Table Of Contents - Barrett Wraptor BH8-610 Series User Manual

Wraptor™ User Manual
1 System Description ............................................................................................................................. 2
1.1 What's new in the 610-Series Wraptor™ ................................................................................... 2
1.2 Introduction................................................................................................................................. 2
1.3 About the Wraptor™ .................................................................................................................. 2
1.4 Technical Specifications ............................................................................................................. 3
1.4.1 Overview............................................................................................................................. 3
1.4.2 Conversion ratios ................................................................................................................ 4
1.4.3 Brushless Motors ................................................................................................................ 4
1.5 Theory of Operation.................................................................................................................... 5
1.6 Control Software......................................................................................................................... 5
1.7 C-Function Library ..................................................................................................................... 5
1.8 Control Software/Firmware Upgrades ........................................................................................ 5
2 Safety and Cautions ............................................................................................................................ 6
2.1 Human Safety.............................................................................................................................. 6
2.2 Wraptor Safety ............................................................................................................................ 6
3 Initial Setup and Walk-through........................................................................................................... 7
4 Supervisory Control ............................................................................................................................ 8
4.1 Commands .................................................................................................................................. 8
4.1.1 Movement Commands ........................................................................................................ 9
4.1.2 Motor Parameter Commands ............................................................................................ 10
4.1.3 Administrative Commands ............................................................................................... 11
4.2 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
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Table of Contents

Document: D2000, Version: AB.00
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