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Wraptor™ User Manual
4.2.1 Movement Parameters
Movement parameters affect how a given motor moves.
Parameter:
DP
Default Position
Name:
Destination of M command if no argument specified
Purpose:
-2E9 to +2E9 (GCL counts)
Values:
Inner Link: 25000
Default:
Outer Link: 25000
Spread: 18500
This parameter's true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
Notes:
limits).
Parameter:
DS
Default Step
Name:
Size of IC or IO command movement if no argument specified
Purpose:
-32768 to +32,767 (GCL counts)
Values:
Inner Link: 4096
Default:
Outer Link: 4096
Spread: 4096
This parameter's true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
Notes:
limits). Setting DS to a negative number is allowed, but it is not recommended. Doing so would make the
finger move in the open direction during an IC (Incremental Close) command, for example.
MT
Parameter:
Max Torque
Name:
Maximum torque to apply during any joint movement.
Purpose:
-32768 to +32,767 (mA, roughly)
Values:
6000
Default:
It is useful to set this parameter before issuing a TC, TO, or M command.
Notes:
Parameter:
MV
Max Velocity
Name:
Maximum velocity to spin the motor during a trapezoidal move (M) command.
Purpose:
-32768 to +32,767 (GCL counts / ms)
Values:
Inner Link: 100
Default:
Outer Link: 100
Spread: 20
During a trapezoidal move, the joint will accelerate with ACCEL up to MV.
Notes:
4.2.2 Status Parameters
Motor status parameters are read-only and give information about the state of a motor.
P
Parameter:
Position
Name:
The present position of the motor in GCL Counts.
Purpose:
See Table 1- Joint limits
Values:
N/A
Default:
Notes:
TEMP
Parameter:
Temperature
Name:
The present temperature on the controller in degrees C.
Purpose:
0 to 125
Values:
N/A
Default:
Notes:
© 2007 Barrett Technology®, Inc.
service@barrett.com
Document: D2000, Version: AB.00
www.barrett.com
Page 12 of 15
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