Wraptor™ User Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D2000, Version: AB.00
Page 5 of 15
1.5 Theory of Operation
The host PC connects and communicates to the Wraptor™ using Ethernet. A device server inside the Wraptor™ converts
command packets between Ethernet and RS-232 serial (at 9600 bps) to communicate with the primary controller in the
Wraptor™ . This controller compiles the serial packet into a valid CAN packet and places it on the internal CAN (Controller
Area Network) bus to be delivered to the motor controllers (Pucks).
When the primary controller receives a CAN packet from a Puck which is addressed to the host PC, it sends the data to the
device server via RS-232 serial. The device server then routes the data back to the host PC via Ethernet.
1.6 Control Software
The BH8-610 Series System control software consists of:
1.
Firmware (*.tek software), and
2.
Example programs.
Included with the software in electronic form are:
1.
BH8-610 Series User Manual (this manual)
The Wraptor™ has firmware that resides on the control electronics inside the palm. Depending on the configuration
purchased, you can control the Wraptor™ in one of three ways:
1.
RS-232 Serial Communication: Simple, ASCII-based commands are sent over the serial port and interpreted by the
Wraptor™.
2.
Ethernet Communication: Simple, ASCII-based commands are sent over an Ethernet network and interpreted by the
Wraptor™.
3.
CAN Communication: High-speed, pre-compiled commands are sent directly to the motors of the Wraptor™,
eliminating the need for an interpreter and allowing absolute control of each motor.
1.7 C-Function Library
The Wraptor™ C-Function Library is a helpful tool for programming the Wraptor™ using the C language on IBM-
compatible PC’s without having to manage the issues of communication and timing of multi-axis motion control. The library
contains easy-to-use functions that streamline the development of custom motion control routines by the end user. All of the
functions are available when the library is linked to the program.
The C-Function Library is written in C and compiled for Windows 95 or higher. The library uses a multithreaded mechanism
for communications, allowing commands to be issued and responses received simultaneously. The library also manages all
input and output buffers and makes it easy to manipulate the Wraptor™ from a custom control application.
1.8 Control Software/Firmware Upgrades
Barrett Technology makes software and firmware upgrades periodically. Upgrades are available for purchase or free of
charge for customers of Barrett’s subscription service. Refer to Barrett’s enclosed Warranty and Subscription Service Policy
for more information.
