Changes between Version 4 and Version 5 of WAM/SafetyFeaturesPrecautions

Timestamp:

Jun 13, 2012, 5:21:38 PM (12 years ago)

Author:

bz

Comment:

--

WAM/SafetyFeaturesPrecautions

@@ -91 +91 @@
 '''Velocity:'''
 
-Set 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.
+Set 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. The velocity is measured at the elbow and at a point on the outer link 350mm from the elbow. It does not take into account tool speed due to wrist movement.
 
 Set 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.