Changes between Version 1 and Version 2 of WAM/SafetyFeaturesPrecautions


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Timestamp:
Jan 20, 2012, 12:13:19 AM (8 years ago)
Author:
kpm
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  • WAM/SafetyFeaturesPrecautions

    v1 v2  
    66Following these safety instructions will help prevent user injury and equipment damage.
    77
    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.
     8Proper 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.
    99
    1010In 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.
     
    2020Do 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.
    2121
    22 Remove/replace the WAM Wrist only as instructed in Section 3.4.
     22Remove/replace the WAM Wrist only as instructed.
    2323
    2424Monitor 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.
     
    5151Other: 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”.
    5252
    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 ==
     54If 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
    6258        1. Reset the safety fault (press <Shift+Reset/Idle> on the control pendant)
    6359        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
    6561
    6662If 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
    6864        1. Reset the safety fault (press <Shift+Reset/Idle> on the control pendant)
    6965        1. Grab the WAM and move it back to the home position (the joint positions are lost after an E-STOP)