WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
38 of 80
Property:
IOFST
Definition:
Current Offset Calibration
Values (Units):
Read/Write:
R/W
Default:
Saved:
Yes
Notes:
Property:
IPNM
Definition:
The puck torque unit to Nm (Command Current / Nm) conversion is stored
here
Values (Units):
Read/Write:
R/W
Default:
2755
Saved:
Yes
Notes:
IPNM is set at the factory.
IPNM is never actually used in the pucks themselves. It is simply a non-
volatile place to store the conversion constant so that the controlling PC can
read it upon startup and use it to convert between puck units and SI units of
torque for the end user.
Property:
IVEL
Definition:
Values (Units):
Read/Write:
R/W
Default:
20
Saved:
Yes
Notes:
Property:
JIDX
Definition:
Values (Units):
Read/Write:
R/W
Default:
Saved:
Yes
Notes:
Property:
KD
Definition:
Values (Units):
Read/Write:
R/W
Default:
8000
Saved:
Yes
Notes:
Property:
KI
Definition:
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
Yes
Notes:
Property:
KP
Definition:
Values (Units):
Read/Write:
R/W
Default:
2000
Saved:
Yes
Notes:
Property:
LCTC
Definition:
Values (Units):
Read/Write:
R/W
Default:
1
Saved:
No
Notes:
