5.4.1 Configuration ...............................................................................................................................38
5.4.2 Status ............................................................................................................................................39
5.4.3 Advanced.......................................................................................................................................39
5.5 T
ERMINATION
C
ONDITIONS
FOR
M
OVEMENT
C
OMMANDS
................................................................................40
5.6 BH8-280 I
MPLEMENTATION
......................................................................................................................40
6 REALTIME CONTROL..........................................................................................................................42
6.1 P
UCKS
IN
H
AND
API................................................................................................................................42
6.2 O
VERVIEW
OF
S
ERIAL
P
ROTOCOL
FOR
E
ARLIER
H
ANDS
..................................................................................43
6.3 C
ONTROL
AND
F
EEDBACK
B
LOCKS
..............................................................................................................43
6.3.1 Control Blocks...............................................................................................................................43
6.3.2 Feedback Blocks............................................................................................................................44
6.3.3 Loop Feedback Delta Position......................................................................................................44
6.4 P
ROPERTY
S
UMMARY
.................................................................................................................................45
6.5 E
XAMPLE
.................................................................................................................................................46
7 MAINTENANCE.......................................................................................................................................48
7.1 F
INGER
C
ABLE
P
RETENSION
........................................................................................................................48
7.2 F
ASTENER
C
HECK
.....................................................................................................................................50
7.3 L
UBRICATION
............................................................................................................................................51
7.3.1 Finger Replacement......................................................................................................................52
7.4 S
TRAIN
G
AGES
.........................................................................................................................................57
8 TROUBLESHOOTING............................................................................................................................59
9 THEORY OF OPERATION....................................................................................................................65
9.1 E
LECTRONIC
A
RCHITECTURES
.....................................................................................................................65
9.2 L
OW
-L
EVEL
M
OTOR
C
ONTROL
...................................................................................................................66
9.2.1 Trapezoidal Control......................................................................................................................67
9.2.2 Velocity Control............................................................................................................................67
9.3 M
ECHANISMS
...........................................................................................................................................67
9.3.1 TorqueSwitch™.............................................................................................................................67
9.3.2 Spread Motion...............................................................................................................................71
9.4 O
PTIONAL
S
TRAIN
G
AGE
J
OINT
-T
ORQUE
S
ENSOR
..........................................................................................72
9.5 F
ORWARD
K
INEMATICS
..............................................................................................................................74
9.6 J
OINT
P
ROPERTIES
.....................................................................................................................................78
9.6.1 Encoder to Joint Ratios.................................................................................................................78
9.6.2 Joint Motion Limits.......................................................................................................................79
APPENDIX A TECHNICAL SPECIFICATIONS...................................................................................81
APPENDIX B FAQ......................................................................................................................................83
APPENDIX C GLOSSARY........................................................................................................................85
APPENDIX D PUCKS IN HAND PROTOCOL......................................................................................87
INDEX..........................................................................................................................................................88
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