WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
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a)
Reduce the payload. Remember that you must take into account accelerated loads
while staying under the max payload specification. For example, the max payload for
the 7DOF is 3 kg. This means you can accelerate 1.5 kg at 2G. Or you can hold 3 kg
statically at the max reach.
b)
Increase the MT parameter for the motors. However, the default MT values are set to
stay within the breaking strength of the steel cables. Increasing these values increases
the likelihood of cable failure.
3.
The simple PID control that ships with the example code is not robust enough to handle
loads offset significantly from the tool center point or loads with unusual inertial
characteristics.
Solution(s):
a)
Design a more robust control method for your application
Problem:
WAM will not enter Idle mode—the WAM starts with a low voltage fault, and
when <Shift+Reset/Idle> is pressed, the pendants reinitialize instead of entering
Idle mode.
Reason(s):
1.
The Puck power bus is shorted together. This could be due to a stuck relay, loose wire,
metallic debris on Safety Board, or a damaged Puck.
Solution(s):
a)
Contact Barrett for repair
