Changes between Version 1 and Version 2 of WAM/InternalExternalControl


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Timestamp:
Jul 12, 2011, 4:29:14 PM (9 years ago)
Author:
cv
Comment:

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  • WAM/InternalExternalControl

    v1 v2  
    11= Switching the WAM Between Internal & External Control =
    22
    3 The WAM is controlled from a real-time operating system (RTOS) and a set control rate (usually 500 Hz, but configurable up to 1 kHz depending on the hardware configuration).  Newer WAMs ([wiki:WAMTypes types] '''D''' and '''E''') include a built-in PC-104 embedded computer in their base, which is loaded with a suitable RTOS to control the WAM at up to 750 Hz.  Customers can communicate with this internal PC using Ethernet for asynchronous control.  Barrett also sells modern Linux desktop PCs pre-loaded with a suitable RTOS (most recently, RTAI or Xenomai under Linux), which communicates directly with the WAM's Puck motor controllers to control the WAM.
     3The WAM is controlled from a real-time operating system (RTOS) and a set control rate (usually 500 Hz, but configurable up to 1 kHz depending on the hardware configuration).  Newer WAMs ([wiki:WAMTypes types] '''D''' and '''E''') include a built-in PC-104 embedded computer in their base, which is loaded with a suitable RTOS to control the WAM at up to 750 Hz.  Customers can communicate with this internal PC using Ethernet for asynchronous control.  Barrett also sells modern Linux desktop PCs pre-loaded with a suitable RTOS (most recently, Xenomai under Ubuntu Linux), which communicates directly with the WAM's Puck motor controllers to control the WAM.
    44
    55Here is a summary of the pros and cons of using each option:
     
    1717=== AE Safety Board (WAM Type E) ===
    1818
    19 The necessary switches are located on the safety board.  Un-clip the four outer cover clips (two on each side) and remove the single screw on the top-left of the back cover with a 4mm hex wrench.  There are 4 switches located along the side of the board (see attachment:safetyboard_ae_switches.jpg); switches C and D control the CAN routing.  Use the following table to select the correct positions:
     19There are two revisions of Type E safety boards, AE-02 and AE-03.  The AE-02 model supports the older BH8-262 grasper and contains more parts than the AE-03 model, which supports the BH8-280 grasper.  These are shown below for comparison.
     20
     21{{{
     22#!div class="center" align="center"
     23||          [[Image(htdocs:wam/AE-02.jpg)]]             ||             [[Image(htdocs:wam/AE-03.jpg)]]         ||
     24||    '''Safety Board Rev.AE-02 (supports BH8-262)'''    ||    '''Safety Board Rev.AE-03 (supports BH8-280)'''    ||
     25}}}
     26
     27To switch between internal and external control, unclip the four outer cover clips (two on each side) and remove the single screw on the top-left of the back cover with a 4mm hex wrench.  Switches C and D control the CAN routing.  Use the following table to select the correct positions (they are the same for both revisions of the board).
    2028
    2129||                       || Switch C || Switch D ||
     
    2533'''Warning: Never alter the switches while the system is on; doing so may do irreparably damage the safety board.  Always switch off the WAM's power supply first! '''
    2634
    27 '''Note:''' It is possible to control two WAMs from one PC-104 internal PC.  You will need a special cable to connect the WAMs via the external CAN connectors on the back of each system (contact Barrett for information).  Configure the slave system for External control.  Configure the master system for Internal control.  In addition, you will need to toggle an additional switch on the master system underneath the safety board cover; switch E is normally OUT -- on the master system, you will need to switch this to IN.  See attachment:safetyboard_ae_under_switches.jpg.
    28 
    29 '''NOTE:''' The above is not entirely correct.  Switch E does not get stuffed consistently in the same orientation.  We will need to include documentation to show the user which way is ON (connected, for special case) and which is OFF (disconnected, default).
     35'''Note:''' It is possible to control two WAMs from one PC-104 internal PC.  You will need a special cable to connect the WAMs via the external CAN connectors on the back of each system (contact Barrett for information).  Configure the slave system for External control.  Configure the master system for Internal control.  In addition, you will need to toggle switch E in the master system underneath the safety board cover.  Switch E is normally OUT, switch this to IN on the master system.  Occasionally switch E is not stuffed correctly on the safety board.  The default position is OFF, which is usually OUT.  If switch E on your safety board is IN to begin with, your switch is backwards and you must reverse the switch E positions noted above.  This does not apply to the other switches.
    3036
    3137=== AD Safety Board (WAM Type D) ===
    3238
    33 Coming Soon ... (contact support@barrett.com for questions)
     39There are very few AD boards in the field at this time, so we will not post instructions here.  Please contact support@barrett.com if you need assistance configuring your AD safety board.