Force Dimension Sigma.7 haptic device Manual de usuario

USER MANUAL

sigma.7 haptic device

version 1.4

Force Dimension

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 software drivers and the Force Dimension SDK

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

glossary

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

table of contents

system overview 6

important safety instructions 7

setting up the sigma.7 haptic device 8

3.1 haptic device installation 8

3.2 installing the power supply 14

3.3 connecting the sigma.7 haptic device to your computer 14

3.4 software installation 14

configuring the sigma.7 under Windows 15

4.1 installing the software 15

4.2 installation description 15

4.3 installing the drivers 15

configuring the sigma.7 under Linux 16

5.1 installing the software 16

5.2 installation description 16

5.3 installing the drivers 16

configuring the sigma.7 under macOS 17

6.1 installing the software 17

6.2 installation description 17

6.3 installing the drivers 17

operating the sigma.7 18

7.1 coordinate system 18

7.2 operating modes 20

7.3 running the Haptic Desk program 21

7.4 running the demonstrations programs 22

technical information 25

system overview

figure 1 – overview of the sigma.7 haptic device

1. device stand rear leg

2. device stand front legs

3. device stand pole

4. haptic device controller

5. arms of translational base

6. rotational wrist

7. end-effector (force gripper handle)

8. pole interface

9. power switch

10. power connector

11. USB connector

12. extension I/O connector

important safety instructions

IMPORTANT

WHEN USING THIS HAPTIC DEVICE, 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 your haptic device

3. do not use or place your haptic device near water

4. place your haptic device securely on a stable surface

5. make sure that the workspace of your haptic device is free of objects

6. do not overload wall outlets and extension cords as this can result in a risk of fire or electri-

cal shock

7. switch off your haptic device when it is not in use

8. to reduce the risk of electrical shock, do not disassemble your haptic device

setting up the sigma.7 haptic device

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

IMPORTANT

PLEASE KEEP THE ORIGINAL PACKAGING

ONLY USE THE ORIGINAL PACKAGING DURING STORAGE OR SHIPMENT

3.1 haptic device installation

The sigma.7 haptic device is shipped in a plastic case and two cardboard boxes. Please start by

opening the plastic case which contains the sigma.7 haptic device controller and accessories, as

illustrated in figure 2.

figure 2 – transportation case which contains the sigma.7 device controller and accessories

Among the accessories included in the plastic case are nine screws and an orange hex key that

are required to assemble the device stand contained in the two cardboard boxes. The haptic de-

vice controller is mounted at the end of the setup procedure and is therefore best kept in its pro-

tective case until then.

The operations described in the following steps are best performed by a team of two people.

USB flash drive

power cable

9 screws

for device stand

removable

upper foam level

orange hex key

red hex key

USB cable

user manual

haptic device

controller

The sigma.7 support stand is composed of three legs and one mast which are illustrated in figures

3 and 4. These parts can be found in the two cardboard boxes that come with the unit.

figure 3 –stand pole (1x)

figure 4 – stand leg (3x)

The three legs are mounted to the pole by securely fastening the nine stand screws (three screws

per leg) using the orange hex key, as shown in figure 5. The screws and orange hex key can be

found in the plastic case that contains the haptic device controller.

figure 5 – mounting of the device stand legs onto the pole

orange hex key

stand legs

stand screws

stand pole

Once the device stand is mounted, the upper foam level with the accessories may be lifted out of

the box, thereby revealing the sigma.7 haptic device controller, as shown in figure 6.

figure 6 – transportation case containing the sigma.7 device after removal of the upper foam part

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

as illustrated in figure 7. While a first person may hold the device, a second person may remove

the lower foam block and place it on a tabletop or any other stable flat surface. The device can

then be installed back on its lower foam block, in its initial configuration, as shown in figure 8.

figure 7 – the device is lifted out of the plastic container

pole interface

power supply

haptic device

controller

removable

lower foam level

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