Barrett WAM Arm, Руководство пользователя

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WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 29 of 80
4.5.2 Safety Board
1. Ensure that main power to the WAM is off.
2. Remove the wrap-around base cover by releasing the four latches
that secure it to the back plate of the WAM.
3. Use a 4-mm hex key to remove the screw that keeps the back plate
closed.
4. Remove the 4-6 small Philips screws securing the safety board
cover (see Figure 30).
5. Connect the serial cable (Figure 31) to the connector near the
safety puck and flip the nearby switch (both halves) to the "ON"
position. See Figure 32 for the final setup.
6. Connect the other side of the serial cable to COM1 of a Windows
PC.
7. Turn on main power to the WAM.
8. Under MS Windows, simultaneously drag puck2mon.out.r6 and
puck2.out.r102.enet.mag onto F28xxConsole.exe.
9. Wait for the download to complete (about 4 minutes).
10. Turn off main power to the WAM.
11. Flip the nearby switch (both halves) to the "OFF" position
(opposite of Figure 32).
12. Launch TeraTerm/Hyperterminal (9600 baud, no parity, 8 bits, 1
stop bit, no flow control)
13. Turn on main power to the WAM. You should get a prompt (=>).
Type the following commands in sequence, each followed by
<Enter>. A mis-typed command will NOT result in an error
message, so type carefully!
a.
SET SAFE 4
(this is necessary; do not skip this step)
b.
SET SAFE 5
c.
FIND VBUS
d.
SET SAFE 0
e.
SET VOLTL1 36
f.
SET VOLTL2 30
g.
SET VOLTH1 54
h.
SET VOLTH2 57
i.
SET GRPA 1
j.
SET GRPB 2
k.
SET GRPC 3
l.
SAVE
m.
RESET
n.
GET VOLTL1
(should be 36, else SET and SAVE it again)
o.
GET VOLTL2
(should be 30, else SET and SAVE it again)
p.
GET VOLTH1
(should be 54, else SET and SAVE it again)
q.
GET VOLTH2
(should be 57, else SET and SAVE it again)
Figure 30 – Safety Board Cover
Figure 31 – Serial Cable
Figure 32 – Serial Connection
with Switch in “On” Position
r.
GET GRPA
(should be 1, else SET and SAVE it again)
s.
GET GRPB
(should be 2, else SET and SAVE it again)
t.
GET GRPC
(should be 3, else SET and SAVE it again)
14. Turn off main power to WAM
Switch
Serial Cable