Difference between revisions of "Weiss:Allegro Hand"
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<center>[[Image:WeissLogo.png|180px]]</center> | <center>[[Image:WeissLogo.png|180px]]</center> | ||
− | <center>'''Serial Number:''' | + | <br> |
+ | <center>'''Serial Number:''' SAH020CL021 (Right)</center> | ||
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− | + | {{Software Downloads}} | |
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==Allegro Hand Application Studio (AHAS)== | ==Allegro Hand Application Studio (AHAS)== | ||
− | + | {{AHAS Download|Allegro Hand Setup CL021 Weiss.zip}} | |
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− | == | + | ==Offsets and Directions== |
− | + | {{Offsets and Directions|SAH020CL021}} | |
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+ | {{DML Installation Instructions}} | ||
==NI USB-CAN== | ==NI USB-CAN== | ||
[[File:NI-CAN_DRIVER_v274.zip]]<br> | [[File:NI-CAN_DRIVER_v274.zip]]<br> |
Latest revision as of 16:16, 8 January 2014
Contents |
[edit] Getting Started
- Allegro Application Studio (Installation)
- Allegro Application Studio (User Manual)
- Programming Guides
- Mounting Information
- CAN Protocol
More information is accessible using the navigation bar at the top of the page.
[edit] RoboticsLab Project
See the Allegro Hand RoboticsLab Project page for source code and documentation.
[edit] Visual Studio Project
Note: This software does not require RoboticsLab.
See the Allegro Hand MSVS Project page for source code and documentation.
[edit] Allegro Hand Application Studio (AHAS)
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:{{{2}}}]] (for AH v3.0)
[edit] 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)
[edit] 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
[edit] NI USB-CAN
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