Barrett WAM Arm, User Manual, Page: 41 / 80

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 41 of 80
Property: PIDX
Definition:
Puck™ Index for Torque
Values (Units): Read/Write:
R/W
Default: Saved:
Yes
Notes:
Property: POLES
Definition:
Number of magnets on rotor
Values (Units): Read/Write:
R/W
Default:
12, 8, or 6, depending on motor type
Saved:
Yes
Notes:
Property: T
Definition:
Set the Puck™ torque (in milliamps)
Values (Units): Read/Write:
R/W
Default:
0
Saved:
No
Notes:
The pucks will apply the last received torque until a new torque is sent, or the
MODE changes to MODE_IDLE.
Property:
TENSO
Definition:
Values (Units): Read/Write:
R/W
Default: Saved:
Yes
Notes:
Property: TENST
Definition:
Values (Units): Read/Write:
R/W
Default: Saved:
Yes
Notes:
Property:
TIE
Definition:
Flag to tie inner and outer links
Values (Units): Read/Write:
R/W
Default:
0
Saved:
Yes
Notes:
Property: TSTOP
Definition:
Time until considered stopped
Values (Units): Read/Write:
R/W
Default:
1000
Saved:
Yes
Notes:
Property:
UPSECS
Definition:
The total power-up time for this WAM
Values (Units): Read/Write:
R/W
Default: Saved:
Yes
Notes:
Property: V
Definition:
Velocity in counts/milliseconds
Values (Units): Read/Write:
R/W
Default:
0
Saved:
No
Notes: