Wraptor™ User Manual
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© 2007 Barrett Technology®, Inc.
Document: D2000, Version: AB.00
Page 12 of 15
4.2.1 Movement Parameters
Movement parameters affect how a given motor moves.
Parameter:
DP
Name:
Default Position
Purpose:
Destination of M command if no argument specified
Values:
-2E9 to +2E9 (GCL counts)
Default:
Inner Link: 25000
Outer Link: 25000
Spread: 18500
Notes:
This parameter’s true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
limits).
Parameter:
DS
Name:
Default Step
Purpose:
Size of IC or IO command movement if no argument specified
Values:
-32768 to +32,767 (GCL counts)
Default:
Inner Link: 4096
Outer Link: 4096
Spread: 4096
Notes:
This parameter’s true range of useful values is bounded by the joint limits of the axes (see Table 1- Joint
limits). Setting DS to a negative number is allowed, but it is not recommended. Doing so would make the
finger move in the open direction during an IC (Incremental Close) command, for example.
Parameter:
MT
Name:
Max Torque
Purpose:
Maximum torque to apply during any joint movement.
Values:
-32768 to +32,767 (mA, roughly)
Default:
6000
Notes:
It is useful to set this parameter before issuing a TC, TO, or M command.
Parameter:
MV
Name:
Max Velocity
Purpose:
Maximum velocity to spin the motor during a trapezoidal move (M) command.
Values:
-32768 to +32,767 (GCL counts / ms)
Default:
Inner Link: 100
Outer Link: 100
Spread: 20
Notes:
During a trapezoidal move, the joint will accelerate with ACCEL up to MV.
4.2.2 Status Parameters
Motor status parameters are read-only and give information about the state of a motor.
Parameter:
P
Name:
Position
Purpose:
The present position of the motor in GCL Counts.
Values:
See Table 1- Joint limits
Default:
N/A
Notes:
Parameter:
TEMP
Name:
Temperature
Purpose:
The present temperature on the controller in degrees C.
Values:
0 to 125
Default:
N/A
Notes:
