Changes between Initial Version and Version 1 of Hand/262/HardwareSetupSettings


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Timestamp:
May 11, 2011, 2:47:55 PM (9 years ago)
Author:
edison
Comment:

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  • Hand/262/HardwareSetupSettings

    v1 v1  
     1= BH8-262 Hardware setup =
     2
     3== Mounting Method 1:  Lab Bench Stand ==
     4The Lexan Bench Stand you received with the !BarrettHand™ has been provided for convenience in programming the !BarrettHand™ when a host robot arm is not available.  Use the wire guide clips to provide strain relief to the Hand cable.  Figure 8 illustrates how to mount the Hand in the Lexan Bench Stand.
     5
     6         
     7a) place base on Hand   b) attach threaded ring c) attach Hand cable
     8
     9             
     10d) screw in 2 retainer screws   e) open cable clips     f) secure all 3 clips
     11Figure 8 - Lab Bench Stand with Wire Strain Relief
     12
     13Use the 2-mm hex wrench to open fingers 1, 2, & 3.  Then, spread fingers to roughly 120 degrees and rest the unit on its fingertips.  Place the stand, feet up, onto the hand.  Note the alignment of the !BarrettHand™ relative to the wire strain relief clips to ease connection of the !BarrettHand™ Cable.
     14
     15Make sure the Power Supply is turned OFF, and then route the !BarrettHand™ Cable through all three cable clips on the lab bench stand and plug it into the !BarrettHand™.  Tighten the cable clips to hold the cable in place.
     16
     17== Mounting Method 2:  On Robot Arm ==
     18
     19=== Robot-Arm Adapter ===
     20Like the Lexan Bench Stand, the Robot Arm Adapter is made to secure the !BarrettHand™ in place and to provide strain relief to the Hand cable as shown in Figure 9.  The Arm Adapter is fabricated for the tool-plate of your specific robot arm and is designed for low-profile, rigidity, and low weight.
     21
     22To mount your !BarrettHand™ on a robot, bolt the arm adapter onto the tool-plate bolt circle, located at the end tip of the robot arm.  Next, insert the threaded base of the !BarrettHand™ through the hole in the arm adapter shown in Figure 9 aligning the indexing tab on the arm adapter to the mating alignment slot on the !BarrettHand™. 
     23Secure the !BarrettHand™ by threading the locking ring (included with your system) onto the base of the !BarrettHand™.  Note that, depending on the details of your robot arm, you may need to loosen the locking ring when installing the Hand cable the next Section.
     24
     25{{{
     26#!div class="center" align="center"
     27[[Image(htdocs:figure9.png)]]
     28
     29'''Figure 9 - Installing an Arm Adapter.'''
     30}}}
     31
     32=== Installing the Hand Cable on a Robot Arm ===
     33
     34All of the power and communications for the !BarrettHand™ have been consolidated into a single high-durability robot cable which has a 15-pin connector at the Power Supply end and a tiny 10-pin connector at the Hand end.  To accommodate the complex motions of a robot arm, the !BarrettHand™ Hand Cable is extremely flexible and has been designed for compatibility with both internal and external mounting schemes.  When a robot arm does provide an internal channel, the cross-section of the channel is tightly constrained.  Therefore the Hand cable has been made with a particularly tiny connector at one end to ease internal installation.  The base of the Hand Adaptor includes an opening to accommodate direct access from an internal cable to the back of the !BarrettHand™.
     35
     36For external installation, plan to route the Hand Cable close to the center of each joint.  Each segment will need enough slack to accommodate the most extreme motions but not so much that the cable might become snagged.  Mount the cable clips to flat, dry, and clean link surfaces at strategic points along the robot arm.  Clean cable clip attachment areas with alcohol before attaching via the self-adhesive backings.  Place the !BarrettHand™ Hand Cable loosely through the cable retaining clips on the robot and the Arm Adapter.  Move the robot arm through all of its motion extremes to verify that the cable slack is adequate in each segment and that it will not snag.  Once verified, tighten the cable clips to secure the cable in place.
     37
     38== Electrical Connections ==
     39
     40Place the Power Supply on a flat, secure surface anywhere between the base of the robot and the host PC (or robot controller).
     41With your PC off, attach the DB-9 extension cable from your 9-pin COM Port or Peak USB to CAN adapter to the Power Supply.  Barrett Technology supplies a 3-meter standard straight-through DB-9 cable, but you may purchase a longer cable if desired.
     42Attach the Power Supply Line Cord into any convenient outlet and verify that it is switched OFF.
     43Attach the one end of the Hand Cable to the Power Supply and the other end into the Hand.  Tighten the strain-relief screws using the Phillips screwdriver provided in the toolkit.  CAUTION: Be sure you are not supplying 48 V to a 24 V hand.
     44Check the switches on the bottom of a BH8-280 hand under the access panel.  Make sure the CAN termination is ON (SW1, !#4), SW3 is set to CAN (the side with the dot), and J35/J36 is correct for which port you are using (jumper on J36 for bottom connector).