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 33 of 80
Property: IMOTOR
Definition:
Values (Units): Read/Write:
R/-
Default:
None
Saved:
No
Notes:
Property: LOAD
Definition:
Load a property from non-volatile memory into active puck memory via the
CAN bus
Values (Units): Read/Write:
-/W
Default:
None
Saved:
No
Notes:
Example of use: setProperty(0,4,LOAD,FALSE,MT)
Property: LOCK
Definition:
A combination lock to allow write access to locked properties
Values (Units): Read/Write:
-/W
Default:
None
Saved:
No
Notes:
These properties are locked: ROLE, SN, PTEMP, UPSECS, OD
Property:
MODE
Definition:
The control method for the motor controller
Values (Units):
0, 2, 3, 4, 5
Read/Write:
R/W
Default:
0
Saved:
No
Notes:
0 = Idle, 2 = Torque, 3 = PID, 4 = Velocity, 5 = Trapezoidal
Property: OTEMP
Definition:
Over temperature limit
Values (Units): Read/Write:
R/W
Default:
82
Saved:
No
Notes:
MT is reduced gradually 16C before OTEMP. When TEMP >= OTEMP, MT
will be zero.
Property: PTEMP
Definition:
Peak temperature recorded
Values (Units): Read/Write:
R/W
Default:
None
Saved:
Yes
Notes:
Property: ROLE
Definition:
A value used by the firmware to determine the function of the device
Values (Units): Read/Write:
R/W
Default:
None
Saved:
Yes
Notes:
Bitfield: F=Feedback, R=Role: XXXX FFFF XXXX RRRR
ROLE: 0 = Tater, 1 = Gimbals, 2 = Safety, 3 = Wraptor, 4 = Trigger
FEEDBACK: 0 = Optical encoder, 1 = Magnetic encoder
Property: SAVE
Definition:
After setting a non-volatile property, save it to non-volatile Puck™ memory
Values (Units): Read/Write:
-/W
Default:
None
Saved:
No
Notes:
Example: setProperty(0, 4, SAVE, FALSE, MT);