Force Dimension Sigma.7 haptic device Manual de usuario

USER MANUAL

sigma.7 haptic device

version 1.2

06.2013

Force Dimension

Route de Saint-Cergue 295

CH – 1260 Nyon

Switzerland

www.forcedimension.com

summary

The purpose of this document is

>to describe the setup of the sigma.7 haptic device

>to describe the installation of the drivers and haptic software API

>to describe the operation of the sigma.7 haptic device

glossary

FD-SDK refers to the Software Development Kit (SDK) for all Force Dimension products.

sigma.x refers to the base haptic device shared by sigma.7 haptic devices. Unless speci-

fied, all instructions in this manual apply to all sigma device types.

table of contents

1.device description 6

2.important safety instructions 7

3.setting up the sigma.7 8

3.1device installation 8

3.2installing the power supply 12

4.configuring the sigma.7 under Windows 13

4.1installing the software 13

4.2installation description 13

4.3installing the drivers 13

5.configuring the sigma.7 under Linux 14

5.1installing the software 14

5.2installation description 14

5.3installing the drivers 14

6.configuring the sigma.7 under Mac OS X 15

6.1installing the software 15

6.2installation description 15

6.3installing the drivers 15

7.using the sigma.7 16

7.1device geometry 16

7.2operating the sigma.7 17

7.3running the Haptic Desk program 18

7.4running the demonstrations programs 19

8.technical information 23

1. device description

4 9

6 5

7 3 2

figure 1 – sigma.7 haptic device overview

1. device stand rear leg 7. end-effector (grasping handle)

2. device stand front legs 8. pole mounting interface

3. device stand pole 9. power switch

4. device main body 10. power connector

5. arms of translational base 11. USB connector

6. rotational wrist 12. user I/O connector

2. important safety instructions

IMPORTANT

WHEN USING THIS UNIT, BASIC SAFETY PRECAUTIONS

SHOULD ALWAYS BE FOLLOWED TO REDUCE THE RISK

OF FIRE, ELECTRICAL SHOCK, OR PERSONAL INJURY.

1. read and understand all instructions

2. follow all warnings and instructions marked on this unit

3. do not use or place this system near water

4. place the unit securely on a stable surface

5. make sure that the workspace of the sigma.7 is free of objects

6. do not overload wall outlets and extension cords

this can result in a risk of fire or electrical shock

7. switch off the sigma.7 when it is not in use

8. to reduce the risk of electrical shock, do not disassemble the sigma.7

3. setting up the sigma.7

This section describes the steps to follow to setup your sigma.7 device before use.

IMPORTANT

PLEASE KEEP THE ORIGINAL PACKAGING

ONLY USE THE ORIGINAL PACKAGING FOR STORING OR SHIPPING

3.1 device installation

The sigma.7 haptic device is shipped in 3 boxes. Please start by opening the 2 smaller boxes

which contain the device stand. The operations described below are best performed by a team of

2 people.

9 screws and a corresponding orange hex-driver tool are provided in the packaging.

Each one of the 3 legs is mounted on the pole by securely fastening 3 screws, as shown in figure

2. Make sure that the legs are laid out as shown in figure 3, so that the rubber feet of the lower 2

legs on this figure are located near the lower leg borders. The rear leg of the stand is recognized

with the rubber foot being located at its centered position.

figure 2 – mounting of the device stand legs onto the pole

figure 3 – mounted stand legs showing correct layout of the 3 rubber feet (yellow arrows)

rear leg

Once the device stand mounted, you may open the larger hard plastic container housing the

sigma.7 haptic device base.

First release the cables from the front packaging foam block before removing the system from

the box, as shown in figure 4.

figure 4 – box containing sigma.7 device, after removal of front foam part

Remove the pole attachment interface and power supply before lifting out device from its lower

foam block as illustrated in figure 5. While a first person may hold the device, a second person

may remove the lower foam block and place it on a table top or any other stable flat surface. The

device can then be installed back on this lower foam block, in its initial position, as shown in

figure 6.

pole interface

figure 5 – the device is lifted out of the plastic container

figure 6 – the device is placed back on its lower foam block

Insert the pole attachment interface at the back of device body shroud and securely fasten the

screw by using the provided red hex-driver tool, as illustrated in figure 7. Please make sure that

the pole attachment interface is correctly oriented as shown in figure 8. By using the same hex-

driver you may now loosen the clamping screw.

figure 7 – mounting of the pole attachment interface

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