User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
21
Figure 11 - BarrettArm Electrical Connection Locations
3.4 System Startup
You are now ready to start controlling the motors in the robot. Before C code is written,
functionality of each of the motors should be verified. The motors can be verified using the
Motion Console program supplied by Motion Engineering, Inc. Read through this entire
section before beginning.
•
Read Chapter 6 – Motion Console Reference in Version 2.5 of the Motion Engineering
Installation manual shipped with your system.
•
Run the MC_DSP_95.exe program. If base address other than 0x300 was chosen, the base
address will need to be changed in software.
•
Make sure all wires from the computer to the control cabinet are connected.
•
Set Maximum Velocity Potentiometers on the front of the cabinet to 1.0 for initial testing.
(See Section 1.7 - Safety Circuit)
•
Turn the main system power on.
•
Set the Safety Bit high. Open the User I/O window and setting Port 2 to be an Output. Set
bit 16 High. This sets the software bit high and you will be able to reset the cabinet.
•
Make sure green Enable button is NOT pressed.
•
Press the Reset button to power up the controllers. Hold the Reset button for about 1
second to assure that the system is stable.
•
Open each axis and set tuning parameters for each motor axis to the values in Table 4.