BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 34 of 82
Parameter:
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 parameter. Setting TSTOP higher
than its default can result in the motors heating up very quickly under moderate to heavy usage.
5.4 Global Parameters
Global parameters are used to configure or observe the hand as a whole.
5.4.1
Configuration
Global configuration parameters affect the hand as a whole.
Parameter:
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:
Parameter:
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:
Parameter:
OTEMP
Name:
OverTemperature
Purpose:
If non-zero, then if the temperature exceeds this value then any motor command
fails with an overtemperature error.
Values:
0 to 1250
Default:
0
Notes:
Value is temperature in tenths of a degrees C.
5.4.2
Status
Global status parameters are read-only and give information about the state of the hand.
Parameter:
TEMP
Name:
Temperature
Purpose:
The present temperature on the CPU board in tenths of a degree C.
Values:
-550 to 1250
Default:
N/A
Notes:
