Property:
SAMPLE
Name:
Sample Time
Purpose:
Controls the sample frequency of the motor controller chip.
Values:
15 to 255
Default:
31
Notes:
Written into the HCTL-1100 Sample Timer register according to See
http://www.hctl-1100.com/HCTL%20docs/HCTL-1100%20Data%20Sheet.pdf
.
(The HCTL-1100 clock speed used in the BH8-series Hand is 2.00 MHz.)
Barrett Technology does not recommend changing this property from default.
Property:
SGFLIP
Name:
Strain Gage Flip
Purpose:
If non-zero, then all strain gage values for this motor are subtracted from 255
before being sent to the host.
Values:
0, 1
Notes:
Used to invert strain gauge readings. This is a legacy command and may not be
supported in future releases. It is strongly recommended that you avoid using
SGFLIP since it may be dropped in future revisions of the firmware.
Property:
TSTOP
Name:
Time to Stop
Purpose:
Time in milliseconds before motor is considered stopped.
Values:
0 to 65,535
Default:
30
Notes:
WARNING: Please use caution when adjusting this property. Setting TSTOP
higher than its default can result in the motors heating up very quickly under
moderate to heavy usage.
5.4
Global Properties
Global properties are used to configure or observe the hand as a whole.
5.4.1
Configuration
Global configuration properties affect the hand as a whole.
Property:
BAUD
Name:
Baud rate
Purpose:
Controls the serial port baud rate. Value is baud rate divided by 100.
Values:
6, 12, 24, 48, 96, 192, 384.
Default:
96
Notes:
Property:
LFT
Name:
Loop Feedback Temperature
Purpose:
If non-zero, then when in RealTime mode the firmware sends a signed two-byte
datum of temperature in each feedback block.
Values:
0, 1
Default:
0
Notes:
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