WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
34 of 80
Property:
SG
Definition:
Analog reading of the strain gage peripheral
Values (Units):
0-4095
Read/Write:
R/-
Default:
None
Saved:
No
Notes:
The 12-bit value 0-4095 corresponds to an analog reading of 0-3.0V
Property:
SN
Definition:
The unique manufacturing serial number for this Puck
Values (Units):
Read/Write:
R/W
Default:
Saved:
Yes
Notes:
Property:
STAT
Definition:
0 = Reset/Monitor, 2 = Ready/Main
Values (Units):
0, 2
Read/Write:
R/W
Default:
Saved:
No
Notes:
The Puck firmware is divided into two parts: Monitor and Main. The Puck
initially boots into Monitor where there is a very limited command/property
set. From here, you can download new Main firmware, or SET STAT 2 to
execute the Main firmware.
Setting STAT=0 forces a firmware reset, which will leave the motors free-
spinning (no torque, no braking).
Property:
TEMP
Definition:
Puck™ temperature
Values (Units):
Read/Write:
R/-
Default:
Saved:
No
Notes:
The Puck temperature should not exceed 70
˚
C for extended periods.
Property:
THERM
Definition:
Thermistor (motor) temperature
Values (Units):
Read/Write:
R/-
Default:
Saved:
No
Notes:
The motor temperature should not exceed 125
˚
C for extended periods.
Property:
VALUE
Definition:
Value to poke/peek
Values (Units):
Read/Write:
R/W
Default:
Saved:
No
Notes:
Use with ADDR to read/write data from the Puck memory.
Example: Read the TMS320F2812 DSP’s GPBDAT register
setProperty(0, 4, ADDR, FALSE, 28900);
getProperty(0, 4, VALUE, &longVal);
Property:
VBUS
Definition:
The bus voltage on a Puck™
Values (Units):
Read/Write:
R/-
Default:
Saved:
No
Notes:
The standard Puck is designed for operation between 18V and 90V. However,
contact Barrett Technology if operating the bus at a voltage other than 48 V.
