Changes between Version 1 and Version 2 of WAM/SafetyFeaturesPrecautions
- Timestamp:
- Jan 20, 2012, 12:13:19 AM (13 years ago)
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WAM/SafetyFeaturesPrecautions
v1 v2 6 6 Following these safety instructions will help prevent user injury and equipment damage. 7 7 8 Proper precautions should be taken when selecting the location and setup of your WAM system. DO NOT set up the system such that any part of the robot’s workspace (resembling a sphere with an approximately one meter radius , as shown in Figure 16) reaches into a pedestrian pathway in the lab space. The WAM is an unusually quiet mechanism – it generates little servo or transmission noise – thereby providing very little intrinsic warning of its enabled state.8 Proper precautions should be taken when selecting the location and setup of your WAM system. DO NOT set up the system such that any part of the robot’s workspace (resembling a sphere with an approximately one meter radius) reaches into a pedestrian pathway in the lab space. The WAM is an unusually quiet mechanism – it generates little servo or transmission noise – thereby providing very little intrinsic warning of its enabled state. 9 9 10 10 In addition, as with any piece of robotic equipment, it is ultimately up to you to be aware of your surroundings during robot operation. Although the WAM is intrinsically safer than other robotic systems, you may wish to integrate standard safety measures such as mats, gates, light curtains, etc. into the lab space surrounding the WAM. … … 20 20 Do not exceed the load limit of the arm: 4 kg for a 4-DOF WAM and 3 kg for a 7-DOF WAM. Consider all loading situations including accelerated loads, cantilever loads from long objects, robot collisions, active loads, etc. 21 21 22 Remove/replace the WAM Wrist only as instructed in Section 3.4.22 Remove/replace the WAM Wrist only as instructed. 23 23 24 24 Monitor the operating temperature of the WAM so that it remains between 0 °C and 70 °C. Under normal conditions, the Pucks operate between 40 and 60 ˚C. Idling the motors, when possible, will help keep the temperature lower. … … 51 51 Other: The “Other” status lights presently only indicate whether an E-STOP has occurred. If this is the case, the fault light will be lit and the single-character display will show “E”. 52 52 53 {{{ 54 #!html 55 <a name="2.3" /> 56 }}} 57 == 2.3 Handling Safety Faults == 58 If the safety system registers a fault during WAM operation, the fault must be cleared before continuing to use the WAM. The most common safety faults (over velocity, over torque) leave the WAM safety system in the IDLE state (yellow button is lit). To reset the fault from this state (when using the btdiag example application): 59 1. Stop any running Teach & Play playback (press ‘/’) 60 1. Set the position controller to IDLE mode (press ‘p’ to toggle mode) 61 1. Turn off gravity compensation (press ‘g’ and enter 0) 53 == Handling Safety Faults == 54 If the safety system registers a fault during WAM operation, the fault must be cleared before continuing to use the WAM. The most common safety faults (over velocity, over torque) leave the WAM safety system in the IDLE state (yellow button is lit). To reset the fault from this state: 55 1. Stop any running Teach & Play playback 56 1. Set the position controller to IDLE mode 57 1. Turn off gravity compensation 62 58 1. Reset the safety fault (press <Shift+Reset/Idle> on the control pendant) 63 59 1. Re-activate the WAM (press <Shift+Activate> on the control pendant) 64 1. Turn on gravity compensation (press ‘g’)60 1. Turn on gravity compensation 65 61 66 62 If the safety system encountered a critical fault that resulted in an E-STOP of the WAM (no pendant buttons are lit), follow these steps to recover from the fault: 67 1. Exit the application (press ‘x’)63 1. Exit the application 68 64 1. Reset the safety fault (press <Shift+Reset/Idle> on the control pendant) 69 65 1. Grab the WAM and move it back to the home position (the joint positions are lost after an E-STOP)
