.\"	$FabBSD$
.\"	Public domain
.\"
.Dd $Mdocdate: March 26 2009 $
.Dt PARTCLEAN 1
.Os
.Sh NAME
.Nm partclean
.Nd control the manipulator of a parts-cleaning station
.Sh SYNOPSIS
.Nm boltpattern
.Op Fl w Ar wmin-wmax
.Op Fl p Ar pickpos
.Sh DESCRIPTION
The
.Nm
program is designed to continuously control the manipulator for a chemical
parts-cleaning station based on the following hardware:
.Pp
.Bl -bullet -compact
.It
A set of 3 motorized axis registered as
.Xr servo 4
devices.
.It
One pneumatic, sensing gripper registered as
.Xr gripper 4 .
.El
.Pp
The options are as follows:
.Bl -tag -width Ds
.It Fl p
Home coordinates (see
.Xr coordinates 7 )
for picking up new parts.
.It Fl w
A range (min-max) specifying the minimum and maximum width of the part.
The operation will not proceed unless the minimum width is sensed after the
pickup action.
.El
.Pp
.Sh ENVIRONMENT
.Bl -tag -width UNITS
.It Ev UNITS
Set to
.Sq metric
or
.Sq inch .
Defaults to
.Sq metric .
.El
.Sh SEE ALSO
.Xr servo 4 ,
.Xr gripper 4
.Sh HISTORY
The
.Nm
command first appeared in FabBSD 1.0.