WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
42 of 80
6.3 Safety-Module
Properties
The Safety Module is an additional Puck located in the base of the WAM (not attached to a
motor). The Safety Module has a puck ID of 10, and is identified in the software as
SAFETY_MODULE. Its job is to listen to the CANbus traffic and shut the WAM down in the
event of an over-torque, over-velocity, voltage problem, or heartbeat error (missing
communication from any puck or the PC). It also controls the pendant lights and switches. The
properties below are only applicable to the Safety Module. All safety module properties apply to
the whole arm on a global basis. For example, if the torque of ANY motor exceeds TL2, the safety
system will force the arm into IDLE mode (all phase leads tied together).
Property:
IFAULT
Definition:
If IFAULT is greater than 0 and a fault is observed by the safety system,
IFAULT is decremented by one, and the fault is ignored.
Values (Units):
0 to 20 (typical)
Read/Write:
Default:
0
Saved:
Notes:
To set the initial positions of the pucks, you must also set IFAULT (Ignore
Fault) at that time to prevent the giant instantaneous position change from
causing an over-velocity fault in the safety module. See the DefineWAMpos()
function in the Doxygen documentation for an example.
Property:
MAXPWR
Definition:
Values (Units):
Read/Write:
Default:
Saved:
Notes:
Property:
PEN
Definition:
Values (Units):
Read/Write:
Default:
Saved:
Notes:
Property:
PWR
Definition:
Values (Units):
Read/Write:
Default:
Saved:
Notes:
Property:
SAFE
Definition:
Values (Units):
Read/Write:
Default:
Saved:
Notes:
Property:
TL1, TL2
Definition:
The safety system’s motor torque warning, fault levels (Puck™ torque units)
Values (Units):
Read/Write:
Default:
Saved:
Notes:
TL1 is the minimum torque that will cause a warning; TL2 is the minimum
torque that will cause a fault.