BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 27 of 82
Parameter:
BDAT
Name:
Breakaway Detection Acceleration Threshold
Purpose:
Used to adjust the breakaway detection accuracy
Values:
0 to 20000
Default:
Finger: 1500
Spread: N/A
Notes:
Units of BDAT are: Encoder counts/(Ticklet
2
). There are 307 ticklets per
millisecond.
Parameter:
BS
Name:
Breakaway Stop
Purpose:
Used to stop finger as soon as breakaway has been detected.
Values:
0 or 1
Default:
Finger: 0
Spread: N/A
Notes:
When set to 1, the finger motor will stop when breakaway is detected.
Parameter:
DP
Name:
Default Position
Purpose:
Destination of M command if no argument specified
Values:
0 to 65,535
Default:
Finger: 8500
Spread: 1575
Notes:
While DP can be set as high as 65,535, its true range of useful values is bounded
by the joint limits of the axes (e.g. approximately 0 to 18,000 for fingers and
approximately 0 to 3150 for spread).
Parameter:
DS
Name:
Default Step
Purpose:
Size of IC or IO command movement if no argument specified
Values:
0 to 65,535
Default:
Finger: 1700
Spread: 315
Notes:
While DS can be set as high as 65,535, its true range of useful values is bounded
by the joint limits of the axes (e.g. approximately 0 to 18,000 for fingers and
approximately 0 to 3150 for spread).
Parameter:
HSG
Name:
Highest Strain Gauge Value
Purpose:
In O, C, IO, IC, M, TO, TC, and HOME commands, a motor's motion is
terminated if its strain gauge value exceeds HSG.
Values:
0 to 256
Default:
256
Notes:
This command is an alias for MSG. When writing new code, it is recommended
to use this command instead of MSG. A value of 255 or 256 disables the strain
gage checking during motion commands.
Parameter:
LSG
Name:
Lowest Strain Gauge Value
Purpose:
In O, C, IO, IC, M, TO, TC, and HOME commands, a motor's motion is
terminated if its strain gauge value falls below LSG.
Values:
0 to 256
Default:
256
Notes:
A value of 255 or 256 disables the strain gage checking during motion
commands.
