WAM

Downloads

• ​ WAM User Manual
• ​ WAM Quick Start Guide
• ​ WAM Tech Specs

Documents

• Getting Started
  • Thank you
  • System component list
  • Hardware setup
  • Software setup
    • Internal PC/104 setup
    • External PC setup ?
    • Switching between internal and external control
  • Primary demo walkthrough
  • Warranty and repair policies
  • Support resources, access code?
• User Manual
  • Detailed system operation
  • Safety features & precautions
  • Performance analyses
    • Accuracy & Repeatability
    • Sensor response curves, hysteresis?
  • Low-level message format
    • CANbus Specifications
    • WAM Properties List
  • Kinematics, joint ranges, conversion factors
  • Specifications: motors, materials, power
  • Mounting plate dimensional drawing?
  • Wiring diagram?
  • Mass Properties
    • Statics? (mass, center of mass)
    • Dynamics? (inertial matrices)
    • Rotor inertias?
  • Maintenance
    • Troubleshooting
    • Calibration (position, gravity, friction, dynamics, sensors)
    • Tensioning
    • ​ Cable replacement
    • Puck replacement
    • Firmware update
      • Detailed Puck Instructions
      • Detailed Safety Board Instructions
    • Motor offsets
    • Building a PC?
• Programmer's manual
  • Library overview (+ block diagram)
  • Key concepts
  • Example program walkthroughs
  • Doxygen API documentation
  • IDE installation and configuration

Other

Access the ​file area by entering your support access code ​here. From there, you will get access to:

• Video Library
  • Getting started
  • Cable replacement
  • Puck replacement
  • Calibration
• Software
  • Precompiled binaries
  • Installers, installation instructions
  • Changelog (RSS)