User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
7
1.3 BFC-200 Control Cabinet
1.3.1 Overview
The electrical cabinet for the Barrett 7-DOF robotic system contains all of the servo, power,
and signal processing hardware as well as the logic circuitry and hardware for the user/robot
safety systems. Connections from the host computer to the servo current controllers and safety
systems are also made through the control cabinet.
The sturdy aluminum frame has a removable cover, providing access to the internal wiring.
Users that need to modify internal cabinet connections during research and development with
the Barrett system should make sure all of the following are true BEFORE accessing the inside
of the cabinet:
•
The main circuit breaker is on the “off” position.
•
The system has been powered down for at least 5 minutes to allow highly
capacitive components to discharge completely.
•
The external AC source has been disconnected from the cabinet via an
additional mechanical circuit breaker or by physically disconnecting the AC lead
wires from the source.
•
The wiring pin-out documentation has been thoroughly reviewed prior to
making any modifications to the cabinet
NOTE: any warranties stated or implied by Barrett Technology, Inc. are nullified by user-
modifications to the control cabinet components or wiring unless prior instruction and approval
for the changes has been received from Barrett Technology.
1.3.2 Front Panel Buttons
The following is a functional description of each of the three pushbuttons found on the control
cabinet front panel.
ENABLE MOTORS (Green)
When the cabinet circuit breaker is in the “on” position and the cabinet has been reset, pushing
this button will enable all motors in the robot (4 in the arm, 3 in the optional wrist). When this
button is activated, it allows the current controllers to send DC current to the motors thereby
putting the robot in a state where it can move under its own power. This button will be
illuminated in the enabled condition.
WARNING: 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.