Q5:
Is it possible to determine the instant when the TorqueSwitch™ is activated?
A5:
The 280 hand has inner-link joint encoders and the outer link is geared to the motor
encoder, so you always know the position of the inner and outer links. Knowing the
moment of TorqueSwitch™ activation is no longer necessary with the 280 hand.
With 262 hands it is possible to determine the approximate time when the
TorqueSwitch™ achieves breakaway by monitoring the breakaway flag, BD. When
BD=1, breakaway has occurred at BP encoder counts. Setting BS=1 stops the motor at
the instant of breakaway.
Figure 41 plots velocity during TorqueSwitch™ activation, which is identified by a notch
in velocity. While the deceleration part of the notch depends on the compliance of the
object, the re-acceleration is independent, so the algorithm measures only the re-
acceleration. Acceleration is set with parameter BDAT.
0
2
4
6
8
10
12
0
1
4
2
8
4
2
5
6
7
0
8
4
9
8
1
1
2
1
2
6
1
4
0
1
5
4
Time (ms)
V
e
lo
c
it
y
(
C
ts
/m
s
)
Figure 41 – TorqueSwitch™ Activation Graph
Q6:
How do you unwedge jammed fingers from the open or close position?
A6:
It is recommended that you have a 2 mm hex wrench and manually turn the Joint 2 drive
access to unwedge jammed fingers as shown in Figure Error: Reference source not found.
For more questions, please contact Barrett Technology Customer Service.
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