USER MANUAL
sigma.7 haptic device
version 1.2
06.2013
Force Dimension Route de Saint-Cergue 295 CH – 1260 Nyon Switzerland www.forcedimension.com
Page 1: ...USER MANUAL sigma 7 haptic device version 1 2 06 2013 Force Dimension Route de Saint Cergue 295 CH 1260 Nyon Switzerland www forcedimension com...
Page 2: ...2...
Page 3: ...vers and haptic software API to describe the operation of the sigma 7 haptic device glossary FD SDK refers to the Software Development Kit SDK for all Force Dimension products sigma x refers to the ba...
Page 4: ...4...
Page 5: ...talling the drivers 13 5 configuring the sigma 7 under Linux 14 5 1 installing the software 14 5 2 installation description 14 5 3 installing the drivers 14 6 configuring the sigma 7 under Mac OS X 15...
Page 6: ...ce overview 1 device stand rear leg 7 end effector grasping handle 2 device stand front legs 8 pole mounting interface 3 device stand pole 9 power switch 4 device main body 10 power connector 5 arms o...
Page 7: ...warnings and instructions marked on this unit 3 do not use or place this system near water 4 place the unit securely on a stable surface 5 make sure that the workspace of the sigma 7 is free of objec...
Page 8: ...perations described below are best performed by a team of 2 people 9 screws and a corresponding orange hex driver tool are provided in the packaging Each one of the 3 legs is mounted on the pole by se...
Page 9: ...e box as shown in figure 4 figure 4 box containing sigma 7 device after removal of front foam part Remove the pole attachment interface and power supply before lifting out device from its lower foam b...
Page 10: ...ce at the back of device body shroud and securely fasten the screw by using the provided red hex driver tool as illustrated in figure 7 Please make sure that the pole attachment interface is correctly...
Page 11: ...ning of clamp screw while holding the device with the other hand Your sigma 7 haptic device is now fully assembled You may now place the haptic device at your console desk where you will be operating...
Page 12: ...SDK installation media memory stick 3 2 installing the power supply Plug the power supply into the power connector The system may support either high input volt age 200 240 volt or low input voltage 1...
Page 13: ...ma 7 software The required DLL files are also copied to the Windows system folder during the installation drivers subfolder This directory contains the USB and PCI drivers required to operate your dev...
Page 14: ...g directories bin subfolder This directory contains the demonstration executables and the binary files required to run the sigma 7 software examples subfolder This directory contains the demonstration...
Page 15: ...directory contains the demonstration executables and the binary files required to run the sigma 7 software examples subfolder This directory contains the demonstration programs Example applications d...
Page 16: ...ndle can be read from the controller The sys tem converts the encoder values into X Y Z coordinates expressed in IUS metric unit Figure 11 shows the coordinate system The actual origin of the coordina...
Page 17: ...on is enabled by default and can be disabled via the Force Dimension SDK forces by default when an application opens a connection to the device the forces are dis abled Forces can be enabled or disabl...
Page 18: ...k allows the programmer to list all Force Dimension haptic devices connected to the system test each device position reading test each device force torque capability test each device auto calibration...
Page 19: ...is working properly and to evaluate your system s performance independently of the graphics rendering performance torus will allow you to test the combined performance of haptics and graphics renderin...
Page 20: ...gure 7 reflections example note OpenGL and the OpenGL Utility Toolkit GLUT must be installed for your compiler and development environment to compile this example Please refer to your compiler documen...
Page 21: ...21...
Page 22: ...22...
Page 23: ...h rate up to 4 KHz power universal 110V 240V OS Microsoft Windows XP Vista 7 8 Windows CE 7 Linux kernel 2 6 3 x Apple OS X 10 7 10 8 QNX Neutrino 6 5 WindRiver VxWorks 6 3 6 9 software haptic SDK rob...
Page 24: ...information or product described herein This document may contain or reference information and products protected by copyrights or patents and does not convey any license under the patent rights of Fo...
