Changes between Version 9 and Version 10 of WAM/SystemComponentList


Ignore:
Timestamp:
Sep 7, 2012, 6:02:52 PM (7 years ago)
Author:
dc
Comment:

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  • WAM/SystemComponentList

    v9 v10  
    4444The Haptic Ball (see Figure 4) can be attached to the end of the Outer Link or the Wrist. It is used to assist in haptic scenes by providing an easy-to-grasp, definable endpoint for the user. Systems are generally shipped with the Haptic Ball pre-installed.
    4545
    46 The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate (if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used to attach parts other than the ones designed by Barrett. The Tool Plate has four M6 tapped holes, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot, and two holes to connect the CAN Termination. You are free to modify your Tool Plate without voiding your warranty.
     46The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate (if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used to attach parts other than the ones designed by Barrett. The Tool Plate has four M6 tapped holes, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot, and two holes to connect the CAN Termination. You are free to modify your Tool Plate without voiding your warranty. You can view a datasheet for the tool plate [http://web.barrett.com/supportFiles/wikiFiles/B2531Documentation.PDF here].
    4747
    4848The CAN Termination (see Figure 6) must be used if neither the Outer Link nor the Wrist is attached at the end of the elbow.  The CANbus must be terminated at each end with a 120 Ohm resistor to minimize signal reflections. The termination can be attached to either the end plate of the elbow or to the Tool Plate (if attached to the elbow) by the two small holes, which are the same distance apart as the holes on the Termination.