WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
23 of 80
3.6 Electrical
Connections
3.6.1 Power
Source
For applications using a standard (50-60 Hz, 100-120 or 200-240V) AC outlet:
•
Place the Power Supply on a flat, secure surface and verify that the Power Supply is
OFF
.
•
Attach the Power Supply Line Cord into any convenient outlet and also into the
corresponding Power Supply socket.
•
Attach the DC power cable from the socket on the back of the Power Supply to the socket on
the WAM labeled “DC Power”, as shown in Figure 11. Tighten the strain-relief screws on
both ends of the cable using the screwdriver provided in the maintenance kit.
Figure 26 – DC Power Cable (blue)
For mobile applications or applications that require alternate DC power sources, simply connect
the DC power cable directly from the power source to the socket on the WAM labeled “DC
Power” as shown in Figure 26 (see Table 3 for details on DC power requirements). Tighten the
strain-relief screws using the screwdriver provided in the maintenance kit.
Table 3 – DC Power Requirements
4-DOF 7-DOF
Quiescent: 18W
Quiescent: 27W
Typical: 28W
Typical: 45W
Peak: 600W
Peak: 800W
(Quiescent = powered up, no torques applied; Typical = operation
with 2-kg payload)
3.6.2 Pendants
Of the two pendant cables, connect the pendant box with three colored buttons and a red E-Stop to
the socket on the WAM marked “Pendant - Control”. Connect the other pendant box (with only a
red E-Stop) to the socket on the WAM marked “Pendant - Display”. See Figure 27 for both
pendants. Tighten the strain-relief screws using the screwdriver provided in the maintenance kit.
Figure 27 – Pendant Cables
To: WAM
2.1 meters
To: Power
To: WAM
6 meters
