BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 29 of 82
Parameter:
P
Name:
Position
Purpose:
The present position of the motor.
Values:
Finger: 0 to approximately 17,800
Spread:
0 to approximately 3150
Default:
N/A
Notes:
The range of the position parameter is dependent on the values of the OT (open
target) and the CT (close target) parameters. If these parameters are set beyond
the joint stops then the joint stops themselves will dictate the range of position
values, in which case the ranges may differ slightly from finger to finger.
Parameter:
S
Name:
Status
Purpose:
The present status of the motor. 0 if ready to be used, or a status code otherwise.
Values:
0, 1, 2, 4,…8192, 16384 and sums of these
Default:
N/A
Notes:
See status codes in section
5.1.3.
Parameter:
SG
Name:
Strain Gauge
Purpose:
The present strain gage value for the motor.
Values:
0 to 255
Default:
N/A
Notes:
Returns 255 if there is no strain gauge.
5.3.3
RealTime
RealTime parameters affect the control and feedback data for a motor while in RealTime mode.
See Section 6 for more information on RealTime mode.
Parameter:
LCV
Name:
Loop Control Velocity
Purpose:
If non-zero, then a velocity byte will be sent in the control block for the motor.
Values:
0, 1
Default:
1
Notes:
Parameter:
LCVC
Name:
Loop Control Velocity Coefficient
Purpose:
When the firmware receives a velocity byte in a control block, it multiplies the
value by the value of LCVC before passing it to the affected motor.
Values:
0 to 255
Default:
1
Notes:
Parameter:
LCPG
Name:
Loop Control Proportional Gain
Purpose:
If non-zero, then a Proportional Gain byte will be sent in the control block for
the motor.
Values:
0, 1
Default:
1
Notes:
This controls the constant that is multiplied by the velocity error in order to
produce the motor torque.
