BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 33 of 82
Parameter:
IVEL
Name:
Initialization Velocity
Purpose:
This value replaces MOV (“Motor Open Velocity”) during initialization; this
allows a consistent initialization velocity even if MOV is adjusted.
Values:
16 to 4080
Default:
Finger: 300
Spread: 150
Notes:
Barrett Technology does not recommend increasing IVEL beyond its default
value. Permanent deformation of Bellville washers could result. This would
prevent the finger breakaway mechanism from engaging.
Parameter:
MPE
Name:
Maximum Position Error
Purpose:
After moving to a desired position, if the position error is less than MPE then the
move is considered a success.
Values:
0 to 65,535
Default:
50
Notes:
While MPE 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:
OT
Name:
Open Target
Purpose:
This is the position gone to by an O (“Open”) command.
Values:
0 to 65,535
Default:
0
Notes:
While OT 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 17,800 for fingers and
approximately 0 to 3150 for spread).
Parameter:
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://literature.agilent.com/litweb/pdf/5965-5893E.pdf
. (The HCTL-1100 clock
speed used in the BH8-series Hand is 2.00 MHz.) Barrett Technology does not
recommend changing this parameter from default.
Parameter:
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 gage 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.
