Allegro Hand Users Manual

• Copyright & Trademark Notice
• Quick Start Guide
  • In The Box
  • Power Supply
  • Read these Sections First
  • Wiki for Users
  • Allegro Hand Hard Case
• Allegro Hand Overview
  • /
  • Features
• Technical Specifications
• System Requirements
• Products
• Installing Allegro Hand Application Studio (AHAS)
  • AHAS Installation
  • VC++ Redistributable
  • USB License Dongle Driver
  • Finishing Installation
  • AHAS License Registration
  • CAN Driver Installation
    • NI USB-8473s CAN
    • Softing CAN-AC2-PCI
    • Kvaser PCIcan 4xHS
    • ESD CAN-PCI/266
    • PEAK PCAN-USB (Drivers available for Windows and Linux)
• Using Allegro Hand Application Studio (AHAS)
  • Running AHAS
  • Which Hand?
    • Virtual
    • Actual
  • Virtual Hand Simulation
    • Home
    • Ready
    • Grasp 3
    • Grasp 4
    • Pinching (I)
    • Pinching (M)
    • Envelop
    • Test Encoders (actual hand only)
    • Test Motors (actual hand only)
    • Sliders
  • Actual Hand
    • Wiring
    • Power
  • AHAS
  • Quitting
• Joint Dimensions
• Joint Directions
  • Right Hand
  • Left Hand
• Mounting the Allegro Hand
  • Mounting Block Removal
  • Mounting
  • Reassembly
  • Mount Block Dimensions
• CAN Protocol
  • Baud-Rate
  • Non-Periodic Communication
  • Periodic Communication
• CAN Frames
  • Standard CAN Packet
  • ID (Message Identifier)
  • Command Identifiers
  • Source and Destination Identifiers
• Case-study: Softing CAN
  • Opening the CAN Communication Channel
  • CAN Initialization
  • Starting Periodic CAN Communication
  • Stopping Periodic CAN Communication
  • Transmitting Control Torques
  • Receiving Joint Angles
• Technical Support