WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
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Jul 29 20:27:45 WAM WAM: OpenWAM(): for link from 0 to 7
Jul 29 20:27:45 WAM WAM: parseGetVal: key not found [WAM7.link[7].rotorI]
Jul 29 20:27:45 WAM WAM: Motor[0] is joint 0
Jul 29 20:27:45 WAM WAM: Motor[1] is joint 1
Jul 29 20:27:45 WAM WAM: Motor[2] is joint 2
Jul 29 20:27:45 WAM WAM: Motor[3] is joint 3
Jul 29 20:27:45 WAM WAM: Motor[4] is joint 4
Jul 29 20:27:45 WAM WAM: Motor[5] is joint 5
Jul 29 20:27:45 WAM WAM: Motor[6] is joint 6
Jul 29 20:27:45 WAM WAM: WAM zeroed by application
Jul 29 20:27:45 WAM WAM: About to set safety limits, VL2 = 46
Jul 29 20:27:45 WAM WAM: WAMControl period Sec:0.002000, ns: 2000000
8.2 Common
Problems
The symptoms repeated in this section were either generated by Barrett’s own lab WAMs or were
reported by Barrett’s customers.
Problem:
Can not log in to the WAM PC
Reason(s):
1.
Someone changed the password
Solution(s):
a)
Ask the people in your lab for the new password
2.
The drive is full (external PC)
Solution(s):
a)
If the drive is full, the system is not able to record your login event, and the login will
fail. It is likely that the /var/log/syslog files are very large, especially if you are logging
data or errors from within the WAM control loop. Boot from a bootable CD (like
sysresccd.org), and delete the syslog files (or other files) to make some room.
3.
The network connection is not active (logging in over the network)
Solution(s):
a)
Make sure the Ethernet cable is plugged into the PC
b)
Make sure your DHCP server is active (if using DHCP)
c)
Check that the Ethernet driver is loaded (from local terminal): lspci |grep –i eth; dmesg
|grep –i eth; lsmod
4.
The drive is corrupted or damaged due to jarring, poor ventilation, or a software bug.
a)
Try a new hard drive (external PC). O/S installation instructions are on
wiki.barrett.com.
b)
Try a new CompactFlash (internal PC). Contact Barrett for a replacement.
Problem:
WAM control application crashes/segfaults
Reason(s):
1.
The WAM PC can not communicate with the Safety Board at program launch
Solution(s):
a)
Turn on the WAM power supply.
b)
Make sure that the CANbus cable is securely plugged in.
c)
Make sure that the CANbus cable is plugged into the correct port on the PC (external
WAM PCs)
d)
Make sure that the CANbus cable is properly terminated- there is a wrist or blank
outer link attached.
e)
Make sure the CANbus card is properly seated in its PCI slot (external WAM PCs)
f)
Make sure the CAN driver is installed and loaded correctly: dmesg |grep –i pcan, cat
/proc/pcan, lsmod
g)
Check for a broken CANbus or power wire, usually in a connector or at the safety
puck.
h)
Check for a loose CANbus or power crimp in the connectors.
