WAM Internal PC/104 Configuration

Wireless Ethernet Connection (default)

When the WAM turns on, it will request an IP address from the DHCP server running on the wireless access point (AP) installed in or on the WAM. This address is typically: 192.168.nnn.100, and the ssid of the AP is WAM-nnn, where nnn is the serial number of your WAM. You can use a laptop PC or other wireless-enabled device to connect to the AP. You can also log in and configure the AP by going to http://192.168.nnn.30. Username is "admin", password is "WAM". Once logged in to the AP, you can check the IP addresses assigned by DHCP by clicking on the "DHCP" button on the left-hand side of the web page. Your PC’s network name will be listed there, and there should be an entry without a name- that is the WAM PC and its corresponding IP address. This is the address you will use to control the WAM.

Wired Ethernet

Type AE Safety Boards

For revision AE Safety Boards, just unplug the D-Link wireless AP from the WAM's Ethernet port and connect the WAM to your LAN.

Type AD Safety Boards

For revision AD Safety Boards, you will need to make a few changes on the safety board inside the back cover of the WAM:

1)	Turn off power to the WAM
2)	Remove the base cover by releasing the four latches that hold it in place.
3)	Use a 4mm Hex wrench to remove the screw in the upper-left corner of the backplate
4)	The backplate can now swing open on its lower hinge
5)	Remove the safety board cover screws with a small Phillips screwdriver
6)	Lift off the safety board cover
7)	Unplug the wireless Ethernet patch cable from the CPU board (Fig. 1, below)
8)	Plug the wired Ethernet ribbon cable into the CPU board (Fig. 2, below)
9)	Slide switch SW6 toward the inside of the board
10)	Replace the safety board cover, close the backplate, replace the base cover

Figure 1 - Wireless-ethernet patch cable.

Figure 2 - External ethernet patch cable.

The WAM PC will use now the DHCP server on your network to obtain an IP address. You can use our ​WAM discovery application to identify the WAM's IP address on your network.

Logging in over Ethernet

From a *nix PC, use

ssh robot@<wam-ip-address>

From a Windows PC, use the free ​PuTTY ssh client to connect

Username: robot
Password: WAM

Follow the Quick Start guide to run the WAM demonstration program.

Setting a Static IP Address

To set a static IP address, you will probably need to register the system's MAC address on your router (or with your IT department). To find your WAMs MAC address, connect via SSH and run this command:

ifconfig

The MAC address will show up under the eth0 header after "HWaddr." Once you have the network set up to support a static IP for the WAM, you can edit the network configuration by running this command:

sudo vi /etc/network/interfaces

This will open the network config file in VI, a text-based editor. The editor will start in "command mode," and to edit the file, you will have to go to "insertion mode" by hitting the 'i' key. After you hit the 'i' key, you can use the keyboard arrows to navigate around the file. First, you need to comment out (using '#' characters) the DHCP section of the file, so that it looks like this:

# To use dhcp:
#
# auto eth0
# iface eth0 inet dhcp

After that, you have to un-comment the static IP section, and fill in appropriate values for your setup, so it looks similar to this:

# An example static IP setup:
#
auto eth0
iface eth0 inet static
	address 192.168.0.42
	network 192.168.0.0
	netmask 255.255.255.0
	broadcast 192.168.0.255
	gateway 192.168.0.1

Once you are done editing the file, hit the escape key to get out of insertion mode, then type:

:wq

and hit enter to write your changes and quit the editor. To double-check that your settings were saved correctly, you can run:

less /etc/network/interfaces

Hit the 'q' key to exit this preview. If the file is correct, you can power-down the system now. If you were using the wireless access point to SSH, disconnect it from the WAM and connect the WAM directly to the network now. Turn the WAM on to load the new configuration.

Using the WAM’s auxiliary tool power

Some versions of the WAM offer 5V and 24V power for the BarrettHand BH8-262 or other end-of-arm tooling. To save system power, the power supplies responsible for generating these tool voltages are disabled by default. These supplies are controlled through the parallel port of the internal WAM PC/104. To enable these supplies while logged in to the PC/104, you must install a special software tool:

1) Edit the PC/104 boot procedure to start the parallel port modules:

sudo vi /etc/modules
# Add the following entries
parport_pc
lp
ppdev
parport
# Save and Exit

2) Restart the system. 3) Install parapin – A library for parallel port switching:

wget http://sourceforge.net/projects/parapin/files/parapin/1.5.1/parapin-1.5.1-beta1.tgz
tar -xf parapin-1.5.1-beta1.tgz
cd parapin-1.5.1-beta1
./setup-2.6.sh
make
sudo make install
cd ..
rm -rf parapin*

4) Run the following to install the switching program:

cd ~/
wget http://web.barrett.com/support/BarrettHand_Installer/bh_power.c
gcc -Wall bh_power.c -lparapin -o bh_power
sudo mv bh_power /usr/local/bin

5) You can now switch on/off power to the BH8-262 at any time with the commands:

sudo bh_power on
sudo bh_power off

Note: The 5 Volt supply is switched by pin 1. The 24 Volt supply is switched by pin 3. Also, the 24V supply can not be activated when the WAM is in E-STOP mode. You must clear the E-STOP condition (press Shift-Idle on the control pendant) in order to apply 24V.

Internal WAM PC/104 Technical Specifications

Motherboard: Aaeon PFM-540I
Processor: 500 MHz AMD LX-800 x86-compatible
Memory: 1 GB 200-pin DDR-333 (PC-2700) SODIMM
Linux distribution: Ubuntu 12.04
Linux kernel: 3.2.21
Realtime: Xenomai 2.6.1
Ethernet: 10/100 Base-T
Wireless: Wifi 802.11 b/g
CANbus: Peak PCAN-PC/104, 2 ports