Changes between Version 1 and Version 2 of Hand/282/HardwareSetupSettings


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Timestamp:
Jan 6, 2016, 8:48:11 PM (3 years ago)
Author:
bz
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  • Hand/282/HardwareSetupSettings

    v1 v2  
    2424
    2525=== Robot-Arm Adapter ===
    26 Like the Aluminum 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.
     26Like the Aluminum Bench Stand, the Robot Arm Adapter is made to secure the !BarrettHand™ in place and to provide strain relief to the Hand cable.  The Arm Adapter is fabricated for the tool-plate of your specific robot arm and is designed for low-profile, rigidity, and low weight.
    2727
    28 To 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.  Fit the !BarrettHand™ onto the projecting pins on the Robot-Arm Adapter, and secure 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 in the next Section.
     28To 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.  Fit the !BarrettHand™ onto the projecting pins on the Robot-Arm Adapter, and secure 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 in the next Section.
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    3737=== Installing the Hand Cable on a Robot Arm ===
    3838
    39 All 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™.
     39All of the power and communications for the !BarrettHand™ have been consolidated into a single high-durability robot cable which has an 11-pin bayonet-style connector at the Power Supply end and a tiny 10-pin Hirose 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™.
    4040
    4141For 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.
     
    4545 * Place the Power Supply on a flat, secure surface anywhere between the base of the robot and the host PC (or robot controller).
    4646 * With 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.
    47  * Attach the Power Supply Line Cord into any convenient outlet and verify that it is switched OFF.  Attach 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.
    48  * Check the switches on the bottom of the 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).
     47 * Attach the Power Supply Line Cord into any convenient outlet and verify that it is switched OFF.  Attach 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.
     48 * Check the switches on the bottom of the hand under the access panel.  For CAN operation, 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).
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