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Wraptor™ User Manual
Parameter:
PTEMP
Peak Temperature
Name:
The maximum temperature ever experienced by this controller
Purpose:
0 to 125
Values:
N/A
Default:
This value is never reset; it is maintained through power failures and firmware downloads.
Notes:
Parameter:
SN
Serial Number
Name:
The serial number of the controller.
Purpose:
N/A
Values:
N/A
Default:
This value is never reset; it is maintained through power failures and firmware downloads.
Notes:
4.2.3 Advanced Parameters
Users do not generally need these commands, but they might be useful.
Parameter:
ACCEL
Acceleration
Name:
Maximum acceleration and deceleration when moving from one position to another.
Purpose:
0 to 65,535
Values:
Inner Link: 100
Default:
Outer Link: 100
Spread: 10
While the ACCEL parameter has a rather large range of values that it can accept, the motor can only follow
Notes:
a small subset of those values. In general, the useful range is from 0 to approx. 60. Above 60, the motors
cannot provide enough torque to accelerate that quickly. The units for acceleration is defined as 256 * GCL
Counts / ms / ms. So ACCEL = 10 yields 10/256 cts/ms/ms acceleration.
Parameter:
CT
Close Target
Name:
This is the position gone to by a C ("Close") command.
Purpose:
-2E9 to +2E9
Values:
Inner Link: 72000
Default:
Outer Link: 72000
Spread: 37000
This parameter's true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
Notes:
limits).
Parameter:
HOLD
Hold
Name:
If non-zero, then the motor is left energized after each motion command in order to hold the position
Purpose:
constant.
0, 1
Values:
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.
service@barrett.com
Document: D2000, Version: AB.00
www.barrett.com
Page 13 of 15
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