User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
23
Table 5 - Point-to-Point Motion Sample Parameters
Axis 0
Delay 0
1
st
Point 0
2
nd
Point 10000
Velocity 10000
Acceleration 10000
3.4.2 Differential Axes: 1, 2 and 4, 5
Because the differential motor axes must act in coordination to produce motion in a single
robot joint, verifying these motors is more difficult. Before proceeding with this section
become familiar with the transforms that link motor space to joint space in Appendix B -
Motor-to-Joint Position Transformations
. To test a differential motor pair, one motor must
hold position while the other moves. This will produce a combination of two joint motions.
•
Open the corresponding axes 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 for each axis. Do not move the
robot after pressing the Clear Position button.
•
Enable both differential axes by pressing the Clear Faults button for each axis.
•
Input point-to-point motion parameters for one axis 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 joints should be moving in coordination between two points.
•
When done press the Stop button for the moving motor.
•
The two motors selected should be holding their position.
•
Change the parameters for point-to-point motion for testing of the second axis.
•
Select the Repeat checkbox and press the play button.
•
The joints should be moving in coordination between two new points.
•
When done press the Abort button in each axis window.
NOTE: When motors are idled they will fall passively to the least energy state.
3.5 System Checkout
The system is now setup for operation. Unzip the file located in the <CD Drive>:\Barrett
Software directory. Install the files in the root directory of the host computer. You are now
ready to test the functionality of the BarrettArm and BarrettWrist. Run the program
<drive>:\btech\source\wamdemo\wamdemo.exe. This program allows the user to get familiar
with some of the functionality of the robot. Each of the demos prompts the user for input and