WAM Arm – User’s Manual
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© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
36 of 80
6.2 Motor
Properties
These properties are used only by the motor controllers (not the safety module).
Property:
ACCEL
Definition:
Values (Units):
Read/Write:
R/W
Default:
2048
Saved:
Yes
Notes:
Property:
CT
Definition:
32-Bit Close Target
Values (Units):
Read/Write:
R/W
Default:
30000
Saved:
Yes
Notes:
Property:
CTS
Definition:
32-Bit Counts per revolution
Values (Units):
Read/Write:
R/W
Default:
4096
Saved:
Yes
Notes:
CTS
Property:
DP
Definition:
32-Bit Default Position
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
Yes
Notes:
Property:
DS
Definition:
Values (Units):
Read/Write:
R/W
Default:
25000
Saved:
Yes
Notes:
Property:
E
Definition:
32-Bit Endpoint
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Property:
ECMAX
Definition:
Encoder Correction Maximum Value
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Property:
ECMIN
Definition:
Encoder Correction Minimum Value
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
No
Notes: