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BH8-Series – User’s Manual
support@barrett.com
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 1 of 82
Table of Contents
TABLE OF CONTENTS............................................................................................................... 1
LIST OF FIGURES ....................................................................................................................... 3
LIST OF TABLES ......................................................................................................................... 4
LIST OF EQUATIONS ................................................................................................................. 4
1
SYSTEM DESCRIPTION..................................................................................................... 5
1.1
S
TANDARD
BH8-SERIES
S
YSTEM
C
OMPONENTS
............................................................. 5
1.1.1
System Features........................................................................................................ 5
1.1.2
Documentation ......................................................................................................... 5
1.1.3
BarrettHand™.......................................................................................................... 6
1.1.4
Power Supply............................................................................................................ 7
1.1.5
Lab Bench Stand....................................................................................................... 8
1.1.6
Electrical Cables ...................................................................................................... 8
1.1.7
Control Software and Firmware .............................................................................. 9
1.1.8
Maintenance Kit ..................................................................................................... 10
1.2
S
YSTEM
O
PTIONS
............................................................................................................ 11
1.2.1
Arm adapter............................................................................................................ 11
1.2.2
C-Function Library ................................................................................................ 11
1.2.3
Strain gage Joint-Torque Sensors .......................................................................... 12
1.2.4
Control Software/Firmware Upgrades................................................................... 12
2
SAFETY AND CAUTIONS ................................................................................................ 13
3
SYSTEM SETUP ................................................................................................................. 14
3.1
M
OUNTING
M
ETHOD
1:
L
AB
B
ENCH
S
TAND
.................................................................. 14
3.2
M
OUNTING
M
ETHOD
2:
O
N
R
OBOT
A
RM
....................................................................... 14
3.2.1
Robot-Arm Adapter ................................................................................................ 14
3.2.2
Installing the Hand Cable on a Robot Arm ............................................................ 15
3.3
E
LECTRICAL
C
ONNECTIONS
............................................................................................ 16
3.4
H
OST
C
OMPUTER
............................................................................................................ 16
3.5
I
NSTALLING
BH8-SERIES
C
ONTROL
S
OFTWARE
........................................................... 16
3.6
P
OWER
-U
P
S
EQUENCE
.................................................................................................... 16
3.7
D
OWNLOAD
F
IRMWARE
.................................................................................................. 17
4
CONTROL MODES – SUPERVISORY AND REALTIME ........................................... 17
5
SUPERVISORY CONTROL MODE................................................................................. 19
5.1
O
VERVIEW
...................................................................................................................... 19
5.1.1
Commands.............................................................................................................. 19
5.1.2
Motor commands.................................................................................................... 19
5.1.3
Status Codes ........................................................................................................... 19
5.2
C
OMMAND
L
IST
.............................................................................................................. 20
5.2.1
Movement Commands ............................................................................................ 20
5.2.2
Motor parameter commands .................................................................................. 22
5.2.3
Global parameter commands ................................................................................. 23
5.2.4
Administrative commands ...................................................................................... 25
5.2.5
Advanced commands .............................................................................................. 26
5.3
M
OTOR
P
ARAMETERS
..................................................................................................... 26
Содержание BH8 Series
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