BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 22 of 82
Command:
O
Name:
Open
Purpose:
Commands the selected motor(s) to move fingers in open direction with a
velocity ramp-down at target limits. If selected, F1, F2, and F3 open away from
the palm, and the spread motor moves so that fingers F1 and F2 are opposite
finger F3.
Arguments:
(none)
Example:
GO
Notes:
The O command is similar to a MOVE command, with the value of the OT
motor parameter as the destination. However, unlike the Move command, the O
command will not return an ERR32 if it does not reach OT within the maximum
position error (MPE) parameter. This command will reset the breakaway
detected flag, BD.
Command:
T
Name:
Terminate power
Purpose:
Turns the selected motor(s)'s power off.
Arguments:
(none)
Example:
ST
Notes:
Although T will return an "ERR 1" if any of the selected motor(s) isn't
initialized; it will still turn the selected and initialized motor(s)'s power off.
Command:
TC
Name:
Torque-Controlled Close
Purpose:
Commands velocity of selected motor(s) in the direction that closes the finger(s)
with control of motor torque at stall.
Arguments:
(none)
Example:
STC
Notes:
Command:
TO
Name:
Torque-Controlled Open
Purpose:
Commands velocity of selected motor(s) in the direction that opens the finger(s)
with control of motor torque at stall.
Arguments:
(none)
Example:
STO
Notes:
5.2.2
Motor parameter commands
Motor parameter commands act on the configuration parameters for one or more of the motors. All
except FLIST can take motor prefixes. See section 5.3 for a complete list of motor parameters.
Command:
FSET
Name:
Finger Set
Purpose:
Sets the given parameter(s) to the given value(s) for the selected motor(s)
Arguments:
<parameterName> <parameterValue>
Example:
SFSET DS 100 DP 1500
Notes:
You can set more than one parameter by listing more than one
parameterName/parameterValue pair.
