Head Screen Menu

This page provides detailed information about the Head Screen Menu. 

Contents

• Contents
• Overview
• Run
• Tasks
• System
• Tools
• Info
• Remote Access
• Jog Arm

Overview

To access the Head Screen Menu, the Rethink button needs to be pressed.

Run

• Restart - Task will run from the beginning of the behavior tree.
• Continue - Task will run from the node that was active when the task was previously stopped.
• Step - Task will run only the next node in the behavior tree.
• Reset Task Data - Task will run from the beginning of the behavior tree and reset all data, variables, and IO being set in the task.

Tasks

• New - Opens a new, blank task. A menu will appear allowing the user to save the current task prior to opening.
• Open - Opens the task gallery. Allows a user to select and load a previously trained task.

• Back to current - Closes the task menu and brings user back to the current task.

System

Press the Rethink button and navigate to System on the Head Screen Menu to access Power, Calibration, Shipping Pose, Upgrading Software, and Exporting Logs.

Shipping Pose

Select Shipping Pose to have the robot move slowly back into the arm configuration that it had in the original shipping crate.

• Use this pose anytime the robot is being transported.
• Please removed the end effector prior to selecting shipping pose.
• Clear space around the robot before selecting shipping pose. The robot will take a slow path into this pose may run into external fixturing if the workspace is not clear.

Calibrate

Use this feature to calibrate each of Saywer's 7 joints. The calibration routine takes about 5 minutes.

• Please remove any external payload from the robot arm prior to calibrating (EOAT, Tool Plate, 3rd party gripper)
• Clear space around the robot so the arm can move freely without obstruction during calibration.
• Reboot robot after successful calibration in order for calibration parameters to be saved.

What is actually being calibrated?

This process calibrates the Joint Torque Sensors. Having better calibrated torques sensors may have some secondary affects on position accuracy, primarily for mid-motion tracking with heavy payloads, but it's just a second order affect.

Could calibrating the robot have a negative impact or are there situations when I shouldn't calibrate? For example, if my task is running well, could the endpoints shift after calibrating?

• Any change to the SDS sensor could cause small changes to the endpoint accuracy. If the task is running well, don't touch it.

When should a calibration be performed?

• When setting up for the first time.
• Any time the robot has been shipped and is coming out of a box, it is recommended to run a calibration right after booting it up.
• When one or more joints are pulling in one direction in zero-G. This is a sign that something may be off with the calibration and the robot should be calibrated.
• The robot does not need to be calibrated after a software upgrade unless specified in the release notes.

Power

Shutdown - Use to safely power down the robot. Power to the arm will be immediately stopped and brakes will engage. Reboot - Use to power down and automatically power up robot.

Export Logs

Exporting the log files can be done through the head screen.

• Insert a FAT32 formatted USB stick with at least 4GB of free space into an open USB port on the control box.
• Select "Export Logs" on the robot screen. When the log export is complete, a message will appear confirming the successful export.

Upgrading Software

The screen in which to perform a software update is accessed by pressing the Rethink button on the robot navigator and navigating to System on the Head Screen Menu.

• Select Upgrade Software on the System menu.
• Download the latest version of Intera. Copy the update files to a FAT32 formatted USB drive and plug into the Sawyer Controller.
• Select the software update on the robot screen. Software update will begin and take roughly 6 mins to complete. The robot will auto-reboot after the upgrade is complete.

Tools

The Tools menu allows a user to switch between the available End of Arm Tooling tips that are active on the robot. Changing the tool will change the Active Endpoint.

Info

About

The info\About section contains useful information needed to connect to the Intera Studio and information needed by your support team when troubleshooting any issues on a task.

• IP Address
• Serial Numbers - Both Robot and Controller
• Software Version - Current version loaded on robot
• Usage Details - Hours robot has been running and hours robot has been powered on

Stats

The Info section also contains access to the Stats that are enabled through Intera Insights.

Selecting Stats will display the last known data displayed on the head before the task stopped running. The stats will remain in the memory until the task is reset.

Remote Access

• Stop Sharing Control - Disables the Intera 5 Studio session that is connected to the robot, but still allows view access to the studio.
• Dismiss Remote User - Disables the Intera 5 Studio session that is connected to the robot, and boots the user from the session.

Jog Arm

This function allows a user move the arm in precise increments in x, y, z and rotation, using the navigator buttons. The user can also jog in these directions around a particular frame (active endpoint, base, user created frame).

• Select the reference frame to jog around by pressing the navigator button and selecting the frame. In this example, the frame is the active endpoint frame, which is the Electric Parallel Gripper Tip.

• Using the navigator button to scroll to the axis to jog and press OKAY.
• Press the square button on the navigator to change the increment value that the arm will move for each scroll of the navigator.
• Scroll the navigator button, 1 click at a time, to jog the arm.