= WAM = == Documents == * Getting Started * [[WAM/ThankYou| Thank you]] * [[WAM/SystemComponentList| System component list]] * [[WAM/HardwareSetup| Hardware setup]] * Configuring a PC * [[BuildingAPC| Software Configuration]] {{{#!comment * [[WAM/InternalPC104Setup| Internal PC/104 setup]] }}} * [[WAM/ExternalPCSetup| External PC setup ]] * [[WAM/InternalExternalControl| Switching between internal and external control]] * [[WAM/PrimaryDemoWalkthrough| Primary demo walkthrough]] * [[Common/Warranty| Warranty and repair policies]] * [[Common/SupportResources| Support Resources, Access Code]] * User Manual * [[WAM/DetailedSystemOperation| Detailed system operation]] * [[WAM/SafetyFeaturesPrecautions| Safety features & precautions]] * Performance analyses * [[http://web.barrett.com/support/WAM_Documentation/WAM_Repeatability_and_Accuracy_Study.pdf| Accuracy & Repeatability]] * Sensor response curves, hysteresis * Low-level message format * [[http://web.barrett.com/support/Puck_Documentation/CAN_Message_Format.pdf| CANbus Specifications]] * [[http://web.barrett.com/support/Puck_Documentation/PuckProperties-r179.pdf| WAM Properties List]] * [[WAM/KinematicsJointRangesConversionFactors| Kinematics, joint ranges, conversion factors]] * [[WAM/Specifications:MotorsMaterialsPower| Specifications: motors, materials, power]] * Wiring diagram * Mass Properties * Statics (mass, center of mass) * [[http://web.barrett.com/support/WAM_Documentation/WAM_InertialSpecifications_AC-02.pdf| Dynamics]] (inertial specs) * Rotor inertias * Maintenance * [[WAM/Troubleshooting| Troubleshooting]] * [[WAM/Calibration| Calibration]] (position, gravity, friction, dynamics, sensors) * [[WAM/Tensioning| Tensioning]] * [[WAM/CableReplacement| Cable replacement]] * [[WAM/PuckReplacement| Puck replacement]] * Firmware update * [[WAM/FirmwareUpdate| Simple update instructions]] * [[WAM/FirmwareUpdate/DetailedPuckInstructions| Detailed Puck Instructions]] * [[WAM/FirmwareUpdate/DetailedSafetyBoardInstructions| Detailed Safety Board Instructions]] * [[WAM/MotorOffsets| Motor offsets]] * Programmer's manual * [[WAM/LibraryOverview| Library overview]] (+ block diagram) * Key concepts * [[WAM/ExampleProgramWalkthroughs| Example program walkthroughs]] * [[http://web.barrett.com/libbarrett/| Doxygen API documentation]] * [[Common/IDE| IDE installation and configuration]] * Precompiled binaries * Installers, installation instructions * Changelog (RSS) == Downloads == Access the [http://www.barrett.com/robot/support.htm file area] by entering your support access code. From there, you will get access to: * Video Library * Getting started * Cable replacement * Puck replacement * Calibration * Software * Precompiled binaries * Installers, installation instructions * Changelog (RSS)