Geomagic Geomagic Phantom Premium 1.56DOF Guía de aplicación
Premium
1.56DOF/1.5HF6DOF
Device Guide
Copyright Notice
©1993-2012. Geomagic, Inc. All rights reserved. Produced in the USA.
Except as permitted by license, no part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form or by any means electronic, mechanical, recording, or otherwise, without prior written consent
of Geomagic.
Trademarks
Geomagic, GHOST, OpenHaptics, Phantom, Phantom Premium, Sensable, and Sensable Technologies, Inc. are
trademarks or registered trademarks of Geomagic, Inc. Other brand and product names are trademarks of their
respective holders.
For the most up-to-date trademark information, visit www.sensable.com.
Warranties and Disclaimers
Geomagic does not warrant that this publication is error free. This publication could include technical or typographical
errors or other inaccuracies. Geomagic may make changes to the product described in this publication or to this
publication at any time, without notice.
Hardware usage guidelines are provided to assist the user in protecting the effectiveness and life of the device. They
are not intended as recommendations for the prevention of repetitive stress injury, carpal tunnel syndrome or any other
conditions, injuries or disorders; users should consult their own physicians. By using the Phantom device, the user
acknowledges and agrees that Geomagic shall have no liability for any disorder, condition or injury arising from any
use of the device.
Warning Do NOT open the Phantom device. Attempting to open or repair the device by anyone other than a
certified authorized service center voids the manufacturer warranty and hardware maintenance contract.
Questions or Comments
If you have any questions for our technical support staff, please contact us at [email protected]. You
can also phone 1-888-736-7225 (U.S.A. only) or 1-781-939-7444 (International).
If you have any questions or comments about the documentation, please contact us at
P/N - 02321 R7: 7/24/12
Geomagic, Inc
430 Davis Drive, Suite 300
Morrisville, NC 27560
www.geomagic.com
www.sensable.com
Premium 1.56DOF/1.5HF6DOF Device Guide
Contents
Preface.............................................................................................. i
Chapter 1 Getting Started ................................................................................ 1-1
Contents of the Shipping Box ........................................................................................ 1-1
The Phantom Premium Haptic Device ........................................................................... 1-2
System Requirements ..................................................................................................... 1-2
Proper Handling and Positioning of the Phantom Premium Device .............................. 1-2
Chapter 2 Installing the Phantom Premium Device ...................................... 2-1
Installing the Phantom Device Drivers .......................................................................... 2-1
Connecting the Phantom Premium Device .................................................................... 2-1
Run Phantom Test to Verify Setup ................................................................................ 2-3
Chapter 3 Using the Phantom Premium Device ............................................ 3-1
Working in 3D Space ..................................................................................................... 3-1
Use Caution when Using the Phantom Premium Device ............................................... 3-1
Physical Limits of the Device ........................................................................................ 3-2
Using the Motors ............................................................................................................ 3-2
Appendix Troubleshooting ............................................................................. A-1
Appendix Customer Support .......................................................................... B-1
Appendix Regulatory Notices ......................................................................... C-1
Appendix Maximizing Positioning Accuracy ................................................. D-1
Appendix Configuring Multiple Devices ........................................................ E-1
Appendix Installing/Removing the Encoder Gimbal ..................................... F-1
Appendix Power Specifications ..................................................................... G-1
Appendix Working with Pinch End Effectors ................................................. H-1
Appendix Device Specifications ...................................................................... I-1
Premium 1.56DOF/1.5HF6DOF Device Guide
Premium 1.56DOF/1.5HF6DOF Device Guide i
Preface
About this Guide
The Phantom Premium® Device Guide describes the process of installing the required
device drivers for your new Phantom Premium haptic device and connecting the hardware
device to your computer. You will also find information on how to use the device and
other information about the device.
For the most current device information please visit our website at www.sensable.com.
We've worked extensively to ensure that the Phantom Premium device and device drivers
install and work smoothly. If you experience any problems in the installation or use of
your device, please contact Customer Support (see inside cover for contact information).
Please note, if you are installing your device on a supported non-Microsoft® Windows
OS, you will find additional information in a separate document that shipped with your
software product.
Typographical Conventions
This guide uses the following typographical conventions:
Convention Description Example
Italics First use of a new term;
reference to another
document or file.
A Voxel is...; see the User
Manual.
Bold Keywords, actual user input,
or examples.
Click Ok.
Greater Than (>) Indicates a menu pick, as in
“select Options from the
Tools menu”.
Tools>Options
ii Premium 1.56DOF/1.5HF6DOF Device Guide
PREFACE
Premium 1.56DOF/1.5HF6DOF Device Guide 1-1
1
Chapter 1Getting Started
This guide covers the currently shipping Phantom Premium haptic device. The
information contained in this manual was current at the time of publication. Visit
www.sensable.com for the latest information.
This chapter describes the following:
• The contents of the shipping box
• The Phantom Premium haptice device
• System Requirements
• The proper handling of the Phantom Premium haptic device
Contents of the Shipping Box
If you are purchasing a Phantom device for the first time, in your shipping box you should
find the following:
•The Phantom Premium haptice device: The Phantom device uses high-fidelity
force feedback to make it possible to touch and manipulate virtual objects.
•The Phantom Premium Device Guide: Describes the process of connecting the
haptic device as well as how to work with the device including proper handling,
troubleshooting, and device specifications.
•The Phantom Device Driver Installation Guide: Describes the process of installing
the device drivers.
• Parallel Port Cable: This cable is used to attach the computer’s parallel port to the
Phantom Premium or, one unit to another. The cable is an IEEE 1284 EPP cable with
a ferrite bead that provides an impedance at 100mhz of 199 ohms or greater.
• Universal Power Supply: The power supply can be used on any standard circuit,
using the supplied power cord.
•Power Cord: The power cord connects the Universal Power Supply to the wall outlet.
• (Optional) Accessory Bag: Contains thimble gimbal and stylus. May contain the
encoder gimbal if ordered. The encoder gimbal must be installed before connecting
the device to your PC. See "Appendix F: Installing/Removing the Encoder Gimbal"
for information. The accessory bag may also contain the Pinch end effector(s)
(thumb-pad and/or scissors) if they were ordered (6 DOF only). Note that these
attachments must be installed before connecting to the PC. For more information, see
"Appendix G: Working with Pinch End Effectors."
1-2 Premium 1.56DOF/1.5HF6DOF Device Guide
1 GETTING STARTED
The Phantom Premium Haptic Device
If any items are missing, please call Support at 1-888-736-7225.
The Phantom Premium Haptic Device
The Phantom Premium device enhances productivity and efficiency by enabling the most
intuitive human/computer interaction possible, the ability to solve problems by touch.
The Phantom Premium 1.5 6DOF and 1.5HF 6DOF devices sense motion in 6 degrees of
freedom.
The Phantom Premium system’s high fidelity force feedback senses motion providing the
best, most realistic 3D Touch sensation for any application. You can feel the point of the
stylus in all axes, and track its orientation. The Phantom Premium’s design, compact
footprint, and simple parallel port interface ensure quick installation and ease of use.
Features
• FCC and CE Certified
• Six degree-of-freedom positional sensing
• Comfortable stylus with textured paint for long term use and secure grip
• Removable stylus for end-user customization
• Integrated momentary switch on the stylus for ease of use and end-user customization
• Constructed of metal components and injection-molded plastics
System Requirements
The Phantom Premium haptic device requires certain hardware and software components
to be able to function properly. This sections describes the requirements for operating the
Phantom Premium haptic device.
Note Visit www.sensable.com to get the latest and most complete system
requirements information.
• An Intel® processor based personal computer (A minimum of Pentium® II class
processor is recommended) or select personal computer.
• IEEE 1284 EPP compliant parallel port interface; a Phantom Communication
Converter (PCC - sold separately) and FireWire Card (requires IEEE-1394a-2000
compliant FireWire Port).
• The most current version of the Phantom Device Driver (PDD). See the Phantom
Device Driver Installation Guide for specific PDD requirements.
Proper Handling and Positioning of the Phantom Premium Device
Warning Gripping and lifting the Phantom Premium device improperly may
damage it. To reduce the risk of damage, please follow the instructions below.
Premium 1.56DOF/1.5HF6DOF Device Guide 1-3
1 GETTING STARTED
Proper Handling and Positioning of the Phantom Premium Device
Handling the Phantom
Premium Device
Calibrating the device: The Phantom Premium device may need to be recalibrated from
time to time, particularly if it has lost power. You can use the Phantom Test application
(Start>All Programs>Sensable) to recalibrate the device.
Lifting the device: The Phantom Premium is a sensitive piece of electronic equipment.
Lift by placing your hands under the bottom of the base, and support the base when
moving it. Lifting by any of the moving parts may affect the unit's performance and risks
damaging the device.
Stylus with Switch: The stylus is the “handle” or “pen” you use to interact with virtual
objects. Your forefinger or thumb should rest above the raised switch when using the
device. Like a mouse button, the switch is used differently in each application. After the
device is calibrated, the stylus may be left resting on the desk.
Protecting the device from damage It is best to place the unit firmly on the tabletop and
away from edges to reduce the risk of damage to the device from a direct, unintentional
elbow hit. Remember Do NOT attempt to lift the unit or relocate it on the desk by pulling
on the stylus. This may result in severe damage to the device.
Positioning the
Phantom Premium
Device
The correct placement of the device will vary from one user to another. You may want to
experiment to find a placement that feels right for you.
• The device should be positioned so that you are comfortable when working with it.
• You should not feel any strain on your wrist or forearm when working with the
device.
• If you are left-handed, you may find it easier to work with the mouse placed to the left
of the keyboard.
• Remember to take breaks often to stretch your hands, wrists, and elbows.
Caring for the
Phantom Premium
Device.
• DO start the device at the neutral position without fail.
• DO grip the handle firmly in an application that applies torque.
• DO use small hand motions near the neutral position.
• DON'T drop the device.
• DON'T apply sharp impact forces to any part of the device.
• DON'T ram any movable member into a hard stop with great force.
• DON'T let go of the device in the middle of an application.
• DON'T twist the handle past its physical limitations.
• Try to minimize unnecessary vibration to the device.
Turn off the switches in the back to debug without forces and torque.
1-4 Premium 1.56DOF/1.5HF6DOF Device Guide
1 GETTING STARTED
Proper Handling and Positioning of the Phantom Premium Device
Este manual sirve para los siguientes modelos
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