Table of Contents
TABLE OF CONTENTS..............................................................................................................................2
LIST OF FIGURES.......................................................................................................................................5
LIST OF TABLES.........................................................................................................................................7
LIST OF EQUATIONS.................................................................................................................................7
1 SYSTEM DESCRIPTION..........................................................................................................................8
1.1 S
TANDARD
BH8-SERIES S
YSTEM
C
OMPONENTS
..........................................................................................8
1.1.1 System Features...............................................................................................................................8
1.1.2 Documentation................................................................................................................................8
1.1.3 BarrettHand™.................................................................................................................................9
1.1.4 Power Supply.................................................................................................................................10
1.1.5 Electrical Cables...........................................................................................................................11
1.1.6 Lab Bench Stand............................................................................................................................13
1.1.7 Control Software and Firmware...................................................................................................13
1.1.8 Maintenance Kit............................................................................................................................14
1.2 S
YSTEM
O
PTIONS
......................................................................................................................................15
1.2.1 Arm adapter...................................................................................................................................15
1.2.2 Strain gage Joint-Torque Sensors.................................................................................................15
1.2.3 Control Software/Firmware Upgrades.........................................................................................15
2 SAFETY AND CAUTIONS......................................................................................................................16
3 SYSTEM SETUP.......................................................................................................................................17
3.1 M
OUNTING
M
ETHOD
1: L
AB
B
ENCH
S
TAND
...............................................................................................17
3.2 M
OUNTING
M
ETHOD
2: O
N
R
OBOT
A
RM
...................................................................................................17
3.2.1 Robot-Arm Adapter.......................................................................................................................17
3.2.2 Installing the Hand Cable on a Robot Arm...................................................................................18
3.3 E
LECTRICAL
C
ONNECTIONS
.........................................................................................................................19
3.4 H
OST
C
OMPUTER
......................................................................................................................................20
3.5 I
NSTALLING
BH8-SERIES C
ONTROL
S
OFTWARE
.........................................................................................20
3.6 P
OWER
-U
P
S
EQUENCE
...............................................................................................................................20
3.7 U
PLOAD
F
IRMWARE
...................................................................................................................................21
4 CONTROL MODES – SUPERVISORY AND REALTIME................................................................22
5 SUPERVISORY CONTROL MODE......................................................................................................23
5.1 O
VERVIEW
...............................................................................................................................................23
5.1.1 Commands.....................................................................................................................................23
5.1.2 Motor commands...........................................................................................................................23
5.1.3 Status Codes .................................................................................................................................24
5.2 C
OMMAND
L
IST
........................................................................................................................................24
5.2.1 Movement Commands...................................................................................................................24
5.2.2 Motor Property Commands...........................................................................................................26
5.2.3 Global Property Commands..........................................................................................................27
5.2.4 Administrative Commands............................................................................................................29
5.2.5 Advanced Commands....................................................................................................................30
5.3 M
OTOR
P
ROPERTIES
.................................................................................................................................30
5.3.1 Movement .....................................................................................................................................30
5.3.2 Status ............................................................................................................................................32
5.3.3 RealTime .......................................................................................................................................33
5.3.4 Advanced.......................................................................................................................................35
5.4 G
LOBAL
P
ROPERTIES
................................................................................................................................38
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