WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
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Property:
MOV
Definition:
Counts/ms
Values (Units):
Read/Write:
R/W
Default:
1500
Saved:
Yes
Notes:
Property:
MPE
Definition:
Values (Units):
Read/Write:
R/W
Default:
5
Saved:
Yes
Notes:
Property:
MT
Definition:
The maximum torque a Puck™ will apply, even if commanded to apply more
(in milliamps).
Values (Units):
Read/Write:
R/W
Default:
4700
Saved:
Yes
Notes:
OpenWAM() calls InitializeSystem() (see the Doxygen documentation) which
sets MT to 4731 for each puck. A value of 1024 corresponds to 1.00A of
current in the motor windings. Let's say MT = 750, TL1 = 2500, TL2 = 4000.
You send a T of 2800. The safety system is okay with this, it just shows the
warning light on the pendant. The puck notices that abs(2800) exceeds 750, so
it sets its own torque output to 750 * sign(2800).
Property:
MV
Definition:
Maximum Velocity in counts/millisecond
Values (Units):
Read/Write:
R/W
Default:
1500
Saved:
Yes
Notes:
Property:
OD
Definition:
Values (Units):
Read/Write:
R/W
Default:
Saved:
Yes
Notes:
Property:
OT
Definition:
32-Bit Open Target
Values (Units):
Read/Write:
R/W
Default:
0
Saved:
Yes
Notes:
Property:
P
Purpose:
motor position in encoder counts.
Values (Units):
Read/Write:
R/W
Default:
Saved:
Yes
Notes:
You can set P in a puck only when the puck's MODE = 0 (MODE =
MODE_IDLE). Just be careful to set IFAULT (see Section 6.3) in the safety
module before you do this, else you will likely get a velocity fault
