PHANTOM® DESKTOP™ - University of Twente
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1. UP DOWN IN OUT FIGURE 3 3 Moving with the arm 2 Using the above figure as a guide start with large but gentle movements Move the stylus left right up down and in out The segments of the PHANTOM Desktop device will move When you reach a limit you ll feel one of the device s mechanical stops Don t force the device past any of these stops 14 PHANTOM Desktop User s Guide 3 CONNECTING THE PHANTOM DESKTOP DEVICE Limits to the Range of Motion of the Device FIGURE 3 4 Moving from the wrist 3 Hold the arm attached to the stylus with one hand and gently rotate the stylus back forth up down and left right with your other hand Again when you encounter a limit the motion will be stopped Now you have a feel for the range of motion of the PHANTOM Desktop device and where its limits are Important When you re using the device never force it past its limits Be especially careful never to turn the stylus so that the connected end faces you Now that the PHANTOM Desktop device is properly positioned and you have a feel for its range of motion you may continue with the final steps of installation and calibrate your device PHANTOM Desktop User s Guide 15 3 CONNECTING THE PHANTOM DESKTOP DEVICE Limits to the Range of Motion of the Device 16 PHANTOM Desktop User s Guide 4 Device Calibration The PHANTOM Desktop device automatically maintains proper calibration when plugged in Since yo2. Workspace location FIGURE 3 2 Suggested Position of the PHANTOM Desktop Place the PHANTOM Desktop device to the inside of your mouse place the gelpad wrist wrest directly in front of the PHANTOM Desktop This should place the device in a comfortable position In certain applications the PHANTOM Desktop device can be used in place of the mouse Limits to the Range of Motion of the Device It is important to understand the physical limitations of the PHANTOM Desktop device so that you do not inadvertently damage the device by forcing it past its designed limits The device has six degrees of motion All the degrees of motion have their limits so when you reach one of these limits you ll feel a sudden stop That is the mechanical stop designed into the device Forcing the device past any of these stops risks damaging the device To become more familiar with the physical limits of the PHANTOM Desktop device follow these steps before using the device PHANTOM Desktop User s Guide 13 3 CONNECTING THE PHANTOM DESKTOP DEVICE Limits to the Range of Motion of the Device 1 Grasp the black rubber grip of the stylus as you would a pen with the free end of the stylus what would be the non writing end of a pen pointing toward you and the point of the stylus the end connected to the arm pointing toward the unit Using the following illustrations as a guide gently move the stylus in all directions to locate the mechanical stops
3. PHANTOM Desktop User s Guide 31 D REGULATORY NOTICES 32 PHANTOM Desktop User s Guide Appendix E Device Specifications Nominal Position Resolution gt 1100 dpi 0 023 mm Workspace 6 4 w x 4 8 h x 4 8 din 160 w x 120 h x 120 d mm Backdrive Friction lt 0 23 oz 0 06 N Maximum Exertable Force 1 8 Ibf 7 9 N Continuous Exertable Force 24 hrs 0 4 Ibf 1 75 N Stiffness X axis gt 10 8 lb in 1 86 N mm Y axis gt 13 6 Ib in 2 35N mm Z axis gt 8 6 lb in 1 48 N mm Inertia apparent mass at tip 0 101 Ibm 45 g Footprint 5 5 8 w x 7 1 4 ind 143 wx 184 d mm Weight 6 lb 5 oz Operating Temperature 50 to 95 F 10 to 35 C Storage Temperature 40 to 149 F 40 to 65 C Relative Humidity 20 to 80 noncondensing Force Feedback 3 degrees of freedom x y z Position Sensing x y z digital encoders stylus gimbal pitch roll yaw 3 lin earity potentiometers Input Voltage 100 250 VAC Input Frequency 47 63 Hz Input Current 2A 115 VACIA 230 VAC Warranty Three months Does not include power supply or cables Product specifications are subject to change without notice PHANTOM Desktop User s Guide 33 E DEVICE SPECIFICATIONS 34 PHANTOM Desktop User s Guide Appendix F Device Packaging Instructions If you need to transport or ship the device please follow these packaging guidelines to reduce the risk of damage Important Remember the PHANTOM Desktop device is a
4. PHANTOM Desktop device pick up the stylus as you would a pen but with the free end towards you Now move the yellow probe around in the virtual room Because your device is uncalibrated you will be able to pass PHANTOM Desktop User s Guide 17 4 DEVICE CALIBRATION through the walls of the room Move the yellow probe about in the room passing fully through the side walls ceiling and front and back of the room If you feel resistance don t force the device Excessive force will break the stops and damage the device At some point during this exploration the light on the PHANTOM Desktop light should stop flashing and stay a constant green The walls will now become fully touchable This indicates that it has acquired the appropriate information and automatically calibrated the device Feel free to fully explore the room using your sense of touch Touch the die and push it around Feel the edges and corners of the room When the PHANTOM Desktop arm is fully extended such as when touching the nearest comers of the room it may buzz a bit This is normal If the light never stops flashing or you never feel the walls of the room see Appendix B Troubleshooting Exit the Dice demo by clicking your mouse on the X in the upper right corner of the window The device is now fully calibrated and should not need re calibration unless it is unplugged If you do need to re calibrate the device repeat the above procedure 18 PHANTOM De
5. by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help Modifications not expressly approved by the manufacturer could void the user s authority to operate the equipment under FCC rules The following information is provided on the device covered in this document in compliance with FCC regulations Product Name PHANTOM Desktop Model Number 01352 Company Name SensAble Technologies PHANTOM Desktop User s Guide 29 D REGULATORY NOTICES NOTES Any changes or modifications to the hardware not expressly approved by SensAble Technologies could void the user s authority to operate this equipment Use of an IEEE 1284 parallel port cable with a ferrite bead is required to comply with the Class B limits of Part 15 of FCC rules This cable is provided with the hardware additional cables are available directly from SensAble Technologies Canadian Requirements Canadian Department of Communications Radio Interference Regulations This digital apparatus the PHANTOM Desktop haptic device does not exceed the Class B limits for radio noise emissions from digital apparatus as
6. device on the parallel port require the device to have a dedicated parallel port for its use If you are currently using your parallel port for a printer dongle or other peripheral you will need to install an additional parallel port card in your system You can choose whether to connect the PHANTOM Desktop device or the other peripherals to the additional card PHANTOM Desktop User s Guide 11 3 CONNECTING THE PHANTOM DESKTOP DEVICE Connecting the Device FIGURE 3 1 Detail of Connectors 2 Plug the female end of the cable to the male bottom connector A of PHANTOM Desktop 3 Hook up the Skynet Power Supply use only the supplied power supply with the PHANTOM Desktop device Plug the power cord into the power supply Plug the power cord into an available outlet for 110V the outlet must be rated for at least 2 Amps for 220V 1 Amp The green status light on the power supply indicates that it is working correctly Finally plug the power connector into the connector B on the back of PHANTOM Desktop device 4 Ensure that the PHANTOM Desktop Status Indicator Light is lit it will either be blinking yellow or solid orange if working properly If it is not check all of the connections If the problem persists contact SensAble Technologies 5 Position the PHANTOM Desktop device 12 PHANTOM Desktop User s Guide 3 CONNECTING THE PHANTOM DESKTOP DEVICE Limits to the Range of Motion of the Device Mouse pad area 7 x 7
7. sensitive piece of electronic equipment Lift by the metal covers 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 The PHANTOM Desktop device has a limited range of motion Forcing the device past these limits risks damaging the device Shipping Checklist Packing Materials 1 Small cardboard box internal box e 1 Large shipping box external box e 1 Set of white foam inserts for internal box e 1 Set of gray foam inserts for external box Thin clear plastic wrapping material e 1 Accessory Tray e 1 Roll of packing tape PHANTOM Desktop User s Guide 35 F DEVICE PACKAGING INSTRUCTIONS Packing the Device and Accessories First package up the PHANTOM Desktop device 1 Ifnecessary assemble small shipping box and place bottom half of the white foam insert into the box 2 Lay plastic wrapping into the foam insert 3 Hold the PHANTOM device by base and support the stylus as shown in image below 4 Orient the PHANTOM device with the foam cutout as shown below 5 Gently lower the PHANTOM device into the foam insert while maintaining alignment of the PHANTOM arm to the cutout FIGURE A 5 Place the device into the bottom insert over the plastic 36 PHANTOM Desktop User s Guide 10 11 12 13 14 F DEVICE PACKAGING INSTRUCTIONS Ensure that the PHANTOM device is fully seated by pressing firmly at point 1 show
8. that the connection between the power supply and the PHANTOM device is made correctly The light on the PHANTOM Desktop device is orange This is not a problem When the device is plugged in but not currently being used by an application it will be orange to let you know that it is receiving power The light on the PHANTOM Desktop device is flashing yellow This is not a problem This indicates that the power to the device and the parallel port have just been initially connected Once you successfully run an application with the device such as one of the provided demonstrations the light should no longer be this color When running a demonstration or application the light on the PHANTOM Desktop device flashes green This indicates that your PHANTOM Desktop may not be properly calibrated This can happen if you unplug it To re calibrate the device follow the steps outlined Chapter 4 Device Calibration If you are unable to calibrate the device using these steps please contact Customer Support as explained in Appendix A PHANTOM Desktop User s Guide 23 B TROUBLESHOOTING When I start a demo I get an error This can happen if the device is not plugged in properly or is not configured properly Execute the following steps checking at each point for proper operation 1 Verify power supply Check to make sure the PHANTOM Desktop device is plugged in properly The light on the device will be lit and possibly flashing if powe
9. the supplied IEEE 1284 rated cable Parallel Port to Second PHANTOM Desktop The female upper connector is daisy chained to a second PHANTOM Desktop when two units are used simultaneously When daisy chained this connector has to be attached to the male bottom connector on the second unit Power Plug Connector The power plug from the Universal Power Supply connects to this socket Use only the Skynet Power supply provided by SensAble Technologies for the operation of this equipment PHANTOM Desktop User s Guide 5 1 GETTING ACQUAINTED The PHANTOM Desktop Haptic Device 6 PHANTOM Desktop User s Guide 2 Installing the PHANTOM Device Drivers This chapter will show you step by step how to install the PHANTOM Device Driver System Requirements The following system requirements apply to the use of the PHANTOM Desktop and driver software The PHANTOM Desktop and Device Drivers run on Intel processor PCs and select AMD processor PCs please see our website Windows 2000 or Windows XP The Desktop will also run on Red Hat Linux for information contact Customer Support When PCs are used it is recommended that you use a 166 MHz Pentium II processor at a minimum The PHANTOM Device Drivers distribution requires approximately 30 MB of disk space The PHANTOM Device Drivers do not specify memory requirements however a minimum of 32 MB for PC platforms and 64 MB for SGI platforms is recommended for overall system
10. PHANTOM DESKTOP USER S GUIDE Ahe technologies Copyright Notice 1999 2005 SensAble Technologies Inc All rights reserved Printed 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 SensAble Technologies Trademarks FreeForm FreeForm Concept FreeForm Modeling FreeForm Modeling Plus FreeForm Mold PHANTOM PHANTOM Desktop PHANTOM Omni GHOST 3D Touch SensAble and SensAble Technologies are trademarks or registered trademarks of SensAble Technologies Inc Other brand and product names are trademarks of their respective holders Warranties and Disclaimers SensAble Technologies does not warrant that this publication is error free This publication could include technical or typographical errors or other inaccuracies SensAble may make changes to the product described in this publication or to this publication at any time without notice Questions or Comments If you have any questions for our Customer Support staff please contact us at support sensable com You can also phone 1 888 SENSABL U S A only or 1 781 937 8315 International If you have any questions or comments about the documentation please contact us at documentation sensable com Corporate Headquarters SensAble Technologies Inc 15 Co
11. cuit an AC input of 47 63 Hz and 100 250 VAC using the supplied power cord Power Cord if supplied The power cord connects the Universal Power Supply to the wall outlet If no cord was shipped with your unit use a cable with a current carrying capacity of at least 5 Amps that satisfies national and local electrical requirements A gelpad wrist rest NOTE Your box may also include other SensAble Technologies software that was purchased with your order and other documentation If any items are missing please call SensAble Technologies at 1 888 SENSABL US only or 1 781 937 8315 US and outside the US PHANTOM Desktop User s Guide 1 1 GETTING ACQUAINTED The PHANTOM Desktop Haptic Device Important Do NOT throw away the packaging materials If for any reason you need to ship the device in the future you will want to reuse these materials to reduce the risk of damage to the device For instructions on how to properly pack the device see Appendix F Device Packaging Instructions The PHANTOM Desktop Haptic Device The PHANTOM Desktop enhances productivity and efficiency by enabling the most intuitive human computer interaction possible the ability to solve problems by touch For the first time computer generated objects can be created manipulated and deformed just like their real counterparts in the most natural way possible by hand Model makers can sculpt virtual digital mock ups surgeons can practice on v
12. device should change dynamically as you move the stylus around Cycle Amps This will simply turn the amplifiers off then on again repeatedly to test their functioning You should hear the device clicking on and off PHANTOM Desktop User s Guide 25 B TROUBLESHOOTING Test Forces Move the Move the sliders with your mouse to generate forces which push against your hand X controls force parallel to the table Y controls force up and down And Z controls force in and out IMPORTANT Perform this test deliberately and slowly to avoid sudden movements Hold onto the stylus when executing this test Box Test Provides a box which you can feel with your PHANTOM Desktop The sides of the box should feel flat and the corners sharp Quit Quits the test application 26 PHANTOM Desktop User s Guide Appendix C Configuring Multiple Devices Multiple Devices If you want to use more than one PHANTOM device with your computer you can create as many as 20 uniquely named PHANTOM configurations Each named PHANTOM configuration can refer to a particular system configuration that you use frequently Which device to use is defined by the software application which uses it All demonstrations installed with the PHANTOM Device Drivers use Default PHANTOM as the configuration To create anew PHANTOM configuration simply select the Add button and key in a name to call that device Then follow the instructions previously given for defini
13. esktop device is a sensitive piece of electronic equipment Lift by the metal covers and support the base 1 when moving it Lifting by any of the moving parts may affect the unit s performance and risks damaging the device The device has a limited range of motion Forcing the device past these limits risks damaging the device PHANTOM Desktop User s Guide 3 1 GETTING ACQUAINTED The PHANTOM Desktop Haptic Device 2 StatusIndicator Light This light shows the status ofthe PHANTOM Desktop device as described in the following table COLOR MEANING Constant Green Active and properly calibrated Blinking Green Active but out of calibration Blinking Yellow Just attached or powered on Constant Orange Stand by mode Table 1 Status Indicator Light Meanings 3 Stylus with Switch The stylus is the 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 4 Gelpad Wrist Rest The wrist rest helps to support your wrist while using the PHANTOM Desktop Try it in many locations to determine which is best for you 4 PHANTOM Desktop User s Guide 1 GETTING ACQUAINTED The PHANTOM Desktop Haptic Device FIGURE 1 2 Connectors on the Rear of the PHANTOM Desktop Parallel Port To Computer The male bottom connector is connected to the computer s parallel port using
14. g resume the installation of the new PHANTOM Device Driver 8 PHANTOM Desktop User s Guide 2 INSTALLING THE PHANTOM DEVICE DRIVERS Installing the PHANTOM Device Driver The default directory for installing the PHANTOM Device Drivers is C Program Files SensAble PHANTOM Device Drivers You will also find the Dice demo program executable in the C Program Files SensAble 3D Touch Demos directory You will be using this demo application to calibrate your device in a coming chapter At the end of the Setup process you will be presented with the PHANToM Configuration dialog box shown below that allows you to configure the software for your PHANTOM device PHANTOM Configuration x Hardware Dual Configuration About r Hardware PHANToM Default PHANToM g Add Delete PHANToM model Desktop y Defaults Interface EPP card z Port number f Use software interrupts Cancel Apply FIGURE 2 1 Selecting the Configuration PHANTOM Desktop User s Guide 9 2 INSTALLING THE PHANTOM DEVICE DRIVERS Installing the PHANTOM Device Driver 10 Note You can also access the PHANTOM Configuration application any time after installation through the Settings Control Panel PHANTOM Configuration icon from the Start Menu Select the Default PHANToM item from the PHANToM drop down list Select the Desktop in the PHANToM model drop down list The Port Number field specifies the p
15. irtual patients molecular chemists can fit drug molecules into virtual human receptor sites and mechanical engineers can check tolerances of virtual assemblies all digitally but with an incredible sense of realism The PHANTOM Desktop system s high fidelity force feedback senses motion in 6 degrees of freedom providing the best most realistic 3D Touch sensation for any application Users can feel the point of the stylus in all axes and track its orientation pitch roll and yaw The PHANTOM Desktop s portable design compact footprint and simple parallel port interface ensure quick installation and ease of use Features e Portable design for workplace flexibility Comfortable molded rubber stylus for long term use Integrated momentary switch on stylus optimally positioned for ease of use e Wrist rest to maximize user comfort Multi function indicator light Compact workspace offers better range of motion for ease of use e Small desktop footprint 2 PHANTOM Desktop User s Guide 1 GETTING ACQUAINTED The PHANTOM Desktop Haptic Device Robustly constructed of metal and injection molded carbon fiber reinforced plastics e Automatic workspace calibration Get Familiar with the Device FIGURE 1 1 Front view of the PHANTOM Desktop with wrist rest The following correspond to the call outs in Figure 1 1 and Figure 1 2 1 Metal Covers and base hold to lift the PHANTOM Desktop device The PHANTOM D
16. m automatically and it should now be set up for working with the PHANTOM Desktop device PHANTOM Desktop User s Guide 19 5 COMPUTER SETUP 20 PHANTOM Desktop User s Guide Appendix A Customer Support Warning DO NOT OPEN THE UNIT There are no serviceable components in the PHANTOM Desktop device or power supply Return to SensAble for servicing See Appendix F Device Packaging Instructions If you encounter any difficulties you can obtain Customer Support through the following three channels Ifyou purchased your PHANTOM Desktop from a distributor please contact them first SensAble Technologies Customer Support can be reached via e mail at support SensAble com SensAble Technologies Customer Support can also be reached via telephone Inside the United States 1 888 SENSABL 1 888 736 7225 Outside the United States 781 939 7444 PHANTOM Desktop User s Guide 21 A CUSTOMER SUPPORT 22 PHANTOM Desktop User s Guide Appendix B Troubleshooting This section provides tips for correcting some common PHANTOM Desktop device problems If after following these steps you cannot resolve the problem please contact Customer Support see Appendix A The PHANTOM Desktop light does not come on at all The light on the PHANTOM Desktop device should be on if it is receiving power Check that the power supply is plugged into a working outlet the light on the power supply should be green if it is Then check
17. n in the following image Check to see that the PHANTOM arm is fully seated by carefully pressing at point 2 shown in the following image FIGURE A 6 Press carefully to ensure the device is secure Fold plastic over the PHANTOM device Place top half of foam insert over the PHANTOM device Close the box and tape it closed Place gray foam bottom into large shipping box and place small box with PHANTOM device inside into foam Place gray foam top over small internal box and place accessory tray on top of the foam Place the power supply power cord EPP cable if any are needed into accessory tray Fill extra space in accessory tray with bubble wrap or other packing material so that flaps on the outer box slightly compress the packing material Close large box and tape closed Note The accessory tray may be left empty but must be included to ensure package integrity PHANTOM Desktop User s Guide 37 F DEVICE PACKAGING INSTRUCTIONS 38 PHANTOM Desktop User s Guide
18. ng the configuration for that device Dual Configurations The Dual Configuration settings only apply if you want to set up a pair of PHANTOM devices to work in tandem with each other You must have created at least two PHANTOM devices as described above before the Dual Configuration tab becomes useful Once you have created at least two devices go to the Dual Configuration area and select the PHANTOM devices you would like to use in a paired configuration Then enable the check box to turn the dual configuration on PHANTOM Desktop User s Guide 27 C CONFIGURING MULTIPLE DEVICES 28 PHANTOM Desktop User s Guide Appendix D Regulatory Notices FCC Notice U S Only The PHANTOM Desktop haptic device is classified by the Federal Communications Commission FCC as a Class B digital device Note This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined
19. nstitution Way Woburn MA 01801 Phone 1 888 SENSABL U S A only E mail support sensable com Internet http www sensable com Last updated Thursday 10 February 2005 P N 01670 R11 Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Appendix A Appendix B Appendix C Appendix D Appendix E Appendix F Contents Pref ace ns LaS i Getting Acquainted ccceeeeeeeeeeeeeeeeeeeeeees 1 Shipping Box Contents c oooooocnooncnooncnonononcnnonononnncnnnncnon nono ncnonono 1 The PHANTOM Desktop Haptic Device 2 Installing the PHANTOM Device Drivers 7 System Requirements ooooooocccocononncnonnconncnnnncnoncnnonononcncanoncnnnnnns 7 Installing the PHANTOM Device Driver 8 Connecting the PHANTOM Desktop Device 11 Connecting the Device psen eee reiii 11 Limits to the Range of Motion of the Device 13 Device Calibration c ccccssseeeeeesesseeeeeeeeeees 17 Computer Setup ccceeceeeeeeeeeeeeeeeeseeeeeeees 19 Customer Support _ sseeeeeeeeeeeeeeeeeeeeeees 21 Troubleshooting oe 23 Configuring Multiple Devices f 27 Regulatory Notices _ unnssnnnsennnnnnnnnnnnnnnnnnnnnnnnnn 29 Device Specifications ease 33 Device Packaging Instructions 35 PHANTOM De
20. one setting available in your BIOS setup see d above then re enter the PHANTOM Configuration utility and set the port mode to one of the other modes available in your BIOS Then restart and re enter the BIOS setup and set it to the same settings If after following the above steps you are still unable to start a demonstration application please contact SensAble Customer Support 24 PHANTOM Desktop User s Guide B TROUBLESHOOTING I am able to start a demonstration application but even though the light is solid green the device behaves strangely when I move it around in a scene It is possible that there is a defect or a loose connection inside the PHANTOM Desktop device DO NOT ATTEMPT TO OPEN THE DEVICE Contact SensAble Customer Support When contacting Support you may be asked to run the PHANTOM Test application to help with diagnosis This application can be found in the directory where you installed the PHANTOM Device Drivers The following describes the basic features of this test application which you should be prepared to run Select Select the PHANTOM device which you want to test Usually this will be Default PHANTOM Read Encoders The values being sensed for the positions and rotations of the device are dynamically displayed in the window It additionally will display whether the stylus switch is pressed or not and whether you are holding the device presence switch on The picture of the PHANTOM Desktop
21. ort that will be used by the PHANTOM Desktop In most cases this field should be set to 1 If you have installed an additional parallel port card for use with your PHANTOM Desktop you will need to check your system settings to determine the correct value For an add on card this value will most likely need to be set to 2 After the installation completes you will be prompted to restart the computer Rather than restarting your computer you should shut it down and turn it off to connect the PHANTOM Desktop To do this choose restart later then shut down your computer normally and turn off the power to your computer Leave the power off and proceed to Chapter 3 Connecting the PHANTOM Desktop Device PHANTOM Desktop User s Guide 3 Connecting the PHANTOM Desktop Device This chapter will show you How to connect a PHANTOM Desktop device to your computer The limits to the range of motion of the PHANTOM Desktop device Connecting the Device Warning Lift by the metal covers and support the base when moving the PHANTOM Desktop Lifting by any of the moving parts may affect the unit s performance and risks damaging the device The PHANTOM Desktop device has a limited range of motion Forcing the device past these limits risks damaging the device 1 With the computer still turned off attach the male end of the supplied IEEE 1284 rated cable to your computer s parallel port The high demands of the PHANTOM Desktop
22. performance The PHANTOM Device Drivers are distributed on CD ROM The device driver may be found on the CD of any software you have purchased PHANTOM Desktop User s Guide 7 2 INSTALLING THE PHANTOM DEVICE DRIVERS Installing the PHANTOM Device Driver Installing the PHANTOM Device Driver Installing on Non Windows Operating Systems For instructions on installing on other operating systems such as Linux see the Installation Guide that came with your product To install the PHANTOM Device Drivers on a Windows platform 1 Login to your computer as administrator or as a user with administrative privileges 2 Insert the CD into the CD ROM drive Then run SETUP EXE from the PHANTOM Device Drivers folder Follow the instructions on the screen during the installation to specify the installation directory and custom installation instructions If you have previously installed an older version of the PHANTOM Device Drivers on the computer you will be prompted to remove it before proceeding with the installation If you get this message Exit the setup program From the Start menu select Settings gt Control Panel gt Add Remove Programs Find the PHANTOM Device Driver in the list and select it Press Add Remove Note If you are prompted during the uninstall to delete shared files that appear to no longer be needed DO NOT DELETE these files unless you are absolutely sure of their use When you have finished uninstallin
23. r is being supplied Verify parallel port connection Make sure that you have the parallel port cable plugged into the LOWER port on the PHANTOM Desktop device Make sure you have the other end plugged into the parallel port on your computer Verify matched settings between the PHANTOM Desktop device and computer a From the Start menu select Settings gt Control Panel Within the control panel window select PHANTOM Configuration You will be presented with a dialog box for configuring your device Ensure that PHANTOM Desktop is chosen as the model Check and write down the parallel port mode and base address for example ECP and x378 b Restart your computer and prepare to enter the BIOS setup If you are unfamiliar with configuring a BIOS get assistance from a system administrator or other computer professional c Enter BIOS setup how this is done varies by machine but the key to hit will usually be listed immediately upon the start of the re boot sequence usually F1 F2 or DEL On some machines you may have to turn the computer fully off and on again to reach the BIOS configuration utility d While you are in the peripherals configuration page check to see what alternate settings are available for the parallel port for example check to see if both ECP and EPP are available If the device does not run with one setting you can try another using the steps below If the device still does not run and you have more than
24. set out in the Radio Interference Regulations of the Canadian Department of Communications Reglement sur le brouillage radio lectrique du ministere des Communications Cet appareil num rique the PHANTOM Desktop haptic device respecte les limites de bruits radio lectriques visant les appareils num riques de classe B prescrites dans le Reglement sur le brouillage radio lectrique du ministere des Communications du Canada 30 PHANTOM Desktop User s Guide D REGULATORY NOTICES European Requirements EN 55022 Statement This is to certify that the SensAble Technologies PHANTOM Desktop haptic device is shielded against the generation of radio interference in accordance with the application of Council Directive 89 336 EEC Article 4a Conformity is declared by the application of EN 55022 Class B CISPR 22 Warning This is a Class B product In a domestic environment this product may cause radio interference in which case the user may be required to take appropriate measures Achtung Dieses ist ein Ger t der Funkst rgrenzwertklasse B In Wohnbereichen k nnen bei Betrieb dieses Ger tes Rundfunkst rungen auftreten in welchen F llen der Benutzer f r entsprechende Gegenma nahmen verantwortlich ist Attention Ceci est un produit de Classe B Dans un environnement domestique ce produit risque de cr er des interf rences radio lectriques il appartiendra alors a l utilisateur de prendre les mesures sp cifiques appropri es
25. sktop User s Guide 9 Computer Setup Some computers require that you configure your System s BIOS for communicating to the parallel port via the ECP or EPP communication protocols If your computer is unable to communicate with the haptic device and you have checked that all cables are properly connected you may need to reconfigure your computer s BIOS as explained below Warning Please refer to your computer s user manual for specific instructions The following instructions are generic and may not pertain exactly to your situation To change the BIOS settings 1 Turn on your computer and get ready to enter BIOS setup On most systems a message such as Hit F2 for Setup will appear shortly after power up The most common key to hit for your system is listed in the table above in parentheses in the List B column However you should double check your computer manual to be sure what key to hit and when 2 Enter the peripheral setup options Once you have entered the BIOS setup you need to access the BIOS page for configuring peripherals On most systems these options are presented in the advanced page or a peripheral page of the BIOS setup 3 Set the parallel port to the correct mode ECP or EPP If your system does not have an ECP or EPP setting please contact Customer Support as indicated in Appendix A Customer Support of this document 4 Save your changes and exit the BIOS setup This will reboot your syste
26. sktop User s Guide PHANTOM Desktop User s Guide Preface About This Guide The PHANTOM Desktop User s Guide describes the process of connecting the hardware and installing the required device drivers and demonstration software for your new PHANTOM Desktop system We ve worked extensively to ensure that the PHANTOM Desktop and Device Drivers install and work smoothly on your computer If you experience any problems in the installation or use of your system or hardware please contact Customer Support as indicated in Appendix A Customer Support of this document Your feedback and input are essential Please don t hesitate to contact us with technical questions and suggestions for improvement How This Guide Is Organized The PHANTOM Desktop User s Guide is divided as follows Chapter 1 Getting Acquainted describes the PHANTOM Desktop and many of the items that came with the system Chapter 2 Installing the PHANTOM Device Drivers describes how to install the software necessary to run this product Chapter 3 Connecting the PHANTOM Desktop Device describes how to connect the hardware Chapter 4 Device Calibration describes how to calibrate the device Chapter 5 Computer Setup describes changes that may need to be made to your computer for using the PHANTOM Desktop device via the parallel port PHANTOM Desktop User s Guide i PREFACE Additionally there are several appendices that include information on Cu
27. stomer Support troubleshooting configuring multiple devices regulatory notices device specifications and repackaging instructions Typographical Conventions This guide uses the following typographical conventions Convention Description Example Italics First use of a new term See the User Manual shows emphasis references another document or file lt Italics gt A variable lt Installed Directory gt files Bold Keywords actual user input Click Ok directory paths program group names or examples Greater Than gt Indicates a menu pick Tools gt Options Courier Identifies code samples Note Warning Calls out important Important information ii PHANTOM Desktop User s Guide 1 Getting Acquainted This chapter describes the following The contents of the shipping box The PHANTOM Desktop haptic device Shipping Box Contents In your shipping box you should find the following The PHANTOM Desktop 3D Touch device The PHANTOM Desktop Kit The kit includes this User Guide and aCD ROM containing the PHANTOM Device Driver and electronic documentation Parallel Port Cable The cable is used to attach the computer s parallel port to the PHANTOM Desktop 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 cir
28. u have just supplied power to the device for the first time however you will need to calibrate it as described below Once this procedure is complete you should not need to execute it again unless you unplug or otherwise lose power to the PHANTOM Desktop device If your computer is unable to communicate with the PHANTOM Desktop device you may have to configure your System s BIOS for communicating to the parallel port via the ECP or EPP communication protocols For instructions see Chapter 5 Computer Setup The Dice Demo The Dice demo consists of a single cube bounded by a box shaped haptic workspace This program makes use of more advanced dynamics and collision detection When used with a6 DOF PHANTOM device this demo demonstrates GHOST SDK s ability to generate both forces and torques There are options for enabling disabling gravity adjusting dynamic properties of the cube and if you click the stylus while touching the die you can pick it up 1 Start the Dice demonstration available in SensAble Install directory 3D Touch Demos On a Linux workstation the demos are located in the usr bin directory The Dice demo will start and you will be presented with a room with a single die in it At this point the light on your PHANTOM device should be blinking green indicating that it awaits calibration If you receive an error or the application does not start for any reason please see Appendix B Troubleshooting 2 To calibrate the
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