Wraptor™ User Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D2000, Version: AB.00
Page 15 of 15
Parameter:
OT
Name:
Open Target
Purpose:
This is the position gone to by an O (“Open”) command.
Values:
-2E9 to +2E9
Default:
0
Notes:
This parameter’s true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
limits).
Parameter:
TSTOP
Name:
Time to Stop
Purpose:
Time in milliseconds before motor is considered stopped.
Values:
0 to 65,535
Default:
Inner Link: 1000
Outer Link: 1000
Spread: 1000
Notes:
WARNING: Please use caution when adjusting this parameter. Setting TSTOP higher than its default can
result in the motors heating up very quickly under moderate to heavy usage.
4.2.4 Configuration Parameters
Global configuration parameters affect the hand as a whole.
Parameter:
BAUD
Name:
Baud rate
Purpose:
Controls the serial port baud rate.
Values:
300, 1200, 2400, 9600, 19200, 28800
Default:
9600
Notes:
If you change BAUD, you will need to change the baud rate at which the Tibbo Ethernet device server
communicates with the primary Wraptor™ controller. Changes to BAUD are not saved between power
cycles.
Parameter:
OTEMP
Name:
OverTemperature
Purpose:
When the controller temperature comes within 16 C of OTEMP, MT is automatically reduced for every
degree rise in temperature. When the temperature >= OTEMP, MT is set to zero. As the controller cools,
MT is automatically increased up to its preset value.
Values:
0 to 125
Default:
82
Notes:
Value is temperature in degrees C.
Parameter:
TIE
Name:
Tie the commands of one motor to another
Purpose:
Echo commands from one motor to another. Primarily to simplify control of the inner and outer links.
Values:
-32768 to +32,767 (GCL counts / ms)
Default:
Motor 1: 5, Motor 2: 6, Motor 3: 7, Motor 4: 0, Motor 5: 0, Motor 6: 0, Motor 7: 0
Notes:
“1 SET TIE 5” will make motor 1 echo to motor 5 any commands it receives. “1 SET TIE 0” will turn off
the TIE.
