User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
22
•
Set each of the axes as:
servo axis, closed loop
, and
bipolar
•
Verify all axes have an Abort Fault for the Axis Status.
•
Enable the robot by pressing green Enable button on front of cabinet.
Table 4 - Filter Parameters
Parameter Axis 0-3 Axis 4,5 Axis 6
Kp 6000 500 900
Ki 20 2 0
Kd 19000 4000 7000
Aff 0 0 0
Vff 0 0 0
Imax 32767 32767 32767
Offset 0 0 0
Limit 32767 32767 32767
Shift -5 -5 -5
Fff 0 0 0
NOTE: Barrett Technology has had problems running the PC/DSP board with an Ethernet
network card installed in the host computer.
3.4.1 Independent Axes: 0, 3, 6
•
Open the corresponding axis in the menu and verify that manually moving robot joints
produces proper motor motion (direction) according to Appendix B - Motor-to-Joint
Position Transformations
•
Make sure the axis has and Abort Fault for the Axis State and then Enable the robot by
pressing the green enable button.
•
Clear axis position by pressing the Clear Position button. Do not move the robot after
clearing position.
•
Enable axis by pressing the Clear Faults button.
•
Input point-to-point motion parameters as seen in Table 5
*
. Make sure robot joint has
enough unobstructed space for selected motor motion.
•
Select the repeat checkbox and press the play button.
•
The motor should be moving between two points.
•
When done press the Abort button.
*
All values are encoder counts in quadrature