Barrett WAM Arm Manuals

Manuals and User Guides for Barrett WAM Arm. We have 1 Barrett WAM Arm manual available for free PDF download: User Manual

Barrett WAM Arm User Manual

Barrett WAM Arm User Manual (80 pages)

Whole Arm Manipulator

Brand: Barrett | Category: Robotics | Size: 2 MB

Table of Contents

Table of Contents

1
Table of Contents

2
List of Figures

4
List of Tables

5
List of Equations

5
System Description

6
- Standard Wam System Components
  6
  - System Features
    6
  - Documentation
    6
  - WAM Arm
    7
  - Tool-End Attachments
    8
    
    Figure 2 - Blank Outer Link
    8
    
    Outer Link
    8
    
    Figure 4 - Haptic Ball
    9
    
    Figure 5 - Tool Plate
    9
- Can Termination
  9
  - Power Supply
    10
  - Safety Pendants
    10
  - Figure 7 - Power Supply
    10
  - Figure 8 - Safety Pendants
    10
  - Electrical Cables
    11
  - Control Software and Firmware
    11
  - Maintenance Kit
    11
  - Figure 9 - Electrical Cables
    11
  - Figure 10 - Maintenance Kit
    12
- System Options
  13
  - WAM Wrist
    13
  - Passive Gimbals
    14
    
    Kit
    14
  - External WAM PC
    15
    
    Figure 12 - Wrist Maintenance Figure 13 - Gimbals Option
    15
    
    Figure 14 - External
    15
    
    Figure 15 - Back of External
    15
    
    Wam Pc
    15
  - Control Software/Firmware Upgrades
    16
Safety and Cautions

16
- Safety Instructions
  16
- Wam Workspace
  16
- Safety System: Pendants
  17
  - Safety States
    17
  - Status Lights
    17
- Handling Safety Faults
  18
System Setup

19
- Mounting
  19
  - Errors and Requests
    19
    
    Easurements
    19
- Grounding
  20
- Installing the External PC (Optional)
  20
  - Physical Installation
    20
  - Software Installation
    20
- WAM Wrist (Optional)
  20
  - Figure 20 - Wrist Connector
    21
  - Figure 21 - Separating Theo
    21
  - Figure 22: Close - up of Outerl
    21
  - Ink Connection
    21
  - Uter Link
    21
- Safety Board Settings
  22
  - Figure 23 - Safety Boards
    22
  - Witches
    22
- Wam Communication Settings
  22
  - Table 2 - Hand Communication and Power Settings
    22
  - DC Power Cable
    23
    
    Blue )
    23
    
    Figure 27 - Pendant Cables
    23
  - Electrical Connections
    23
    
    Power Source
    23
    
    Pendants
    23
- Able 3 - DC Power Equirements
  23
  - Communications
    24
  - Power-Up Sequence
    24
  - Figure 28 - Wireless Accessp
    24
  - Can Cable ( Purple )
    24
    
    Oint on Wam Backplate
    24
  - Code Examples
    25
Pc & Control Software

26
- Library Overview
  26
- File System Layout
  27
- The Configuration File (Wam.conf)
  27
- Operating Modes
  27
- Updating Firmware
  28
  - Pucks
    28
  - Safety Board
    29
    
    Figure 32 - Serial Connection with
    29
    
    Switch in "O N " Position
    29
Wam Commands List

30
Wam Properties List

31
- Common Properties
  31
- Motor Properties
  36
- Safety-Module Properties
  42
- Key to Property Table
  45
Canbus Communication Specifications

46
- Data Link Specifications
  46
- Canbus Timing
  46
- ID Specifications
  46
  - Message Ids
    46
  - Motor Ids and Groups
    46
- Canbus Frame Data Payload
  47
  - Standard Canbus Message Format
    47
  - Exceptions
    47
- Full Communication Example
  48
Troubleshooting

49
- Checking the Error Log
  49
- Common Problems
  50
Theory of Operation

56
Appendix Aintegrating a Barretthand

70
Appendix Btechnical Specifications

71
- Wam Dimensions
  72
- Figure 46 - Tool Plate Dimensions
  73
Appendix Cfaq

74
Appendix Dglossary

76
Index

79

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