Boundary Management Programmer Notes

Group Name: g_armBM

Development Path: vc_proj/RTSX/cs/ECI/g_bm/

Group Id: 53<digit> | 54<digit>

<digit> ::= "0" | "1" | "2" | "3" | "4" | "5" |
"6" | "7" | "8" | "9"
This indicates the exact form

Contents

FormInformation
ARM Cartesian Position Panel = bmarmCP
End Effector/Task Panel = bmGrip
BM Point Information Panel (1 of 2) = bmPT1

 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.

Form Infomation


ARM Cartesian Position Panel = bmarmCP

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

 


ARM End Effector/Task Panel = bmGrip

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


BM Point Information Panel (1 of 2) =

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