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<center>[[Image:WeissLogo.png|180px]]</center>
 
<center>[[Image:WeissLogo.png|180px]]</center>
 
<br>
 
<br>
<center>'''Serial Number:''' SAH020CR018 (Right)</center>
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<center>'''Serial Number:''' SAH020CL021 (Right)</center>
 
<br>
 
<br>
  
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===DMLs===
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{{DML Installation Instructions}}
After installing, you must copy your hand-specific DML (device description) files to the proper directory of your AHAS installation. These files include motor directions and encoder offsets.
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+
In the installation disk's root directory, locate the folder titled 'devices_SAH020*****'. Copy every file in this folder and replace the corresponding files in the AHAS devices directory.
+
 
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DML files can be found here:
+
C:\Program Files\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices
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<br><br>
+
  
 
==Offsets and Directions==
 
==Offsets and Directions==
{{Offsets and Directions|SAH020CR018 }}
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{{Offsets and Directions|SAH020CL021}}
  
  

Revision as of 16:03, 8 January 2014


WeissLogo.png


Serial Number: SAH020CL021 (Right)


Contents

Getting Started

More information is accessible using the navigation bar at the top of the page.



RoboticsLab Project

See the Allegro Hand RoboticsLab Project page for source code and documentation.


Visual Studio Project

Note: This software does not require RoboticsLab.

See the Allegro Hand MSVS Project page for source code and documentation.


Allegro Hand Application Studio (AHAS)

Allegro Hand Application Studio!

Below you can download your copy of Allegro Application Studio for your Allegro Hand.
Please refer to Allegro Application Studio (Installation) for installation instructions.

File:Allegro Hand Setup CL021 Weiss.zip

File:Make sure to copy the DMLs (included) for your hand to the devices directory of your new AHAS installation. Instructions can be found in the included README file and also below. (for AH v3.0)


DMLs

After installing, you must copy your hand-specific DML (device description) files to the proper directory of your AHAS installation. These files include motor directions and encoder offsets.

In the installation disk's root directory, locate the folder titled 'devices_SAH020*****'. Copy every file in this folder and replace the corresponding files in the AHAS devices directory.

DML files can be found here:

C:\Program Files\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices



Offsets and Directions

Note: These are the offsets and directions for your Allegro Hand

Last updated:
--Alex Alspach (talk) 16:13, 8 January 2014 (KST)

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 -227 + +
0 1 -67487 - +
0 2 1578 + +
0 3 1301 + +
1 0 948 + +
1 1 -65818 - -
1 2 1366 + -
1 3 -265 + +
2 0 -820 + -
2 1 -63396 - +
2 2 -244 + +
2 3 166 + +
3 0 469 + +
3 1 276 + +
3 2 -65167 - +
3 3 -67332 - +


Template:SAH020CL021 Offsets and Directions (ROS)


NI USB-CAN

File:NI-CAN DRIVER v274.zip





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