Changes between Version 7 and Version 8 of WAM/InternalPC104Setup


Ignore:
Timestamp:
Dec 6, 2016, 12:42:35 PM (8 years ago)
Author:
cv
Comment:

re-organized and added info about static IPs and tool power switching, updated PC/104 specs

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  • WAM/InternalPC104Setup

    v7 v8  
    11= WAM Internal PC/104 Configuration =
    22
    3 == Connection Options ==
    4 
    5 === Wireless Ethernet (default) ===
     3== Wireless Ethernet Connection (default) ==
    64
    75When 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.
    86
    9 === Wired Ethernet ===
     7== Wired Ethernet ==
    108
    11 The process to enable support for wired ethernet depends on your WAM's safety board type. 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. For revision '''AD''' Safety Boards, you will need to make a few changes on the safety board inside the back cover of the WAM:
     9=== Type AE Safety Boards ===
     10
     11For revision '''AE''' Safety Boards, just unplug the D-Link wireless AP from the WAM's Ethernet port and connect the WAM to your LAN.
     12
     13=== Type AD Safety Boards ===
     14
     15For revision '''AD''' Safety Boards, you will need to make a few changes on the safety board inside the back cover of the WAM:
    1216
    1317{{{
    … …  
    5155Follow the Quick Start guide to run the WAM demonstration program.
    5256
    53 == Changing WAM configurations (4-DOF / 7-DOF / tool) ==
     57=== Setting a Static IP Address ===
    5458
    55 The WAM applications each use a single configuration file (btclient/wam.conf) specific to how your WAM is set up. This file is typically a symbolic link (shortcut) to one of several common WAM configuration files in btclient/config/. To update the wam.conf to point to a different configuration file, from the btclient directory type (for example):
     59To 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:
    5660{{{
    57 ln -sf config/WAM4.conf wam.conf
     61ifconfig
    5862}}}
    59 This will point the wam.conf link to the WAM4.conf file, which describes a 4 Degree-Of-Freedom WAM.
     63The 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:
     64{{{
     65sudo vi /etc/network/interfaces
     66}}}
     67This 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:
     68{{{
     69# To use dhcp:
     70#
     71# auto eth0
     72# iface eth0 inet dhcp
     73}}}
     74After that, you have to un-comment the static IP section, and fill in appropriate values for your setup, so it looks similar to this:
     75{{{
     76# An example static IP setup:
     77#
     78auto eth0
     79iface eth0 inet static
     80        address 192.168.0.42
     81        network 192.168.0.0
     82        netmask 255.255.255.0
     83        broadcast 192.168.0.255
     84        gateway 192.168.0.1
     85}}}
     86Once you are done editing the file, hit the escape key to get out of insertion mode, then type:
     87{{{
     88:wq
     89}}}
     90and hit enter to write your changes and quit the editor.  To double-check that your settings were saved correctly, you can run:
     91{{{
     92less /etc/network/interfaces
     93}}}
     94Hit 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.
     95
    6096
    6197== Using the WAM’s auxiliary tool power ==
    6298
    63 The WAM offers 5V and 24V power for 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 WAM PC. To enable these supplies while logged in to the WAM PC, type:
     99Some 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:
     100
     1011) Edit the PC/104 boot procedure to start the parallel port modules:
    64102{{{
    65 parashell 0x378 5
     103sudo vi /etc/modules
     104# Add the following entries
     105parport_pc
     106lp
     107ppdev
     108parport
     109# Save and Exit
    66110}}}
    67 The parallel port is located at address 0x378. The 5 Volt supply is switched by pin 1. The 24 Volt supply is switched by pin 3. The "5" is a decimal representation of the binary 00000101 (pins 1 and 3 turned on).
     1112) Restart the system.
     1123) Install parapin – A library for parallel port switching:
     113{{{
     114wget http://sourceforge.net/projects/parapin/files/parapin/1.5.1/parapin-1.5.1-beta1.tgz
     115tar -xf parapin-1.5.1-beta1.tgz
     116cd parapin-1.5.1-beta1
     117./setup-2.6.sh
     118make
     119sudo make install
     120cd ..
     121rm -rf parapin*
     122}}}
     1234) Run the following to install the switching program:
     124{{{
     125cd ~/
     126wget http://web.barrett.com/support/BarrettHand_Installer/bh_power.c
     127gcc -Wall bh_power.c -lparapin -o bh_power
     128sudo mv bh_power /usr/local/bin
     129}}}
     1305) You can now switch on/off power to the BH8-262 at any time with the commands:
     131{{{
     132sudo bh_power on
     133sudo bh_power off
     134}}}
    68135
    69 Note that 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.
     136Note: 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.
    70137
    71138== WAM PC Technical Specifications - internal version ==
    … …  
    73140Motherboard: Aaeon PFM-540I
    74141Processor: 500 MHz AMD LX-800 x86-compatible
    75 Memory: 256 MB 200-pin DDR-333 SODIMM
    76 Linux distribution: Ubuntu 9.10
    77 Linux kernel: 2.6.31.4
    78 Realtime: Xenomai 2.5
     142Memory: 1 GB 200-pin DDR-333 (PC-2700) SODIMM
     143Linux distribution: Ubuntu 12.04
     144Linux kernel: 3.2.21
     145Realtime: Xenomai 2.6.1
    79146Ethernet: 10/100 Base-T
    80147Wireless: Wifi 802.11 b/g