Changes between Initial Version and Version 1 of WAM/Autotensioning

Timestamp:

Mar 20, 2013, 5:59:41 PM (13 years ago)

Author:

kpm

Comment:

--

WAM/Autotensioning

@@ +1 @@
+= WAM Auto-Tensioning Procedure (bt-wam-autotension)=
+
+As of Libbarrett-1.2.0, an automated WAM tensioning procedure has been introduced. This procedure is advised to be run at every ~80 hours of WAM usage, elongating cable life by eliminating cable slack from being introduced over prolonged usage.
+
+This procedure is capable of tensioning the WAMs joints 1-4 (4-DOF) or joints 1-6 (7-DOF). It will tension multiple joints simultaneously whenever possible. 
+
+**Note:** WAMs with serial numbers < 5 and WAM wrists with serial numbers < 9 are not eligible for autotensioning.
+
+Before running the application, please make sure the WAM's power is turned on and the controllers are powered on by pressing Shift-Idle on the control pendant.
+
+== Tensioning all available joints ==
+The default options for the autotensioning procedure (no arguments) is to tension all of the available joints.
+
+{{{
+bt-wam-autotension
+}}}
+
+Please follow the on-screen instructions to complete the autotensioning procedure.
+
+== Tension specified joints ==
+Arguments describing the joints you would like to be tensioned can be provided as arguments.
+
+{{{
+bt-wam-autotension 1 4
+}}}
+
+Will tension joints 1 & 4 only.
+Please follow the on-screen instructions to complete the autotensioning procedure.
+
+