User manual

Barrett Technology, Inc.

BA4-310 System User Manual Version 1.1

1.4 Electrical Power & Signal Cables

1.4.1 BA4-310 Signal Cables

Communication between the host computer and the control cabinet is done through an adaptor

box. This adaptor box interfaces three ribbon cables from the controller cabinet with five

ribbon cables from the host computer. The connections between the controller cabinet and

adaptor box consists of three, 50-pin ribbon cables. Two of the cables are used for

resolver/encoder feedback from and command signals to the controllers. The third cable is

used for a software generated emergency kill signal.

The connections between the adaptor box and the host computer consists of four 26-pin and

one 50-pin ribbon cable. The four 26 pin ribbon cables are used for resolver/encoder feedback

from and command signal to the controllers. The 50-pin ribbon cable is used for index pulse

information and software generated emergency kill signal.

Communication between the current amplifiers in the control cabinet and the motors is

achieved through 3 black cables with circular connectors on each end. One end is plugged into

the rear of the control cabinet and the other end is plugged into the base of the Arm. One cable,

labeled ‘Wrist Signals’, contains power to and the feedback from the resolvers in the optional

BarrettWrist. The cable labeled ‘Arm Signals 0/1’, contains power to and feedback from the

encoders for arm motors 0 and 1. Another, labeled ‘Arm Signals 2/3’, contains power to and

feedback from the encoders for motors 2 and 3. The power to the encoders and resolvers is a

low power 5V signal and ground.

1.4.2 BA4-310 Power Cables

The PWM (Pulse Width Modulated) motor current is carried by two power cables that run

between the control cabinet and the base of the arm. Each motor requires three phases and a

common ground conductor. One cable, labeled ‘Wrist Power”, contains three motor phase

signals for each of the three wrist motors. Another, labeled ‘Arm Power’, contains three motor

phase signals for each of the four motors and one common grounding braid for all arm and

wrist motor chassis.

NOTE: It is necessary for the ‘Arm Power’ cable to be plugged in even when running only the

BarrettWrist. The arm does not have a chassis ground to the cabinet when this cable is

unplugged.

1.4.3 Optional BarrettHand Power & Signal Cables

The optional BarrettHand is controlled via the serial port on the host computer. A standard RS-

232 serial cable, provided by Barrett, connects the host computer to the Power Supply Box. A

cable, labeled ‘End Effector’, is provided to connect the Power Supply Box with the base of the