Wraptor™ User Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D2000, Version: AB.00
Page 7 of 15
3 Initial Setup and Walk-through
1)
Mount the Wraptor™ securely to a robot arm or test stand.
2)
Supply the Wraptor™ with 48V using the included power supply.
3)
Plug the Wraptor™ into an Ethernet network.
4)
Launch the “DS Manager” utility, select “DS Settings”.
5)
Enter a free IP address on your Ethernet subnet. Save your changes and exit the DS Manager.
6)
Launch the TeraTerm application.
7)
Type “HI” to perform a “Hand Initialize” on the Wraptor™.
a.
Note: All commands must be followed by pressing <Enter>.
b.
Note: All commands are case-insensitive and all white space is optional.
8)
Get the initial temperature of the inner joint motors: Type “123 GET TEMP”
a.
Note: “123 GET TEMP” is read as “Motors
1, 2,
and
3,
Get
your
TEMP
erature”
b.
Note: The Wraptor™ should return with its inner joint temperatures, in degrees C.
9)
Move the fingers to position 20000: “123 M 20000”
a.
Note: “123 M 20000” is read as “Motors
1
,
2
, and
3
,
M
ove to position
20000
”
10)
Move the spread (motor 4) to its mid-position: Type “4 M 18500”
11)
Close finger 1: Type “1 C”
12)
Open the whole hand: Type “O” (that is the letter ‘O’)
13)
Get the final temperature of the inner joint motors: Type “123 GET TEMP”
14)
Save the present positions for shutting down: Type “SAVE”
15)
Remove power from the Wraptor™.
Figure 3: Screenshots of computer windows
