Changes between Version 6 and Version 7 of WAM/SafetyFeaturesPrecautions

Timestamp:

Jun 13, 2012, 5:35:38 PM (12 years ago)

Author:

bz

Comment:

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WAM/SafetyFeaturesPrecautions

@@ -41 +41 @@
 Velocity: Before the WAM Arm’s joint positions are initialized by the PC control software, the velocity status lights indicate the state of the WAM’s angular joint speed. By default, there is a yellow LED warning when any joint exceeds 0.5 radians/sec and a red LED fault when any joint exceeds 2 radians/sec. The joint number responsible for the warning/fault is indicated by the single-character display on each pendant. After the WAM Arm’s joint positions are initialized, the safety system begins calculating and monitoring the WAM’s elbow and arm endpoint velocities in Cartesian space instead of monitoring individual joint velocities. By default, there is a warning when either the elbow (single-character “E”) or arm endpoint (single-character “A”) exceeds 0.5 m/s and a fault when either one exceeds 1 m/s. These defaults are modifiable in software (see below). 
 
-Torque: The torque status lights indicate the state of the torque commands being received by the WAM Arm from the PC control software. If the PC sends non-zero torques while the WAM is in the IDLE state (the yellow Reset/Idle button is lit), the safety system will display a torque warning- prohibiting the WAM Arm from being activated. If the WAM Arm is in the ACTIVATED state (the green Activate button is lit) and the PC sends torques which exceed the default torque warning or fault levels, the torque warning or fault light will be lit- and the offending motor number will be shown in the single-character display. If a torque limit is exceeded, the safety system automatically idles all motors (puts the WAM in the IDLE safety state). See Section 6.3 for more information about how to set the torque limits.
+Torque: The torque status lights indicate the state of the torque commands being received by the WAM Arm from the PC control software. If the PC sends non-zero torques while the WAM is in the IDLE state (the yellow Reset/Idle button is lit), the safety system will display a torque warning- prohibiting the WAM Arm from being activated. If the WAM Arm is in the ACTIVATED state (the green Activate button is lit) and the PC sends torques which exceed the default torque warning or fault levels, the torque warning or fault light will be lit- and the offending motor number will be shown in the single-character display. If a torque limit is exceeded, the safety system automatically idles all motors (puts the WAM in the IDLE safety state). See below for more information about how to set the torque limits.
 
 Sometimes, when you exit a WAM control program, the torque warning light will stay on. That just means that the last torque that the safety system saw go by was beyond the warning level for the present state ( > 0 for E-STOP or IDLE, or > TL1 for ACTIVATED). As long as you send one or more zero-torque commands to the pucks, the warning light should extinguish.