Changes between Version 2 and Version 3 of Hand/262/Troubleshooting


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Timestamp:
May 17, 2011, 9:16:49 PM (8 years ago)
Author:
edison
Comment:

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Legend:

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  • Hand/262/Troubleshooting

    v2 v3  
    55
    66Possible Solution:
    7         1. Reload Firmware for the BH8-262 and earlier hands. If the Hand has been idle for more than a day or two, especially in humid conditions, the !SuperCap can lose enough charge that the volatile RAM becomes borderline unstable.  There is never a problem if the !SuperCap loses all of its charge because the Hand simply prompts user to download fresh firmware next time it is powered up.  This symptom is most common in Hands that are used infrequently.
     7        1. [[FirmwareUpdate|Reload the Firmware]]. If the Hand has been idle for more than a day or two, especially in humid conditions, the !SuperCap can lose enough charge that the volatile RAM becomes borderline unstable.  There is never a problem if the !SuperCap loses all of its charge because the Hand simply prompts user to download fresh firmware next time it is powered up.  This symptom is most common in Hands that are used infrequently.
    88
    99
     
    1414        1. Check that the serial cable is a straight-through extension cable.
    1515        1. Verify the Power Supply is turned on.
    16         1. Firmware may no longer be valid.  Try downloading the firmware according to Section 3.7.
     16        1. Firmware may no longer be valid.  Try [[FirmwareUpdate|downloading the firmware]].
    1717        1. Host computer baud rate and !BarrettHand™ baud rate may be set to different rates.  Close the !BarrettHand Control GUI and reset the !BarrettHand™, by cycling power on the !BarrettHand Power Supply.  Restart the !BarrettHand Control GUI and try initializing again.
    1818        1. The communications port selected is being used by another program.  Close all other programs that use the selected communications port.  Reset the !BarrettHand™ and restart the !BarrettHand Control GUI.
     
    2323
    2424Possible Solution:
    25         1. The strain gage balancing potentiometer needs to be readjusted.  Refer to Section 7.4 for instructions on how to adjust.
     25        1. The strain gage balancing potentiometer needs to be [[StrainGageMaintenance|readjusted]].
    2626        1. Verify the cable is riding across both the top and the bottom of the idler pulley, as shown in Figure 25.
    2727        1. If the problem persists, contact Barrett Technology.
     
    2929{{{
    3030#!div class="center" align="center"
    31 [[Image(htdocs:bhand/figure25.png)]]
     31[[Image(htdocs:bhand/262/figure25.png)]]
    3232
    3333'''Figure 25 - Cable and Idler Pulley'''
     
    3737
    3838Possible Solution:
    39         1. The finger cable pretension is not adjusted properly.  Refer to Section 7.1 for instructions on how to adjust.
    40         1. The strain gage balancing potentiometer needs to be readjusted.  Refer to Section 7.4 for instructions on how to adjust.
     39        1. The finger cable pretension is not adjusted properly.  [[FingerCablePretensioning|Set the finger cable pretension properly.]]
     40        1. The strain gage balancing potentiometer needs to be [[StrainGageMaintenance|readjusted]].
    4141        1. Verify the cable is riding properly on the idler pulley, as shown in Figure 25.
    4242        1. Verify idler pulley rotates freely on the shoulder screw.  The shoulder screw should not be tightened against the idler pulley.  If so, loosen shoulder screw, shown in Figure 25, so the idler pulley will move with cable motion.
     
    5858        1. The open velocity is too slow.  Try increasing the open velocity to greater than or equal to 40 and opening the finger.
    5959        1. Verify that the strain gage value SG is less than HSG (High Strain Gage Limit; alias is MSG).
    60         1. If the strain gages are not installed set HSG to 256 for the BH8-262 and set HSG to 0 for BH8-280 hands.
    61         1. The pretension in the cable is too high.  Refer to Section 7.1 to set the finger cable pretension properly.
     60        1. If the strain gages are not installed set HSG to 256 for the BH8-262.
     61        1. The finger cable pretension is too high.  [[FingerCablePretensioning|Set the finger cable pretension properly.]]
    6262        1. Set the open velocity greater than or equal to 40 and then initialize the finger. 
    63         1. Reload firmware.
     63        1. [[FirmwareUpdate|Reload firmware.]]
    6464        1. If the problem persists, contact Barrett Technology.
    6565
     
    8787        1. The close velocity is too slow.  Increase the close velocity greater than or equal to 40.
    8888        1. Reinitialize the finger; this may reset the !TorqueSwitch™.
    89         1. If the !BarrettHand™ has been inactive for an extended period or if the finger has been slammed open against its stop with a high velocity setting, the !TorqueSwitch™ may need to be manually activated.   Insert a 2-mm hex wrench into the left Drive Access hole, as shown in Figure 27.  Rotate counterclockwise to open the finger fully.  Next, press very hard against the inner link to constrain it from moving while not constraining the outer link, as the personÕs thumb is doing in Figure 26, while torqueing the hex wrench clockwise.  Increase torque until the fingertip breaks free, so that it can be rotated easily while the inner link remains stationary.  Remove the 2-mm hex wrench and reinitialize the finger.
     89        1. If the !BarrettHand™ has been inactive for an extended period or if the finger has been slammed open against its stop with a high velocity setting, the !TorqueSwitch™ may need to be manually activated.   Insert a 2-mm hex wrench into the left Drive Access hole, as shown in Figure 27.  Rotate counterclockwise to open the finger fully.  Next, press very hard against the inner link to constrain it from moving while not constraining the outer link, as the person's thumb is doing in Figure 26, while torqueing the hex wrench clockwise.  Increase torque until the fingertip breaks free, so that it can be rotated easily while the inner link remains stationary.  Remove the 2-mm hex wrench and reinitialize the finger.
    9090        1. If the problem persists, contact Barrett Technology.
    9191
    9292{{{
    9393#!div class="center" align="center"
    94 [[Image(htdocs:bhand/figure26.png)]]
     94[[Image(htdocs:bhand/262/figure26.png)]]
    9595
    9696'''Figure 26 - Manual Torque Switch Activation'''
    9797
    98 [[Image(htdocs:bhand/figure27.png)]]
     98[[Image(htdocs:bhand/262/figure27.png)]]
    9999
    100100'''Figure 27 - Manual !TorqueSwitch™ Activation Drive Holes'''
     
    105105
    106106Possible Solution:
    107         1. For BH8-262 hands: Verify that the finger velocity and filter properties are the same (MCV, MOV, FPG, FDZ, FIP, SAMPLE, ACCEL).
    108 For BH8-280 hands: Verify that the MT property is the same.
    109         1. Unlike GO and GC commands in which each finger is position controlled to follow a predefined trapezoidal trajectory that keeps the fingers moving precisely, GTO and GTC commands apply pure proportional velocity control for 262 hands and control motor currents for 280 hands.  Each finger has slightly different friction due to manufacturing tolerances, resulting in different actual velocities for the same commanded velocity.  Lubricating the high friction fingers will help reduce the friction and increase the velocity.  See Section 7.3 for lubrication instructions.   Alternatively, the commanded gains or commanded velocities from nominal allows you to compensate.
     107        1. Verify that the finger velocity and filter properties are the same (MCV, MOV, FPG, FDZ, FIP, SAMPLE, ACCEL).
     108        1. Unlike GO and GC commands in which each finger is position controlled to follow a predefined trapezoidal trajectory that keeps the fingers moving precisely, GTO and GTC commands apply pure proportional velocity control.  Each finger has slightly different friction due to manufacturing tolerances, resulting in different actual velocities for the same commanded velocity.  [[LubricationAndFingerReplacement|Lubricating the high friction fingers]] will help reduce the friction and increase the velocity.  Alternatively, the commanded gains or commanded velocities from nominal allows you to compensate.
    110109        1. If the problem persists, contact Barrett Technology.
    111110
     
    116115        1. Adjust close target CT so that it is either at or just beyond the actual palm surface.
    117116        1. Verify that the outer link has not broken away prematurely.
    118         1. Verify proper finger angles when the fingers are removed and replaced during lubrication maintenance.  An error here can cause the outer finger link to reach its joint stop prematurely, even without breakaway, before either CT or the inner finger-link joint limit is reached. Verify finger angle is correct by following the directions on disconnecting and reattaching fingers in Section 7.3.  Readjust if necessary.
     117        1. Verify proper finger angles when the fingers are removed and replaced during lubrication maintenance.  An error here can cause the outer finger link to reach its joint stop prematurely, even without breakaway, before either CT or the inner finger-link joint limit is reached. Verify finger angle is correct by [[LubricationAndFingerReplacement|disconnecting and reattaching fingers.]]  Readjust if necessary.
    119118        1. Verify there are no objects or other fingers blocking the finger from closing completely.
    120119        1. Verify the MSG (Maximum Strain Gage) property is greater than the strain gage value (SG). If the strain gages are not installed, set MSG to 256.
     
    124123
    125124Possible Solution:
    126         1. Lubricate the spread motor gears as shown in Section 7.3.
     125        1. [[LubricationAndFingerReplacement|Lubricate the spread motor gears.]]
    127126        1. If the palm screws have been reinstalled, verify all screws are tightened with the same amount of torque.  Excessive torque may cause spread friction.
    128127        1. If the problem persists, contact Barrett Technology.
     
    142141
    143142Possible Solution:
    144         1. The pretension in the cable is too low.  Refer to Section 7.1 to set the finger cable pretension properly.  If the problem persists, contact Barrett Technology.
     143        1. The pretension in the cable is too low.  [[FingerCablePretensioning|Set the finger cable pretension properly.]]  If the problem persists, contact Barrett Technology.
    145144        1. The finger cable is broken.  Verify this by removing the Shroud Cover, see Figure 23, and inspecting the cable.  The cable should be intact and not broken.  If the cable is broken, contact Barrett Technology.
     145
     146{{{
     147#!div class="center" align="center"
     148[[Image(htdocs:bhand/262/figure23.png)]]
     149
     150'''Figure 23 - Shroud Cover ??????????????????????????????????'''
     151}}}
    146152
    147153=== Symptom:    The fingertip has driven itself open beyond the normal full-open position and perhaps is hyperextended, but it is not loose.