WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
31 of 80
6 WAM
Properties
List
6.1 Common
Properties
These properties are common to both the motor encoders and the Safety Module.
Property:
ADDR
Definition:
Address to peek/poke
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Property:
ANA0, ANA1
Definition:
Analog input values from the on-board DAC
Values (Units):
0 – 4095
Read/Write:
R/-
Default:
None
Saved:
No
Notes:
0-3.0 V only
Property:
BAUD
Definition:
RS-232 serial baud rate
Values (Units):
Bits/sec
Read/Write:
R/W
Default:
9600
Saved:
No
Notes:
Property:
CMD
Definition:
Execute a special command over CANbus, instead of the typical Get/Set
command.
Values (Units):
Read/Write:
-/W
Default:
None
Saved:
No
Notes:
Set CMD to the enumerated value of the desired command. Can only be used
with commands that don’t take values: RESET, HOME, KEEP, PASS, LOOP,
HI, IC, IO, TC, TO, C, O, T
Property:
DEF
Definition:
Default command for CAN
Values (Units):
Read/Write:
-/W
Default:
None
Saved:
No
Notes:
Resets all parameters to their defaults (use SAVE to store them permanently in
EEPROM)
Property:
DIG0
Definition:
Digital I/O, PWM-capable
Values (Units):
-1 to 100
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
0-3.3 V only (no optical isolation, reverse voltage, or overvoltage protection,
be careful). -1 = Input, 0 = Output low, 1 = Output high, 2-100 = PWM duty
cycle of n%, Pin 41 (Pin 44 = GND)
