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Final Setup
Once all components are connected, your system should look as shown in Figure 8. Although the WAM is
intrinsically safer than other robotic systems, you may wish to integrate standard safety measures such as mats,
gates, light curtains, etc. into the lab space surrounding the WAM.
Blue DC Power cord from
WAM to power source (or
AC converter, as shown)
Purple Network cable
from computer to WAM
Black line cords from
AC converter and
from PC to power
Two pendants
to WAM
Figure 8: Typical system setup
System Startup
You are now ready to start controlling the motors in the robot. Before C code is written, the functionality of the
WAM should be verified. Refer to the QuickStart sheet for instructions on how to Use the btdiag application
located in /root/btclient/src/btdiag/ to confirm the WAM is properly set up and to demonstrate some of the basic
functionality of the software library.
© 2005 Barrett Technology®, Inc.
WAM™Arm – User’s Guide
Document: D1001, Version: AA.00
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