingers in open direction with a velocity ramp-down at target
Purpose:
limits. If selected, F1, F2, and F3 open away from the palm, and the spread motor moves so that fingers F1
and F2 are opposite finger F3.
(none)
Arguments:
GO
Example:
The O command is similar to a MOVE command, with the value of the OT motor parameter as the
Notes:
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:
T
Terminate power
Name:
Turns of power to the selected motor(s).
Purpose:
(none)
Arguments:
ST
Example:
Notes:
Command:
TC
Torque-Controlled Close
Name:
Sets the torque of selected motor(s) to MT.
Purpose:
(none)
Arguments:
STC
Example:
Does not check for hitting joint limits. Torque is applied until a new torque is applied or a different
Notes:
movement command is issued. Use caution when issued with a high MT- there is no velocity limit imposed
during a torque move.
Command:
TO
Torque-Controlled Open
Name:
Sets the torque of selected motor(s) to –MT.
Purpose:
(none)
Arguments:
STO
Example:
Does not check for hitting joint limits. Torque is applied until a new torque is applied or a different
Notes:
movement command is issued. Use caution when issued with a high MT- there is no velocity limit imposed
during a torque move.
4.1.2 Motor Parameter Commands
Motor parameter commands act on the configuration parameters for one or more of the motors. See Section 4.2 for a
complete list of motor parameters.
Command:
FSET
Finger Set
Name:
Sets the given parameter to the given value for the selected motor(s)
Purpose:
<parameterName> <parameterValue>
Arguments:
SFSET DS 100
Example:
SET is a synonym for FSET.
Notes:
Command:
FGET
Finger Get
Name:
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.
service@barrett.com
Document: D2000, Version: AB.00
www.barrett.com
Page 10 of 15
Advertisement
Table of Contents
