UPSECS.....................................................38
Grasp..............................................8, 70, 82, 84
Graspcenter................................................7, 84
Guide clips.........................................10, 16, 17
H
Hand Cable on Robot Arm.............................17
Hex wrench....................................................13
High-level.......................................................21
Hysteresis.......................................................84
I
Idler pulley.........................................58, 59, 84
Independent control........................................82
Industrial grippers......................................7, 84
J
Joint motion limits....................................78, 80
Joint-Torque Sensors......................................14
K
Kinematics..........................................................
BarrettHand................................................73
D-H Parameter...........................................74
Definition...................................................84
Finger F1....................................................75
Forward......................................................74
Homogeneous transform............................73
Specifications.............................................80
Zero position..............................................74
L
Lab bench stand........................................12, 16
Lexan........................................................12, 85
Loctite 222......................................................13
Lubrication...............................................13, 50
M
Maintenance...................................................47
Maintenance Kit.......................................13, 50
Monitor Strain................................................56
Motor Commands...............................................
FGET..........................................................43
FLIST.........................................................34
FLISTV......................................................34
Motor Properties.................................................
FDEF..........................................................26
FGET..........................................................26
FLIST...................................................25, 26
FLISTV......................................................26
FLOAD......................................................26
FSET..........................................................25
Motor Status.......................................................
BD........................................................25, 31
BP...............................................................31
OD..............................................................31
P 32, 43
S 22, 32
SG.........................................................32, 62
Motors................................................................
Acceleration...............................................66
Brushless....................................................65
Feedback....................................................65
Maximum velocity.....................................66
Peak torque.................................................65
Phases.........................................................65
Poles...........................................................65
Proportional gain........................................66
Trapezoidal-Profile Control.......................66
Type............................................................80
Velocity................................................65, 80
Velocity Control.........................................66
Velocity error.............................................66
Mounting........................................8, 12, 14, 17
Movement Commands.......................................
C 23, 30, 31, 34
HI....................................................24, 28, 31
HOME............................................24, 30, 31
IC..............................................24, 30, 31, 66
IO..............................................24, 30, 31, 66
LOOP.............................................24, 42, 43
M 24, 30, 31, 66
O 30, 31, 36
T 25, 56
TC.............................................25, 30, 31, 66
TO............................................25, 30, 31, 66
Movement Properties.........................................
BDAT.........................................................30
BS...............................................................30
DP.............................................24, 25, 26, 30
DS.............................................24, 25, 26, 30
HSG......................................................30, 60
LSG............................................................30
MCV...............................................31, 62, 69
MOV........................................31, 36, 62, 69
MSG.....................................................31, 62
O
Options...........................................................81
P
Payload...........................................................80
Position sensing..............................................80
Power..............................................................80
Power Supply...........................................10, 80
Power Supply.....................................................
Reset switch...............................................20
Power-Up sequence........................................19
Pretension...............................47, 59, 60, 63, 85
R
RealTime control............................................85
RealTime Mode..............................................21
RealTime Properties...........................................
LCPG..................................32, 42, 43, 45, 46
LCT..........................................33, 42, 45, 46
LCT ...........................................................43
LCV....................................32, 42, 43, 45, 46
LCVC.................................32, 42, 43, 45, 46
LFAIN..................................................42, 43
LFAIN .................................................33, 45
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