User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
75
Appendix E - Integration of Optional BarrettHand (BH8-250)
The BarrettHand can be readily integrated into the 7-DOF BarrettArm system. There are two
methods by which Hand control can be integrated with Arm control. The first method allows
the user to control the Hand from a separate window while the Arm is running. The second
method is integration of hand commands with Arm commands within the same program. Both
methods require the following setup procedure:
•
Turn power off to entire system
•
Plug in hand connector that extends from the Wrist into base of Hand.
•
Align holes on Hand Base Ring with holes on connector strain relief plate
•
Align pins on Tool Plate with holes on Hand Base Ring.
•
Attach Hand to Wrist by turning Tool Plate Attachment Ring clockwise.
•
The pins must engage completely for Hand to be securely attached to Wrist.
•
Plug ‘End Effector’ extension cable from base of Arm to rear of Hand Power Supply Box.
•
Plug power cord into Power Supply Box.
•
Attach a standard serial cable from COM port to rear of Power Supply Box.
The hand is attached and ready for operation. Read the BarretHand User Manual before
proceeding with Hand integration.
Before operating both Hand and Arm together the Hand should be tested on the end of the Arm.
Place Arm in a configuration that allows the Hand to move through its full range of motion.
Follow the procedures in the BarretHand User Manual for testing Hand operation. If Hand
operation is successful the system is ready for integration.
Do the following to operate the Hand separately from the Arm:
•
Turn Hand Power Supply Box on.
•
Open a DOS window and run the loader.exe program. (do not forget to run asynch.exe first)
•
Put Arm in a configuration that allows for full joint motion of the Hand.
•
Initialize Hand. The Hand is now ready for operation while executing Arm programs.
•
Execute desired Arm program.
•
While Arm program is running, switch to the Hand DOS window.
•
Type Hand commands.
Barrett has successfully integrated the Hand and Arm using this method.
However, this
method has not been fully tested.
Barrett has experienced conflicts when Hand commands
are issued while points in a trajectory are being put into the DSP buffer. If this happens the
PC/DSP card generates E-Stop faults to all of the motors and the Arm shuts down.
Integration of the Hand and the Arm in the same program requires generating Hand and Arm
code simultaneously. The Hand library, ‘stdc.lib’, needs to be included into library list in your
compiler. The library either needs to be put into the library directory specified by your