Barrett WAM Arm, User Manual

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WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 19 of 80
Error occurs in state
E-STOP IDLE ACTIVE
Velocity exceeds VL1 No action Warn Warn
Velocity exceeds VL2 No action Fault, E-STOP Fault, IDLE, Wait 1/4s
Torque exceeds TL1 Warn for non-zero Warn for non-zero Warn
Torque exceeds TL2 Fault Fault Fault, IDLE
Heartbeat missing Warn Warn Fault, E-STOP
Voltage lower than VOLTL1 No action Warn Warn
Voltage lower than VOLTL2 Fault Fault Fault, IDLE
Voltage higher than VOLTH1 No action Warn, Bleed voltage Warn, Bleed voltage
Voltage higher than VOLTH2 No action Fault, E-STOP Fault, E-STOP
E-Stop pressed Fault, E-STOP Fault, E-STOP Fault, E-STOP
NOTE: Warnings are cleared automatically, critical faults are cleared through a RESET
Request occurs in state
E-STOP IDLE ACTIVE
E-STOP E-STOP E-STOP E-STOP
RESET / IDLE
Clear faults, power up
bus, enumerate, IDLE
Clear faults IDLE
ACTIVATE No Action
If no warnings or faults,
ACTIVE
No Action
REQUEST
ERROR
Figure 17 – WAM Responses to Errors and Requests
3 System Setup
3.1 Mounting
The mounting-surface for the WAM should be designed to handle the large reaction forces
generated at the base of the arm during high-acceleration operation. The WAM can be fastened to
a prepared mounting-surface in several ways. If you use four M10 or 3/8” screws, remove the
base cover to access the four bolt holes in the base plate. The holes are located on the base of the
WAM according to Figure 18 and Figure 19. The plate thickness is 8mm. If you use M12 screws,
you can screw upwards from the opposite direction, eliminating the need to removing the base
cover. Alternatively, the WAM can be mounted using the clamps provided in the maintenance kit.
It is important that the mounting surface NOT be grounded to earth ground (see “Grounding”
section below).
Figure 18 – Screw-hole Locations
Figure 19 – Mounting-Hole Measurements