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 39 of 80
Property: LCVC
Definition:
Values (Units): Read/Write:
R/W
Default:
1
Saved:
No
Notes:
Property: LFLAGS
Definition:
Values (Units): Read/Write:
R/W
Default:
0
Saved:
No
Notes:
Property: LSG
Definition:
Values (Units): Read/Write:
R/W
Default:
0
Saved:
Yes
Notes:
Property: M
Definition:
32-Bit Mechanical Angle in ENCODER counts?
Values (Units): Read/Write:
-/W
Default: Saved:
No
Notes:
Property: MCV
Definition:
In counts/ms
Values (Units): Read/Write:
R/W
Default:
1500
Saved:
Yes
Notes:
Property: MDS
Definition:
Max Duty Sum for Power Limiting
Values (Units): Read/Write:
R/W
Default:
1650
Saved:
Yes
Notes:
Property: MECH
Definition:
Mechanical encoder angle
Values (Units): Read/Write:
R/-
Default: Saved:
No
Notes:
For magnetic encoders, MECH is the raw encoder feedback, absolute within
one rotation of the motor.
For optical encoders, MECH is the number of encoder counts between the
present location and the index pulse. (See Appendix C for details about MECH
with optical encoders).
Property: MOFST
Definition:
Mechanical Offset Calibration
Values (Units): Read/Write:
R/W
Default: Saved:
Yes
Notes:
Calibrated at lab
MOFST is the encoder reading at the start of an electrical cycle. (See Appendix
C for details about MOFST with Optical Encoders).