BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 77 of 82
Figure 34 plots velocity during TorqueSwitch™ activation, which is identified by a notch
in velocity. While the deceleration part of the notch depends on the compliance of the
object, the re-acceleration is independent, so the algorithm measures only the re-
acceleration. Acceleration is set with parameter BDAT.
0
2
4
6
8
10
12
0
1
4
2
8
4
2
5
6
7
0
8
4
9
8
1
1
2
1
2
6
1
4
0
1
5
4
Time (ms)
V
e
lo
c
it
y
(
C
ts
/m
s
)
Figure 34 – TorqueSwitch™ Activation Graph
For more questions, please contact Barrett Technology Customer Service.
