Barrett WAM Arm - Table of Contents

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 2 of 80
Table of Contents
TABLE OF CONTENTS...............................................................................................................1
TABLE OF CONTENTS...............................................................................................................2
LIST OF FIGURES........................................................................................................................ 4
LIST OF TABLES.......................................................................................................................... 5
LIST OF EQUATIONS .................................................................................................................5
1 SYSTEM DESCRIPTION.....................................................................................................6
1.1 STANDARD WAM SYSTEM COMPONENTS......................................................................... 6
1.1.1 System Features........................................................................................................ 6
1.1.2 Documentation..........................................................................................................6
1.1.3 WAM Arm................................................................................................................. 7
1.1.4 Tool-End Attachments .............................................................................................. 8
1.1.5 Power Supply.......................................................................................................... 10
1.1.6 Safety Pendants.......................................................................................................10
1.1.7 Electrical Cables .................................................................................................... 11
1.1.8 Control Software and Firmware............................................................................. 11
1.1.9 Maintenance Kit ..................................................................................................... 11
1.2 SYSTEM OPTIONS ............................................................................................................ 13
1.2.1 WAM Wrist ............................................................................................................. 13
1.2.2 Passive Gimbals .....................................................................................................14
1.2.3 External WAM PC .................................................................................................. 15
1.2.4 Control Software/Firmware Upgrades................................................................... 16
2 SAFETY AND CAUTIONS................................................................................................. 16
2.1 SAFETY INSTRUCTIONS ................................................................................................... 16
2.2 SAFETY SYSTEM: PENDANTS........................................................................................... 17
2.2.1 Safety States............................................................................................................ 17
2.2.2 Status Lights ........................................................................................................... 17
2.3 HANDLING SAFETY FAULTS ............................................................................................ 18
3 SYSTEM SETUP.................................................................................................................. 19
3.1 MOUNTING ...................................................................................................................... 19
3.2 GROUNDING .................................................................................................................... 20
3.3 INSTALLING THE EXTERNAL PC (OPTIONAL) .................................................................. 20
3.3.1 Physical Installation............................................................................................... 20
3.3.2 Software installation............................................................................................... 20
3.4 WAM WRIST (OPTIONAL) .............................................................................................. 20
3.5 SAFETY BOARD SETTINGS............................................................................................... 22
3.6 ELECTRICAL CONNECTIONS ............................................................................................ 23
3.6.1 Power Source.......................................................................................................... 23
3.6.2 Pendants ................................................................................................................. 23
3.6.3 Communications..................................................................................................... 24
3.7 POWER-UP SEQUENCE..................................................................................................... 24
3.8 CODE EXAMPLES............................................................................................................. 25
4 PC & CONTROL SOFTWARE..........................................................................................26
4.1 LIBRARY OVERVIEW ....................................................................................................... 26
4.2 FILE SYSTEM LAYOUT..................................................................................................... 27
4.3 THE CONFIGURATION FILE (WAM.CONF)......................................................................... 27
4.4 OPERATING MODES......................................................................................................... 27
4.5 UPDATING FIRMWARE ..................................................................................................... 28
4.5.1 Pucks™................................................................................................................... 28