Barrett WAM Arm - Page 3

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 3 of 80
4.5.2 Safety Board........................................................................................................... 29
5 WAM COMMANDS LIST.................................................................................................. 30
6 WAM PROPERTIES LIST................................................................................................. 31
6.1 COMMON PROPERTIES..................................................................................................... 31
6.2 MOTOR PROPERTIES........................................................................................................ 36
6.3 SAFETY-MODULE PROPERTIES........................................................................................ 42
6.4 KEY TO PROPERTY TABLE............................................................................................... 45
7 CANBUS COMMUNICATION SPECIFICATIONS....................................................... 46
7.1 DATA LINK SPECIFICATIONS ........................................................................................... 46
7.2 CANBUS TIMING ............................................................................................................ 46
7.3 ID SPECIFICATIONS ......................................................................................................... 46
7.3.1 Message IDs........................................................................................................... 46
7.3.2 Motor IDs and Groups........................................................................................... 46
7.4 CANBUS FRAME DATA PAYLOAD .................................................................................. 47
7.4.1 Standard CANbus Message Format....................................................................... 47
7.4.2 Exceptions .............................................................................................................. 47
7.5 FULL COMMUNICATION EXAMPLE .................................................................................. 48
8 TROUBLESHOOTING....................................................................................................... 49
8.1 CHECKING THE ERROR LOG ............................................................................................ 49
8.2 COMMON PROBLEMS ...................................................................................................... 50
9 THEORY OF OPERATION............................................................................................... 56
9.1 ELECTRONIC ARCHITECTURE .......................................................................................... 56
9.2 KINEMATICS, TRANSMISSION RATIOS, AND JOINT RANGES ............................................ 58
9.2.1 4 DOF and 7 DOF ................................................................................................. 58
9.2.2 4 DOF with Gimbals .............................................................................................. 66
9.2.3 Motor-to-Joint Transformations............................................................................. 68
APPENDIX A INTEGRATING A BARRETTHAND™ ................................................... 70
APPENDIX B TECHNICAL SPECIFICATIONS............................................................. 71
APPENDIX C FAQ ............................................................................................................... 74
APPENDIX D GLOSSARY.................................................................................................. 76
INDEX........................................................................................................................................... 79