Arm Diagnostic Panels

These panels are typically used for monitoring and commanding specialized functions. Although not needed during nominal operations, these panels provide detailed information about each arm.

Each panel is a template for the four manipulators. Therefore the Arm Diagnostic Commands Panel is representative of four panels: DXL Diagnostic Commands Panel, DXR Diagnostic Commands Panel, PXL Diagnostic Commands Panel, and VID Diagnostic Commands Panel.

Although the primary purpose of these panels is for monitoring detailed data, a few command can be issued and the operator must have command authority before using the command object (colored in gray). Therefore to use the Send button on the DXR Diagnostic Commands panel the operator must have command authority of the DXR system.

Contents

Arm Diagnostic Commands Panel

Arm Force/Torque Sensor Panel

Arm Gains Panel

Arm Temperature Panel

Arm Torque Panel

Arm Encoder Control


Arm Diagnostic Commands Panel

This panel allows the user to send a wide variety of commands directly to individual software modules on board Ranger.

Send Button

This button will send a message constructed from the Action, Where, Module menus and the parameters input boxes. A copy of these is then listed in the Sent Diagnostics Browser.

Reset Button

This clears the three menus and parameter boxes to allow the operator to start over in constructing a new command.

Action Menu Button

This menu lists all the different diagnostic commands which can be sent to Ranger, the operator chooses the desired command from that list.

More info will be specified later

Where Menu Button

This menu lists all the possible processors which can accept the given command specified in the Action menu. Therefore the action must be chosen in the Action menu before this menu can be accessed.

More info will be specified later

Module Menu Button

This menu lists the potential software modules that the command can be sent. It depends on the choices made in the Action and the Menu buttons and can not be accessed until the previous two menu have be used.

Parameters Input Boxes

For certain actions, parameters are also sent to the software module. The operator can type into the parameter boxes the desired values. These boxes are only accessed after all three menu items have be used. The number of required parameters depends on those previous choices.

Sent Diagnostics Browser

This scrollable browser displays all the previous diagnostics sent. They are ordered from the most recent commands first.


Arm Force/Torque Sensor Panel

This panel displays the forces and torques registered on the Force/Torque sensor on each of the dexterous arms.

Set Deadband Input Boxes

These text box allow the operator to change the deadband on the Force/Torque Sensor readings, this helps to ignore noise. Note the change in deadbands does not occur until the send button is press. Then the current values of all the deadbands are sent together.

Send Deadband Button

This button is used to send the new force/torque deadbands.

Reset Force/Torque Sensor

This button is used to reset the force/torque sensor

Force Torque Value Sliders

These slider display the current readings from the force/torque sensor.

Force Torque Raw Values Text Boxes

This displays the raw values directly read from the sensor, the values are unitless.


Arm Gains Panel

This panel is used to upload new gains and encoder offsets to Ranger. Each degree of freedom(DOF) can be changed independently. No change occurs until a send button is pressed.

Send Gains Button

This button will send all the gains (P, I, and D for all 10 degree of freedom) to Ranger.

Gains Input Boxes

Each DOF of a manipulator can have different gains set. No change is sent to Ranger until the Send button is activated.

Send Encoder Offsets Button

This button will sample all the inputs for the encoder offsets and send it to Ranger.

Init Encoder Offsets Button

This button sends a command to Ranger reinitializing the encoder offsets to their default values

Encoder Offsets Input Boxes

These input boxes allow the operator to set the three different encoder offsets for each DOF independently.

Units Menu Button 'Derived'

This button allows the operator to toggle the units of the encoder offsets.


Arm Temperature Panel

This panel displays the velocity and temperature of each DOF.

Units Menu Button 'Converted'

This button allows the operator to toggle the units displayed on the panel.

Velocity Text Boxes

The velocity of each DOF is displayed here.

Motor Temperature Text Boxes

These display the temperature on the motor itself.

M. Driver Temperature Text Boxes

These display the temperature of the motor driver electronics card.


Arm Torque Panel

This panel displays information related to the torque being driven on each DOF.

Units Menu Button 'Converted'

This button allows the operator to toggle the units displayed on the panel.

Cmd Text Boxes

These display the commanded torque for each DOF.

ReadBk Text Boxes

These display the torque read back on the electronics card for each DOF.

Volt Text Boxes

These display the voltage being passed through the motor for each DOF.

Curr Text Boxes

These display the current being passed through the motor for each DOF.


Arm Encoder Control

This panel drives the encoders on a manipulator

Cmd Encoder Input

These inputs allow the operator to command the encoder to a specific number of counts

Increment/Decrement Buttons

These buttons allow the operator to step a number of counts depending on which mouse button is used (left = +- 100, middle = +- 10, right = +- 1).

Inc Text Boxes

These display the current incremental encoder counts for each DOF.

Abs Text Boxes

These display the current absolute encoder counts for each DOF.

Comm Text Boxes

These display the current commutative encoder counts for each DOF.