Changes between Initial Version and Version 1 of WAM/Autotensioning


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Timestamp:
Mar 20, 2013, 5:59:41 PM (12 years ago)
Author:
kpm
Comment:

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  • WAM/Autotensioning

    v1 v1  
     1= WAM Auto-Tensioning Procedure (bt-wam-autotension)=
     2
     3As 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.
     4
     5This 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.
     6
     7**Note:** WAMs with serial numbers < 5 and WAM wrists with serial numbers < 9 are not eligible for autotensioning.
     8
     9Before 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.
     10
     11== Tensioning all available joints ==
     12The default options for the autotensioning procedure (no arguments) is to tension all of the available joints.
     13
     14{{{
     15bt-wam-autotension
     16}}}
     17
     18Please follow the on-screen instructions to complete the autotensioning procedure.
     19
     20== Tension specified joints ==
     21Arguments describing the joints you would like to be tensioned can be provided as arguments.
     22
     23{{{
     24bt-wam-autotension 1 4
     25}}}
     26
     27Will tension joints 1 & 4 only.
     28Please follow the on-screen instructions to complete the autotensioning procedure.
     29
     30