Changes between Version 3 and Version 4 of WAM/SafetyFeaturesPrecautions


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Timestamp:
Jun 13, 2012, 1:52:06 PM (7 years ago)
Author:
bz
Comment:

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  • WAM/SafetyFeaturesPrecautions

    v3 v4  
    7070[[Image(htdocs:wam/figure17.png)]]
    7171
    72 '''Figure 17: WAM Responses to Errors and Requests'''
     72'''WAM Responses to Errors and Requests'''
    7373}}}
     74
     75
     76== Setting Safety Limits ==
     77
     78All Safety Board configuration messages should be addressed to ID 10.
     79
     80Be careful not to flood the Safety Board with rapid back-to-back configuration messages. Please leave at least 10ms between each configuration message.
     81
     82
     83'''Torque:'''
     84
     85Set TL1 (property 47) to the torque threshold you want for the yellow torque warning LED to light. MSGID = 0x00A, DLC = 4, Bytes: [AF 00 7B 12]. This sets TL1 to 4731 (its default value).
     86
     87Set TL2 (property 48) to the torque threshold you want for an automatic fallback to the IDLE state (resistive braking, no torque applied, encoders still active). MSGID = 0x00A, DLC = 4, Bytes: [B0 00 54 14]. This sets TL2 to 5204 (its default value).
     88
     89''These values revert to their default values on power-up.''
     90
     91'''Velocity:'''
     92
     93Set VL1 (property 45) to the velocity threshold you want for the yellow velocity warning LED to light. MSGID = 0x00A, DLC = 4, Bytes: [AD 00 00 08]. This sets VL1 to 2048 (its default value). This is in Q4.12 notation, so it converts to 2048/4096 = 0.5 m/s. This value is measured at a point 350mm from the elbow. It does not take into account tool speed due to wrist movement.
     94
     95Set VL2 (property 46) to the velocity threshold you want for an automatic fallback to the IDLE state (resistive braking, no torque applied, encoders still active). MSGID = 0x00A, DLC = 4, Bytes: [AE 00 00 10]. This sets VL2 to 4096 (its default value). This is in Q4.12 notation, so it converts to 4096/4096 = 1.0 m/s. This value is measured at a point 350mm from the elbow. It does not take into account tool speed due to wrist movement. If the velocity does not fall below VL2 within 1/2 second of the IDLE transition, a full E-STOP condition is triggered.
     96
     97''These values revert to their default values on power-up. Changes are not saved across power cycles.''
     98
     99'''Voltage:'''
     100
     101Set VOLTL1 (property 49) to the low voltage threshold you want for the yellow voltage warning LED to light. Default value is 22 (volts, no conversion factor required).
     102
     103Set VOLTL2 (property 50) to the low voltage threshold you want for an automatic fallback to the IDLE state (resistive braking, no torque applied, encoders still active). Default value is 19 (volts, no conversion factor required). The motor controllers must be supplied with at least 16 volts to function properly.
     104
     105Set VOLTH1 (property 51) to the high voltage threshold you want for the yellow voltage warning LED to light and the excess voltage to be shunted to ground. Default value is 54 (volts). The WAM power supply has its own over-voltage shutoff around 60 volts. Due to the WAM's backdrivability, externally applied forces (including gravity) can cause the motors to act as generators during some motions. If the shunting process above VOLTH1 fails to keep the voltage below 60 volts, the main power to the robot system will be cut.
     106
     107Set VOLTH2 (property 52) to the high voltage threshold you want for an automatic E-STOP trigger. The default value is 57 volts.
     108
     109''These voltage limits can be saved to non-volatile memory on the Safety Board. Set SAVE (property 30) to the property number you want to save. For example, set VOLTL1 to some new value, then set SAVE to 49 to save your new value of VOLTL1. The system uses the stored values on power-up.''