= WAM Specifications =

== Power Requirements ==
The standard WAM system requires an input voltage of 24-90 VDC. The power requirements for both 4-DOF and 7-DOF WAMs are summarized in the table below. For AC operation, a converter for AC mode is supplied. The converter requires 50-60 Hz single-phase 100-120 VAC @ 7A or 200-240 VAC @ 3.5A for proper operation

'''DC Power Requirements'''
|| Status                 || Control || 4-DOF || 7-DOF ||
|| Powered on, no torques || External || 18 W  ||  27 W ||
|| Active at home position || External || 30 W || 40 W ||
|| Active at worst-case!** position, 4kg payload || External || 65 W || XXX ||
|| Active at worst-case!** position, 3kg payload || External || XXX || 80 W ||
|| Active at worst-case!** position, 3kg payload || Internal || XXX || 85 W ||
|| Active at worst-case!** position with BH8-280, 2kg payload || Internal || XXX || 120 W ||
|| Peak                 || External || 600 W || 800 W ||
!** The worst-case position is the arm fully extended, with the base rotated 90 degrees such that joints 2, 4 and 6 must exert a large torque to counteract gravity.