User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
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Figure 6 - Lab Mounting-Surface Diagram
The arm may also be mounted on a surface that is not horizontal (
ex
from a wall or ceiling).
Keep in mind, however, that some of the BarrettArm’s pre-packaged software routine for
gravity compensation will no longer function properly if the arm-mounting surface is not
horizontal.
2.3 General Safety
Proper precautions should be taken when selecting the location and setup of your BarrettArm
system. DO NOT setup the system such that any part of the robot’s workspace reaches into a
pedestrian pathway in the lab space. The BarrettArm is an unusually quiet mechanism thereby
providing very little intrinsic warning of it’s enabled state (
i.e.
little or no servo or transmission
noise).
WARNING: NEVER enable the robot when persons are in the workspace unless control over
all motor axes is confirmed. Although the BarrettArm is intrinsically safer than other robotic
systems, enabling the motors could cause unexpected motion of the arm if control integrity is
not yet established.
WARNING: Always disable the motors before powering up the system and before resetting
the safety fault logic.
As with any robotic system, standard safety measures such as mats, gates, light curtains, etc.
can be integrated into the lab space surrounding the BarrettArm.