Initial Setup And Walk-Through - Barrett Wraptor BH8-610 Series User Manual

Wraptor™ User Manual

3 Initial Setup and Walk-through

1) Mount the Wraptor™ securely to a robot arm or test stand.
2) Supply the Wraptor™ with 48V using the included power supply.
3) Plug the Wraptor™ into an Ethernet network.
4) Launch the "DS Manager" utility, select "DS Settings".
5) Enter a free IP address on your Ethernet subnet. Save your changes and exit the DS Manager.
6) Launch the TeraTerm application.
7) Type "HI" to perform a "Hand Initialize" on the Wraptor™.
a. Note: All commands must be followed by pressing <Enter>.
b. Note: All commands are case-insensitive and all white space is optional.
8) Get the initial temperature of the inner joint motors: Type "123 GET TEMP"
a. Note: "123 GET TEMP" is read as "Motors 1, 2, and 3, Get your TEMPerature"
b. Note: The Wraptor™ should return with its inner joint temperatures, in degrees C.
9) Move the fingers to position 20000: "123 M 20000"
a. Note: "123 M 20000" is read as "Motors 1, 2, and 3, Move to position 20000"
10) Move the spread (motor 4) to its mid-position: Type "4 M 18500"
11) Close finger 1: Type "1 C"
12) Open the whole hand: Type "O" (that is the letter 'O')
13) Get the final temperature of the inner joint motors: Type "123 GET TEMP"
14) Save the present positions for shutting down: Type "SAVE"
15) Remove power from the Wraptor™.
© 2007 Barrett Technology®, Inc.
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Figure 3: Screenshots of computer windows
Document: D2000, Version: AB.00
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