WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
32 of 80
Property:
DIG1
Definition:
Digital I/O
Values (Units):
-1, 0, 1
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, Pin 43 (Pin 44 =
GND)
Property:
ERROR
Definition:
Reports the last error encountered by the Puck
Values (Units):
Read/Write:
R/-
Default:
None
Saved:
No
Notes:
Not yet implemented
Property:
FET0
Definition:
Tensioner output (0 = Off, 1 = On)
Values (Units):
0, 1
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Pin 33 floats when FET0 = 0, it is grounded when FET0 = 1 (Pin 34 = 5V,
current source)
Property:
FET1
Definition:
Brake output (0 = Off, 1 = On)
Values (Units):
0, 1
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Pin 31 floats when FET1 = 0, it is grounded when FET1 = 1 (Pin 32 = 5V,
current source)
Property:
FIND
Definition:
Find command for CAN
Values (Units):
Read/Write:
-/W
Default:
None
Saved:
No
Notes:
Used for calibration. Set FIND to the value you want to calibrate:
setProperty(0, FIND, FALSE, MOFST);
Property:
GRPA, GRPB, GRPC
Definition:
The communication groups to which the puck belongs
Values (Units):
0 to 31
Read/Write:
R/W
Default:
None
Saved:
Yes
Notes:
A Puck can be addressed by ID, or as part of a group
Property:
ID
Definition:
CANbus ID
Values (Units):
0 to 31
Read/Write:
R/W
Default:
None
Saved:
Yes
Notes:
Each Puck on a CANbus must have a unique ID
Property:
ILOGIC
Definition:
Values (Units):
Read/Write:
R/-
Default:
None
Saved:
No
Notes:
