Waterloo Steel:Spec Hardware

1. Barrett WAM Specs:

1.1 7DOF WAM:

1.1.1 Motors (*1):

	1-4	5-6	7	BHand	Units
Design Voltage	48	48	48	19.8	V
Back EMF	0.457	0.236	0.067	0.0177	V/rad/sec
No Load Speed	100.218	192.309	569.022	1070	rad/s
Max Continuous Torque	1.490	0.356	0.091	0.0367	Nm
Torque Constant	0.457	0.236	0.067	0.0177	Nm/A
Inductance	4.068	3.918	2.035	1.14	mH
Resistance	3.473	6.213	5.205	4.95	Ohms
Rotor Inertia	9.293E-5	1.472E-5	1.349E-6	1.41E-7	kg*m2
Viscous Friction	7.549E-5	8.899E-6	1.259E-6	0.674E-3	Nm/rpm

1.1.2 Power (*1):

Status	Control	4-DOF	7-DOF
Powered on, no torques	External	18 W	27 W
Active at home position	External	30 W	40 W
Active at worst-case** position, 4kg payload	External	65 W	XXX
Active at worst-case** position, 3kg payload	External	XXX	80 W
Active at worst-case** position, 3kg payload	Internal	XXX	85 W
Active at worst-case** position with BH8-280, 2kg payload	Internal	XXX	120 W
Peak	External	600 W	800 W

1.1.3 Drive Inertias (*6)

Motor Drive Number	Total Drive Inertia at Rotor (kg-m2)	Drive Ratios	Total Reflected Inertia at Output (kg-m2)
M1	0.00011631	42.00	0.205190
M2	0.00011831	28.25	0.094428
M3	0.00011831	28.25	0.094428
M4	0.00010686	18.00	0.034628
M5	0.00001685	9.48	0.001584
M6	0.00001745	9.48	0.001641
M7	0.00000142	14.93	0.000318

1.2 Barrett Torque Sensor (*2):

Property	Value
Total Mass	136 g
Dimensions	Diameter
	Height
Sensing Range	Fx, Fy : ‡ 80 N
	Fz : ‡ 135 N
	Tx, Ty : ‡ 2.75 N-m
	Tz : ‡ 2.75 N-m
Sensing Resolution	Fx, Fy : 50 mN
	Fz : 80 mN
	Tx, Ty : 1.5 mN-m
	Tz : 1.5 mN-m
Single-Axis Overload	Fx, Fy : 3000 N
	Fz : 3600 N
	Tx, Ty : 60 N-m
	Tz : 100 N-m
Power	48 V 1.7 W
Characteristics	Output: 12 bits
	Noise: 2 bits (without filtering)
	Rate: 2.5 kHz max
	Hysteresis: <5%

1.3 Barrett Hand (*3):

Property	Value
Kinematics	Total fingers: 3
	Fingers which spread: 2
	Joints per finger: 2
	Motors per finger: 1
	Axes of palm spread motion: 2
	Motors for palm spread motion: 1
	Total hand axes: 8
	Total hand motors: 4
Range of Motion	Finger base joint: 140°
	Fingertip: 45°
	Finger spread: 180°
Speed	Finger fully open to fully closed:1.0 sec
	Full 180° finger spread: 0.5 sec
Sensing Resolution	12-bit absolute sensing at each motor with array of Hall sensors
Force	Weight Hand: 980 grams
	Payload 6.0 kg
	Finger Forces (at tip) Active: 15 N
	Passive: 20 N
Properties	- Rare-Earth brushless-DC servo motors
	- Worm drives integrated with proprietary
	cable drive and breakaway clutch
	DC Operation 20-80 VDC
	5/12/250 W idle/typ/max
	AC Operation single-phase, 85-260 VAC, 50/60 Hz
	10/20/300 W idle/typ/max
	Single Cable to Hand 5mx5mm flexible cable
	Dimensions: See Diagram (base is only 25mm tall)
Video:	https://www.youtube.com/watch?v=aDvykgDyEg8

*1. ref: motor power

*2. ref: TS sensor

*3. ref: BHand Spec

*4. Spec: WAM_UsersGuide_AE-00.pdf

*5. Review Paper Ref: 328784157_Light_Weight_Robot_Arms-An_overview#pf3

*6. WAM Inertial Spec

2. Power Table

2.1 Battery Status

2.1.1 LiFePo (40152S 15Ah) [Original Robotnik]

Ref of Discharging Chart
datasheet https://www.lifepo4-battery.com/Products/Cylindrical-battery-cell/Headway-40152S-15Ah.html
- Lifecycle: 2000Cycles.

Cell	Max Current	Const Voltage	Capacity	Temperature	Nominal Voltage	Discharge (fast cont/max pulse)	Cutoff	BMS Cutoff
1	2C（30A)	3.6~3.7 V	15 Ah	-20~60 C	3.2 V	45A /150A	2.0 V	-
16 series	2C（30A)	57.6 V	15 Ah	-20~60 C	51.2 V	45A /150A	32 V	?? 48V?

2.1.2 LiPo (18650) [Candidate]

Ref of Discharging Chart
Ref of Charging Stage Chart 18650 DigiKey
- The 18650 is popular cylindrical lithium cell, with a capacity of 2500 mAh. The datasheet recommends a 1250 mA constant current charge, then 4.2 V constant voltage charge, and charge termination when the current drops to 50 mA. The datasheet specifies a fast charge, which is 4000 mA constant current, then 4.2 V constant voltage, then cut off at 100 mA, which is a C/25 charge termination.

Cell	Const Current	Const Voltage	Capacity	Temperature	Nominal Voltage	Discharge Continuous (std/fast/max)	Cutoff	BMS Cutoff
1	1~1.25 A	4.2 V	2.5 Ah	050 C Charging -2075 C Discharge	3.6 V	0.5A / 10A / 20A	2.5V	-
8 parallel	8A	-	20Ah	-	3.6 V	4A / 80A / 160 A	-	-
14 series	-	58.8 V	-	-	50.4 V	-	35 V	-
52 V	8A	58.8 V	20Ah	050 C Charging -2075 C Discharge	50.4 V	4A / 80A / 160 A	35 V	42 V

📓 From the chart, the V_float = 54.4V would work during stage 3

📓 From the table, the V_const_max = 58.8V > 57.6V Const Voltage Charging

📓 From the table, the I_const_max = 8A > 6.25A Boost Const Current

2.1.3 Original Charger for Lithium Battery

Model: PB-360P-48
Boost Charging V Float Charging V Capacity Output Current Over Volt Protection Efficiency

57.6 V 54.4 V 20~65 Ah 6.25 A 59~64 V 87%

2.1.4 Comparison Table (online)

	Discharging Table	Charging Stages
48V	Ref of Discharging Chart	Model: PB-360P-48
52V	Ref of Discharging Chart	Ref of Charging Stage Chart 18650 DigiKey

2.1.5 Comparison Table (Actual Collection)

2.1.5.a) Discharge vs Charging with Summit:

	Discharge with Summit ON Only	Charge with Summit ON Only
48V
52V

2.1.5.b) Discharge with Summit and WAM:

	Discharge with Demo Programs	Discharge with Summit ON and WAM_node Op.
48V	- [5] Joystick interfere to avoid collision. - [2] [5] : demo 14 , moving fwd, wam pointing fwd - [0] [3] : demo 12 , spinning, wam swinging up and down - [1] : demo 13, going circles, wam swinging up and down
52V

2.2 WAM Voltage

The standard WAM system requires an input voltage of 18-90VDC
7-DOF ---> Q(no torque): 27W Typ(2kg payload): 45W Peak: 800W
Provided WAM Standalone Power Supply switches automatically to local voltage standards (100-120 & 200-240 VAC at 50-60Hz)
- Output: 10A of direct current at 48V.
The safety module is configured with respect to 48V

2.2.1 WAM Voltage Safty Module

wam_default_volt_safety

From safety manual [WAM_UserManual_AH-00.pdf] at pg. 29/80 (4.5.2 Safety Board):

a. SET SAFE 4 (this is necessary; do not skip this step)
b. SET SAFE 5
c. FIND VBUS
d. SET SAFE 0
e. SET VOLTL1 36
f. SET VOLTL2 30
g. SET VOLTH1 54
h. SET VOLTH2 57
i. SET GRPA 1
j. SET GRPB 2
k. SET GRPC 3
l. SAVE
m. RESET
o. GET VOLTL2 (should be 30, else SET and SAVE it again)
p. GET VOLTH1 (should be 54, else SET and SAVE it again)
q. GET VOLTH2 (should be 57, else SET and SAVE it again)
r. GET GRPA (should be 1, else SET and SAVE it again)
s. GET GRPB (should be 2, else SET and SAVE it again)
t. GET GRPC (should be 3, else SET and SAVE it again)

2.3 Other Components Voltage Ranges:

Item Category	Model	Voltage	Rated	Peak	Link
Solid State Relays	Crydom D1D60	1-72VDC	60A	180A	datasheet
Motor Driver	DZCANTE-040L80	10-80VDC	20A	40A	datasheet
Switch	Omron A16S-2N-2L				datasheet
Switch	Omron A16-2				datasheet
Power Relay	Finder 40.52.7.048.0000	5-115VDC	8A	15A	datasheet
DC/DC Converter	URB4805xD-10WR2A2S
DC/DC Converter	WAF 15048S12W	18-75VDC	12.5A	20A	datasheet
Universal Battery Eliminator Circuit	TR-UBEC7.5	8-42V	5A	7.5A	user manual
Motor	Elifebike QQ-M85F
Through Bore Encoder	15T-04-SF-1000-NC-HV-5V-G2-ST-IP50				datasheet
Sensor	Axis M5013	3V Lithium Ion Battery			user manual
Sensor	Orbbec Astra
Sensor	Velodyne LIDAR VLP-16	-15-15VDC			user manual
Sensor	PIXHAWK	2-12S Battery		90A	user manual
Connector	Binder 09-0412-80-04	Rated:125V Peak:1500V	3A	4A	datasheet
Connector	VS-08-BU-RJ45/BU Pheonix contact	150VDC	1.5A		datasheet
Bluetooth Dongle	CSBLUEKEY200
Switch	Netgear GS108GE
PC	Mitac PD10BI	8-19VDC via DC Jack			datasheet
	TP-Link AC-1750	12VDC	2.5A		product specifications
Hardware	WAM
Computer	MXE-211	3-36VDC			datasheet
Computer	Jetson Orin	7-20VDC			developer wiki

2.4 Power Consumption Table

Category	Item	Power Consumption (W)	Link
Hardware	WAM (4DOF, Idle)	18	User guide
Hardware	WAM (7DOF, Idle)	27	User guide
Hardware	WAM (4DOF, Max)	600	User guide
Hardware	WAM (7DOF, Max)	800	User guide
Hardware	Elifebike QQ-M85F	250*4 = 1000	Circuit diagram
Computer	Jetson Orin	60	datasheet
Router	TP-Link AC-1750	18	product specifications
Computer	MXE-211	40	product specifications
Sensor	Intel Realsense L515	3.3*2 = 6.6	datasheet
Sensor	Velodyne Lidar VLP-16	8	product specifications
Solid State Relays	Crydom D1D60	0.535	datasheet
Motor Driver	DZCANTE-040L80	1520	product specification
Power Relay	Finder 40.52.7.048.0000	0.3	datasheet
DC/DC Converter	WAF 15048S12W	2.52	datasheet
Universal Battery Eliminator Circuit	TR-UBEC7.5	0.84	user manual
Through Bore Encoder	15T-04-SF-1000-NC-HV-5V-G2-ST-IP50	0.5	datasheet
Sensor	Orbbec Astra	2.4	datasheet
Sensor	PIXHAWK
Switch	Netgear GS108GE	4.92	product details
Computer	Mitac PD10BI	60	product specification

2.5 DC-DC 48V Regulator For WAM

We need a DC-DC Regulator for WAM at 48V and 10A or more

(Current Fuse Max at 10A)
Rated load at 120 W with 2kg load and BHand
Max Peak at 800 W
Old: 50V * 10A = 500 W, and never had blown the fuse
WAM Software Protection @48V: 54V Warning, 57V Cut-off

Item	Type	Price	DCV_i	V_o	I_o_rate	Regulator Topology	Notes	Efficiency
Digikey - ISL81801EVAL2Z	Dev Board	$189.86	32~80	48V	5A	Buck-Boost @ 200kHz	UV/OV/OC/OT protection	>95% when >1A <60V
Mouser - VFK400W-DIN	Rail Mount Enclosed	$904.23	18~75	48V	8.3A	250kHz	UV/OV/OC/OT protection, isolated, heat sink	87%
Not-stock Mouser - VFK600-D48-S48-DIN	Rail Mount Enclosed	$838.02	36~75	48V	12.5A		UV/OV(x1.15-1.4)/OC/OT protection, isolated, heat sink	92%
19 in stock Digikey - VFK600-D48-S48	7.84" L x 4.99" W x 1.54" H (199.1mm x 126.8mm x 39.1mm)	$714.65	-	-	-	-	-	-
153 in stock Digikey - SD-500L-48	8.46" L x 4.53" W x 1.97" H (215.0mm x 115.0mm x 50.0mm)	239.57 $229.45 (Mouser)	19~72	adjustable 46~60V	10.5A	Isolated DC-DC	forced air cooling, OV 62~68V, Remote-ON/OFF with 4-10V wire signal	89%
DDR-480C-48 Mouser - 29 in stock vs Digikey	Isoltated DIN Rail 129mm x 85.5 mm x 125.2 mm	306.86 $291.90 (Digikey)	33.6 ~ 67.2 V	adjustable 48~56V	10A	Isolated DC-DC	All Protections, Isoltated, Remote ON-OFF, Current Sharing	92%
3 in stock RSD-500C-48 Digikey Mouser	9.33" L x 3.94" W x 1.61" H (237.0mm x 100.0mm x 41.0mm)	364.57 $340.56 (Mouser)	33.6~67.2	48V	9.6A		Isolated	93%
13 In Stock Digikey - DC2456A Dev Board	Dev. Board	$363.74 $348.39 (Mouser)	16V ~ 120V	48V	10A	Buck-Boost @ 200kHz	Dev. Board	98.7%

3. Sensors

3.1 L515 Sensor

Allan Variance Based on 3 Hour Idling Camera IMU

$ rosrun allan_variance_ros analysis.py --data data/allan_variance.csv
ACCELEROMETER:
X Velocity Random Walk:  0.00137 m/s/sqrt(s)  0.08200 m/s/sqrt(hr)
Y Velocity Random Walk:  0.00179 m/s/sqrt(s)  0.10751 m/s/sqrt(hr)
Z Velocity Random Walk:  0.00200 m/s/sqrt(s)  0.11988 m/s/sqrt(hr)
X Bias Instability:  0.00030 m/s^2  3869.16005 m/hr^2
Y Bias Instability:  0.00055 m/s^2  7163.72035 m/hr^2
Z Bias Instability:  0.00030 m/s^2  3869.13542 m/hr^2
X Accel Random Walk:  0.00004 m/s^2/sqrt(s)
Y Accel Random Walk:  0.00015 m/s^2/sqrt(s)
Z Accel Random Walk:  0.00009 m/s^2/sqrt(s)
GYROSCOPE:
X Angle Random Walk:  0.00863 deg/sqrt(s)  0.51793 deg/sqrt(hr)
Y Angle Random Walk:  0.00611 deg/sqrt(s)  0.36681 deg/sqrt(hr)
Z Angle Random Walk:  0.00460 deg/sqrt(s)  0.27610 deg/sqrt(hr)
X Bias Instability:  0.00161 deg/s  5.79476 deg/hr
Y Bias Instability:  0.00111 deg/s  3.99853 deg/hr
Z Bias Instability:  0.00037 deg/s  1.33671 deg/hr
X Rate Random Walk:  0.00041 deg/s/sqrt(s)
Y Rate Random Walk:  0.00027 deg/s/sqrt(s)
Z Rate Random Walk:  0.00007 deg/s/sqrt(s)
Writing Kalibr imu.yaml file.
Make sure to update rostopic and rate.

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Waterloo Steel:Spec Hardware

Table of Contents

1. Barrett WAM Specs:

1.1 7DOF WAM:

1.1.1 Motors (*1):

1.1.2 Power (*1):

1.1.3 Drive Inertias (*6)

1.2 Barrett Torque Sensor (*2):

1.3 Barrett Hand (*3):

2. Power Table

2.1 Battery Status

2.1.1 LiFePo (40152S 15Ah) [Original Robotnik]

2.1.2 LiPo (18650) [Candidate]

2.1.3 Original Charger for Lithium Battery

2.1.4 Comparison Table (online)

2.1.5 Comparison Table (Actual Collection)

2.1.5.a) Discharge vs Charging with Summit:

2.1.5.b) Discharge with Summit and WAM:

2.2 WAM Voltage

2.2.1 WAM Voltage Safty Module

2.3 Other Components Voltage Ranges:

2.4 Power Consumption Table

2.5 DC-DC 48V Regulator For WAM

3. Sensors

3.1 L515 Sensor

Table of Content

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