Barrett Wraptor BH8-610 Series, Руководство пользователя

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Wraptor™ User Manual service@barrett.com www.barrett.com
© 2007 Barrett Technology®, Inc. Document: D2000, Version: AB.00 Page 13 of 15
Parameter: PTEMP
Name:
Peak Temperature
Purpose:
The maximum temperature ever experienced by this controller
Values:
0 to 125
Default:
N/A
Notes:
This value is never reset; it is maintained through power failures and firmware downloads.
Parameter: SN
Name:
Serial Number
Purpose:
The serial number of the controller.
Values:
N/A
Default:
N/A
Notes:
This value is never reset; it is maintained through power failures and firmware downloads.
4.2.3 Advanced Parameters
Users do not generally need these commands, but they might be useful.
Parameter:
ACCEL
Name:
Acceleration
Purpose:
Maximum acceleration and deceleration when moving from one position to another.
Values:
0 to 65,535
Default:
Inner 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/ms/ms acceleration.
Parameter: CT
Name:
Close Target
Purpose:
This is the position gone to by a C (“Close”) command.
Values:
-2E9 to +2E9
Default:
Inner Link: 72000
Outer Link: 72000
Spread: 37000
Notes:
This parameter’s true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
limits).
Parameter:
HOLD
Name:
Hold
Purpose:
If non-zero, then the motor is left energized after each motion command in order to hold the position
constant.
Values:
0, 1
Default:
Inner Link: 0
Outer Link: 0
Spread: 1
Notes:
Since the fingers are not back-drivable, this is generally set to 1 only for the spread motor.