Group Name: g_armBM
Development Path: vc_proj/RTSX/cs/ECI/g_bm/
Group Id: 53<digit> | 54<digit>
Substitution Note: This is a template for each of the arms.
Every time your read "arm" it would be displayed as "_arM_" in the template file and as "dxl", "dxr", "pxl", and "vid" in the arm specific files.
Every time your read "ARM" it would be displayed as "_ArM_" in the template file and as "DXL", "DXR", "PXL", and "VID" in the arm specific files.
This panel allows the operator to monitor and reset the main and monitor processors on board.
Form Name: bmdxlCP, bmdxrCP, bmpxlCP, bmvidCP
Label: "ARM Cartesian Position"
Form Id: 11, 12, 13, 14
one for each arm
To successfully complete a task the end effectors must interact with the task elements (turning bolts, grabbing and releasing ORUs, etc.). The boundary management system overseas these actions to ensure that the task element is not overtorqued or release inadvertently. This panel summarizes different states of the boundary management system as it limits the use of the end effectors interaction with the different task elements.
Form Name: bmGrip
Label: "BM End Effector/Task"
Form Id: 21
The boundary management system calculates the location of several points on Ranger TSX body and arms and checks them ensure against inadvertent contact or potential run always. Two panels are used to specifically look at this information. The panel shown below is the first panel, the second panel looks exactly the same except for the point labels are from Pt 10 through Pt 19, instead of Pt 0 through Pt 9.
Form Name: bmPT1, bmPT2
Label: "BM Point Information 0-9",
"BM Point Information 10-19"
Form Id: 22, 23