Changes between Version 7 and Version 8 of WAM/HardwareSetup


Ignore:
Timestamp:
Jan 10, 2013, 5:51:36 PM (11 years ago)
Author:
dc
Comment:

KM Updating to show standard home position, and current safety board rev switch configuration, fixed figure number. KM

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  • WAM/HardwareSetup

    v7 v8  
    33== Mounting ==
    44
    5 The mounting-surface for the WAM should be designed to handle the large reaction forces generated at the base of the arm during high-acceleration operation. The WAM can be fastened to a prepared mounting-surface in several ways. If you use four M10 or 3/8” screws, remove the base cover to access the four bolt holes in the base plate.  The holes are located on the base of the WAM according to Figure 18 and Figure 19. The plate thickness is 8mm.  If you use M12 screws, you can screw upwards from the opposite direction, eliminating the need to remove the base cover. Alternatively, the WAM can be mounted using the clamps provided in the maintenance kit. It is important that the mounting surface NOT be grounded to earth ground (see “Grounding” section below).
     5The mounting-surface for the WAM should be designed to handle the large reaction forces generated at the base of the arm during high-acceleration operation. The WAM can be fastened to a prepared mounting-surface in several ways. If you use four M10 or 3/8” screws, remove the base cover to access the four bolt holes in the base plate.  The holes are located on the base of the WAM according to Figure 1 and Figure 2. The plate thickness is 8mm.  If you use M12 screws, you can screw upwards from the opposite direction, eliminating the need to remove the base cover. Alternatively, the WAM can be mounted using the clamps provided in the maintenance kit. It is important that the mounting surface NOT be grounded to earth ground (see “Grounding” section below).
    66
    77{{{
    … …  
    99[[Image(htdocs:wam/figure18.png)]]
    1010
    11 Figure 18 – Screw-hole Locations
     11Figure 1 – Screw-hole Locations
    1212
    1313[[Image(htdocs:wam/figure19.png)]]
    1414
    15 Figure 19 – Mounting-Hole Measurements
     15Figure 2 – Mounting-Hole Measurements
    1616}}}
    1717
    1818== WAM Stand (Optional) ==
    1919
    20 For information about setting up your WAM on the optional Barrett-supplied mounting stand, please see [http://web.barrett.com/support/WAM_Documentation/WAM_Stand_Instructions.pdf this document].
     20For information about setting up your WAM on the optional Barrett-supplied mounting stand, please see [http://web.barrett.com/support/WAM_Documentation/WAM_Stand_Instructions.pdf WAM Stand Assembly and Mounting Document].
    2121
    2222== Grounding ==
    … …  
    2626To avoid damaging the WAM electronics, please make sure the WAM is powered off before detaching or attaching any outer link. In addition, if the Wrist was shipped separately from the WAM, a Safety Termination will be attached to the base connector of the Wrist, and must be removed before mounting the Wrist. If the Wrist is ever removed from the WAM, ensure that the Safety Termination is attached as soon as the Wrist is disconnected to prevent damage to the Wrist Pucks.
    2727
    28 Figure 21 shows that the outer link can be unscrewed and removed from the WAM to accommodate the WAM Wrist (if the 7-DOF WAM is purchased). After removing the outer link, connect the WAM Wrist:
     28Figure 4 shows that the outer link can be unscrewed and removed from the WAM to accommodate the WAM Wrist (if the 7-DOF WAM is purchased). After removing the outer link, connect the WAM Wrist:
    2929        1. Align the D-sub connector of the Wrist with the mating connector on the end of the “elbow” of the WAM such that both have the same orientation.
    3030        1. Connect the alignment pins on the end of the elbow with the mating connections on the Wrist.
    3131        1. Thread the quick-connect ring onto the wrist base.
    3232
    33 No special wrenches, fasteners, or tools are required, however, it may be necessary to shake the outer link (or Wrist) gently back and forth while tightening or loosening the ring. This ring should only be hand-tightened. It is normal for there to be a small number of threads left when fully tightened. This single operation also makes all electrical connections to the WAM Wrist. Figure 20 shows the electrical connector at the end of the WAM.
     33No special wrenches, fasteners, or tools are required, however, it may be necessary to shake the outer link (or Wrist) gently back and forth while tightening or loosening the ring. This ring should only be hand-tightened. It is normal for there to be a small number of threads left when fully tightened. This single operation also makes all electrical connections to the WAM Wrist. Figure 3 shows the electrical connector at the end of the WAM.
    3434
    3535{{{
    3636#!div class="center" align="center"
    37 [[Image(htdocs:wam/figure202122.png)]]
     37[[Image(http://web.barrett.com/images/WAM/SupportWiki/WristConnection.png)]]
    3838}}}
     39
     40== WAM Standard Home Position ==
     41
     42The default home position for the WAM is Joint 2 folded approximately -2 radians back against its large rubber stop, and Joint 4 folded in against the inner link (+PI radians).
     43
     44In order to change the default home position, you must change the defined home joint calibration data located in /etc/barrett/calibration_data. For example, to change the home position for the 7-DOF WAM you would edit the file /etc/barrett/calibration_data/wam7w/zerocal.conf
     45
     46{{{
     47#!div class="center" align="center"
     48[[Image(http://web.barrett.com/images/WAM/SupportWiki/HomePosition.jpg)]][[br]]
     49'''Figure 6 – WAM Standard Home Position'''
     50}}}
     51
     52'''IMPORTANT: In the WAM 7-DOF Configuration (as shown), Motor 6 and Motor 7 __MUST__ be on the same side.'''
     53
     54'''Home Joint Positions (Radians)'''[[br]]
     55J1: 0.0[[br]]
     56J2: -2.0[[br]]
     57J3: 0.0[[br]]
     58J4: PI[[br]]
     59
     60If 7-DOF WAM:[[br]]
     61J5-7: 0.0[[br]]
    3962
    4063== Safety Board Settings ==
    4164
    42 For different methods of communication (and different connections to the !BarrettHand™, if attached) certain switches must be changed.  To access these switches, turn off the WAM™, remove the 4-mm Hex screw in the upper-left corner of the back of the WAM™, unlatch the base cover, and rotate the back plate of the WAM™ out so that it is in a horizontal position.  If you are facing the WAM™ from the back, the relevant switches will be on the lower-left corner (see Figure 23).  If a switch is “out” the raised part of that pin is on the side closest to the edge of the safety board, and the opposite is true if the switch is “in”.
     65For different methods of communication (and different connections to the !BarrettHand™, if attached) certain switches must be changed.  To access these switches, turn off the WAM™, remove the 4-mm Hex screw in the upper-left corner of the back of the WAM™, unlatch the base cover, and rotate the back plate of the WAM™ out so that it is in a horizontal position.  If you are facing the WAM™ from the back, the relevant switches will be on the lower-left corner (see Figure 7).  If a switch is “out” the raised part of that pin is on the side closest to the edge of the safety board, and the opposite is true if the switch is “in”.
    4366
    4467{{{
    4568#!div class="center" align="center"
    4669'''Table 1 – WAM Communication Settings'''
    47 ||Mode:||Switch 1-2||Switch 1-3
    48 ||Ethernet||IN||IN
    49 ||CAN (from External PC)||OUT||OUT
     70||Mode:||Switch 1-2
     71||Ethernet (from Internal PC/104)||IN
     72||CAN (from External PC)||OUT
    5073
    51 [[Image(htdocs:wam/figure23.png)]]
     74[[Image(http://web.barrett.com/images/WAM/SupportWiki/switches.png)]]
    5275
    53 '''Figure 23 – Safety Board Switches'''
     76'''Figure 7 – Safety Board Switches'''
    5477
    5578}}}
    … …  
    6891[[Image(htdocs:wam/figure26.png)]]
    6992
    70 '''Figure 26 – DC Power Cable (blue)'''
     93'''Figure 8 – DC Power Cable (blue)'''
    7194}}}
    72 For mobile applications or applications that require alternate DC power sources, simply connect the DC power cable directly from the power source to the socket on the WAM labeled “DC Power” as shown in Figure 26 (see Table 3 for details on DC power requirements). Tighten the strain-relief screws using the screwdriver provided in the maintenance kit. If you are connecting the WAM to a battery, you will need to connect +48 (or any voltage from +24 to +80) to pin 1 of the WAM's power connector (marked "+"). You will need to tie pins 2 and 3 together along with the DSUB shield (the frame), and connect all three of those nodes (pins 2, 3, and DSUB) to your battery's negative terminal.
     95For mobile applications or applications that require alternate DC power sources, simply connect the DC power cable directly from the power source to the socket on the WAM labeled “DC Power” as shown in Figure 8 (see Table 3 for details on DC power requirements). Tighten the strain-relief screws using the screwdriver provided in the maintenance kit. If you are connecting the WAM to a battery, you will need to connect +48 (or any voltage from +24 to +80) to pin 1 of the WAM's power connector (marked "+"). You will need to tie pins 2 and 3 together along with the DSUB shield (the frame), and connect all three of those nodes (pins 2, 3, and DSUB) to your battery's negative terminal.
    7396
    7497Please make sure that the negative connection is always connected to the WAM before the +voltage is switched on or off. Removing the negative connection while +voltage is still applied can cause significant damage to the WAM's electronics.
    … …  
    90113
    91114=== Pendants ===
    92 Of the two pendant cables, connect the pendant box with three colored buttons and a red E-Stop to the socket on the WAM marked “Pendant - Control”. Connect the other pendant box (with only a red E-Stop) to the socket on the WAM marked “Pendant - Display”. See Figure 27 for both pendants. Tighten the strain-relief screws using the screwdriver provided in the maintenance kit.
     115Of the two pendant cables, connect the pendant box with three colored buttons and a red E-Stop to the socket on the WAM marked “Pendant - Control”. Connect the other pendant box (with only a red E-Stop) to the socket on the WAM marked “Pendant - Display”. See Figure 9 for both pendants. Tighten the strain-relief screws using the screwdriver provided in the maintenance kit.
    93116
    94117{{{
    … …  
    96119[[Image(htdocs:wam/figure27.png)]]
    97120
    98 '''Figure 27 – Pendant Cables'''
     121'''Figure 9 – Pendant Cables'''
    99122}}}
    100123
    … …  
    114137[[Image(htdocs:wam/figure28.png)]]
    115138
    116 '''Figure 28 – Wireless Access Point on WAM Backplate'''
     139'''Figure 10 – Wireless Access Point on WAM Backplate'''
    117140}}}
    118141
    119142'''CANbus'''
    120143
    121 If you are using the optional external PC, attach the CANbus cable from the socket on the WAM labeled “CAN” to the PC as shown in Figure 29. Either attach a monitor and keyboard to the PC to operate the PC directly, or connect the PC to a network and access it remotely using a secure shell (ssh) client or remote terminal software. Tighten the strain-relief screws using the screwdriver provided in the maintenance kit.
     144If you are using the optional external PC, attach the CANbus cable from the socket on the WAM labeled “CAN” to the PC as shown in Figure 11. Either attach a monitor and keyboard to the PC to operate the PC directly, or connect the PC to a network and access it remotely using a secure shell (ssh) client or remote terminal software. Tighten the strain-relief screws using the screwdriver provided in the maintenance kit.
    122145
    123146{{{
    124147#!div class="center" align="center"
    125 [[Image(htdocs:wam/figure29.png)]]
     148[[Image(http://web.barrett.com/images/WAM/SupportWiki/CANCable.png)]]
    126149
    127 '''Figure 29 – CAN cable (purple)'''
     150'''Figure 11 – CAN cable (purple)'''
    128151}}}
    129152