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Wraptor™ User Manual

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www.barrett.com

Document: D2000, Version: AB.00

Page 9 of 15

4.1.1 Movement Commands

Movement commands are motor commands: they immediately affect one or more of the motors. Each can take motor

prefixes.

Command:

Name:

Purpose:

Commands the selected motor(s) to move fingers in close direction with a velocity ramp-down at target

limit. If selected, each finger moves towards the palm, and the spread motor moves so that fingers F1 and

F2 are adjacent to finger F3.

Arguments:

(none)

Example:

Notes:

The C command is similar to a MOVE command, with the value of the Close Target (CT) motor parameter

as the destination. Move is trapezoidal: Uses ACCEL to ramp up the velocity to MV, then uses –ACCEL

when approaching the target position. If an object is encountered before the trapezoidal velocity profile

completes, the torque will ramp up to MT. See HOLD for more info.

Command:

Name:

Hand Initialize

Purpose:

Initializes the selected motor controller(s), preparing them for use by other movement commands.

Arguments:

(none)

Example:

Notes:

HI must be run before any other movement command. Generally it is run without a motor prefix,

initializing all four motors; although, if desired, a subset of the motors can be specified. After an HI, all

motors are in their home position; at 0 encoder counts.

Command:

HOME

Name:

Home

Purpose:

Moves the selected motor(s) to position 0.

Arguments:

(none)

Example:

SGHOME

Notes:

Command:

Name:

Incremental Open

Purpose:

Opens the selected motor(s) DS counts.

Arguments:

(none)

Example:

12IO

Notes:

Command:

Name:

Incremental Close

Purpose:

Closes the selected motor(s) DS counts.

Arguments:

(none)

Example:

GIC

Notes:

Command:

Name:

Move

Purpose:

Moves the selected motor(s) to the given position. If no argument specified, then the motor(s) move(s) to

the position given by parameter DP.

Arguments:

Target position in GCL counts (optional)

Example:

13M 1000

Notes:

Move is trapezoidal: Uses ACCEL to ramp up the velocity to MV, then uses –ACCEL when approaching

the target position. If an object is encountered before the trapezoidal velocity profile completes, the torque

will ramp up to MT. See HOLD for more info.

Содержание Wraptor BH8-610 Series

Страница 1: ...Wraptor BH8 610 Series User Manual Document D2000 Version AB 00 ...

Страница 2: ...n ratios 4 1 4 3 Brushless Motors 4 1 5 Theory of Operation 5 1 6 Control Software 5 1 7 C Function Library 5 1 8 Control Software Firmware Upgrades 5 2 Safety and Cautions 6 2 1 Human Safety 6 2 2 Wraptor Safety 6 3 Initial Setup and Walk through 7 4 Supervisory Control 8 4 1 Commands 8 4 1 1 Movement Commands 9 4 1 2 Motor Parameter Commands 10 4 1 3 Administrative Commands 11 4 2 Parameters 11 ...

Страница 3: ... dexterity does not compromise arm payload Its low mass and short base to grasp center distance minimize joint loading on the host robot and reduce extraneous arm movements during object reorientation The custom control electronics package is contained entirely within the Wraptor reducing electrical wiring to a single cable carrying only Ethernet communications and DC power We hope that you enjoy ...

Страница 4: ...tage requirements 48V 2 Current requirements 5A Min 15A Typ 50A Max Load limits 50kg finger Operating temperature limits 0 to 70 degrees C internal Storage temperature limits 25 to 95 degrees C non condensing Environmentally sealed IP 65 Figure 2 Mechanical schematic of Wraptor Table 1 Joint Ranges Inner Link Outer Link Spread Min 5 500 35 000 0 GCL Counts Max 72 000 79 000 37 000 Min 10 80 0 Degr...

Страница 5: ... thus less inherent friction they achieve a better torque mass ratio than typical brushed servos There is also no need to replace worn brushes after the motors have been in service over a period of time The following table shows Wraptor motor properties Table 3 Wraptor Motor Properties Parameter Value Number of Phases 3 Number of Magnetic Poles 6 Rotor Magnet Material Highest Grade Neodymium Rare ...

Страница 6: ...nt over the serial port and interpreted by the Wraptor 2 Ethernet Communication Simple ASCII based commands are sent over an Ethernet network and interpreted by the Wraptor 3 CAN Communication High speed pre compiled commands are sent directly to the motors of the Wraptor eliminating the need for an interpreter and allowing absolute control of each motor 1 7 C Function Library The Wraptor C Functi...

Страница 7: ...nication pins at the input connector of the Wraptor Do not exceed the load limit of the fingers 50kg per finger Consider all loading situations including accelerated loads cantilever loads from long objects robot collisions active loads etc See also next paragraph Similar to the concerns about Human safety when the Wraptor is mounted on a robotic arm one must recognize that for example a 50 kg lif...

Страница 8: ...ollowed by pressing Enter b Note All commands are case insensitive and all white space is optional 8 Get the initial temperature of the inner joint motors Type 123 GET TEMP a Note 123 GET TEMP is read as Motors 1 2 and 3 Get your TEMPerature b Note The Wraptor should return with its inner joint temperatures in degrees C 9 Move the fingers to position 20000 123 M 20000 a Note 123 M 20000 is read as...

Страница 9: ...minated by a carriage return character 0x0d Once the firmware receives the carriage return it processes the line executes the command and then prints a new prompt Once a command has been started no configuration changes can be made until the command has completed Many of the commands take one or more parameters space characters should separate these from the command and each other The command synt...

Страница 10: ...e selected motor controller s preparing them for use by other movement commands Arguments none Example HI Notes HI must be run before any other movement command Generally it is run without a motor prefix initializing all four motors although if desired a subset of the motors can be specified After an HI all motors are in their home position at 0 encoder counts Command HOME Name Home Purpose Moves ...

Страница 11: ...Does not check for hitting joint limits Torque is applied until a new torque is applied or a different movement command is issued Use caution when issued with a high MT there is no velocity limit imposed during a torque move Command TO Name Torque Controlled Open Purpose Sets the torque of selected motor s to MT Arguments none Example STO Notes Does not check for hitting joint limits Torque is app...

Страница 12: ...m for FSAVE Command FDEF Name Finger Default Purpose Sets the parameters of the selected motor s back to their factory default values Arguments none Example SFDEF Notes Does not save the changed values to non volatile storage DEF is a synonym for FDEF 4 1 3 Administrative Commands Administrative commands implement various housekeeping functions Command RESET Name Reset Purpose Resets the controlle...

Страница 13: ...a negative number is allowed but it is not recommended Doing so would make the finger move in the open direction during an IC Incremental Close command for example Parameter MT Name Max Torque Purpose Maximum torque to apply during any joint movement Values 32768 to 32 767 mA roughly Default 6000 Notes It is useful to set this parameter before issuing a TC TO or M command Parameter MV Name Max Vel...

Страница 14: ...ner Link 100 Outer Link 100 Spread 10 Notes While the ACCEL parameter has a rather large range of values that it can accept the motor can only follow a small subset of those values In general the useful range is from 0 to approx 60 Above 60 the motors cannot provide enough torque to accelerate that quickly The units for acceleration is defined as 256 GCL Counts ms ms So ACCEL 10 yields 10 256 cts ...

Страница 15: ...ned as the joint s zero position This parameter s true range of useful values is bounded by the joint limits of the axes see Table 1 Joint limits Parameter KD Name Derivative Gain Purpose The difference between the previous position error and the present position error is multiplied by this gain to obtain the derivative component of the generated command torque Values 32768 to 32 767 Default Inner...

Страница 16: ...Controls the serial port baud rate Values 300 1200 2400 9600 19200 28800 Default 9600 Notes If you change BAUD you will need to change the baud rate at which the Tibbo Ethernet device server communicates with the primary Wraptor controller Changes to BAUD are not saved between power cycles Parameter OTEMP Name OverTemperature Purpose When the controller temperature comes within 16 C of OTEMP MT is...

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