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