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SMK70-1B is a module for visualizing, protecting, and monitoring a system composed out of FLASH-BUS™ components. This module communicates with other devices using CAN interface. Data received from other components is compared with internal parameter ranges. If any abnormality is detected, alerts can be issued and appropriate actions taken (e.g. shutdown of noncritical system components in case of voltage drop). SMK70-1B is managed by NXP MQX™ real-time operating system.

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Technical specification

Basic data

  • control system maintenance: visualization, monitoring and protection,
  • NXP Kinetis CPU, ARM Cortex M4 core, based on SQM4 K70 minimodule,
  • 5” LCD touch display 800x480 px, 24bit,
  • build-in audio codec to generate alarms,
  • NXP MQX™ real-time operating system,
  • RS232/485/UART/USB/CAN communication,
  • SD card (FAT32 filesystem) for system configuration and log files,
  • serial debug port with command line shell interface,
  • status indicators: 4xLED.

Electrical rating

  • Nominal operating voltage: 10…50VDC 

Physical

  • Dimensions (WxHxDx(LCD)): 150x90x16x91 mm
  • Weight: 190 g
  • Connector FLASH-BUS™
  • Mounting: PCB card guides

 

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Module menu

All of the data presented in screens fulfill the following rules:

  • All angles are presented in degrees, angle speeds in degrees per second,
  • All positions are presented in meters, linear speed is presented in meters per second,
  • All voltages are presented in volts, all currents in amperes,
  • All motor loads are presented in amperes,
  • If not directly stated otherwise, time is presented in seconds,
  • For error indicators, grey color means no error, red color – error occurred,
  • for state on/off indicators – green color means on, grey – off.
MAIN SCREEN

1

Main screen consists of 16 buttons, enabling to open different diagnostic screens.

First row contains buttons for four data screens:

  • PLATFORM DATA – data regarding position and movement of balancing platform, its wheels and motor controllers, control to enable aria navigation,
  • ARMS DATA – data regarding five arm joints of each arm and its controllers, controls for arm motors enable and arms calibration,
  • POWER DATA – data regarding dc/dc power converters supplying various robot components, controls for enabling particular channels,
  • MULTIMEDIA DATA – data from multimedia/converters module regarding robot main power supply.

Second and third row contains different data visualization screens:

  • PLATFORM MOVEMENT – graph presenting mobile platform movement on the plane, and its 3D orientation,
  • PLATFORM SCOPES – time charts of various platform parameters,
  • ARM SCOPES– time charts of various arm parameters,
  • ARMS GAUGES – gauges showing current arm joints position,
  • POWER SCOPES – time charts of parameters of main power supply.

Third row contains also STATUS screen, which shows controls representing state of the whole low-level control system and control for clearing system errors.

Fourth row contains four settings screens. All of this screens gave access to most important robot setting and features, they should not be accessed by untrained personnel, because inappropriate setting values may cause damage to the robot.

  • PLATFORM SETTINGS – platform movement controllers settings, these settings should not be changed without consultation with FLASH Mk II developers,
  • STARTUP SETTINGS – controls of power-up actions,
  • ALARM SETTINGS  - controls of actions undertaken on low voltage alarms,
  • SAFETY SETTINGS – controls defining which errors cause the whole system errors and what actions should be undertaken when system error will occur.

Last row contains two special screens:

  • CONSOLE – console printing diagnostic information,
  • DISPLAY SETTINGS – screen for touchscreen calibration (calibration should not be changed).
 
PLATFORM DATA

2

Platform data screen is divided into three areas, first one shows main data about platform state, second presents desired values set by ARNL navigation, third shows data about platform motors and its controllers.

PLATFORM SECTION

On the top of the platform section there is presented ID number of platform controller, it is set by default to 15, and should not be changed. There is also Aria Connection indicator, which is green when ARNL navigation is connected to the platform, and grey otherwise.

In the left part of the section there are presented values and speeds of robot coordinates: X, Y which are its position on the plane (robot starts directed along the X axis) and three angles of its orientation in space: alpha – robot pitch, theta – robot yaw, sigma – robot roll.

In the right part of the section there are presented values of some other movement parameters for rotary and translational movement. They are:

  • Current pos. – the whole path traveled by robot,
  • Current V – current moving speed,
  • V max – maximum allowed velocity,
  • Acceleration – acceleration with which robot will reach the desired speed,
  • Deceleration – deceleration with which robot will slow down to 0.

The bottom part of this section contains error indicators:

  • Max Alpha stop – the alpha angle has exceed value allowed value – navigation should be aborted,
  • Alpha angle error - the alpha angle has exceed the angle of safe operation – robot is falling over – this error will disable platform motors,
  • Voltage error – the voltage level is below the proper value,
  • IMU error – no connection with XSENS IMU,
  • Escon R error – error of controller of right wheel – for more details see error indicators in WHEELS section,
  • Escon L error – error of controller of left wheel – for more details see error indicators in WHEELS section.

MOVEMENT SECTION

This section presents values set from ARNL navigation:

WHEELS SECTION

This section presents data related to platform motors:

  • Torque en. – indicator, which is green when motor torque jest enabled, grey – otherwise,
  • Phi pos. – total angle of the wheel,
  • Phi speed – current rotation speed of the wheel,
  • Load – current load of the platform motor.

Each motor controller has three error indicators:

  • Ready error – Escon ready error,
  • Overload error – Escon overload error,
  • Overheat error – Escon overheat error.

On the bottom of the screen there are the two control buttons:

  • CLEAR ERR. is button which clears all platform controller errors. It should not be overused – it is made only for test purposes, during normal work, no errors should occur. If error caused critical system error – is must be cleared in status screen (after clearing platform error).

If controller is not connected or there are some communication errors, PLATFORM label will become red, buttons will disappear from the screen and all values will be replaced by ---.

 

ARMS DATA

3

This screen presents data related to arm movement. IMPORTANT: arm position and encoder position are presented values make no sense before calibration.

  • ID – joint controller ID – the range from 30 to 39 and should not be changed,
  • Arm position – current angle of the the joint (value measured directly in arm),
  • Arm speed – current rotary speed of the joint (value measured directly in arm),
  • Load – current motor load,
  • Encoder position – current angle of motor (value measured in the drive motor encoder),
  • Encoder speed – current rotary speed of joint motor (value measured in the drive motor encoder),
  • Error – eight bits of joint controller errors (which means from the left side):
    • 7-bit: Positioning error – difference between arm and motor encoder is above the set limit or arm unable to reach set position or calibration error occurred,
    • 6-bit: Ready error – Escon ready error,
    • 5-bit: Overload error – Escon overload error,
    • 4-bit: Enable error – move command received when controller is in disable state,
    • 3-bit: Packet error – wrong packet received (e.g. unknown command, incorrect communication frame),
    • 2-bit: Overheating error – Escon overheating error,
    • 1-bit: Angle limit error – set angle exceeds angle limits,
    • 0-bit: Voltage error – voltage below proper value.

On the bottom of the screen they are three buttons and one indicator:

  • Motors – button with state indicator(green light – enabled, grey light – disabled) which allows enabling arm movement (motors are automatically enabled when calibration process is started),
  • CLEAR ERR. is button which clears all joint controllers errors. It should not be overused – it is made only for test purposes, during normal work, no errors should occur. If error caused critical system error – is must be cleared in status screen (after clearing arm error),
  • ARM MOTORS CALIBRATION – indicator which shows the state of calibration: green – all joints are calibrated, blinking green – calibration has been started but one or more joints are still not calibrated (calibration is in progress or no calibration command was send), grey – all joints are not calibrated, red – one or more joints has calibration errors,
  • START CALIBRATION (RECALIBRATE) – enables arm motors and sends calibration command to all joints. For safety reasons, calibration is divided into two stages: in first only q2 and a4 joints calibrate, then they finish, second stage starts, when q1,q3 and q5 joints calibrates.

 

POWER DATA

4

This screen presents data related to two power boards:

  • ID – power board ID,
  • Temperature – temperature measured at the center of the board,
  • Voltage – measured voltage,
  • Current – measured current,
  • Voltage error – turns red when voltage exceeds internal limits (is too high or too low),
  • Current error – turns red when current exceeds internal limits,
  • Enable – indicates weather channel is enabled/disabled,
  • ON/OFF button – buttons controlling enable state of channel.

There are seven channels of power supply system:

  • Head – power supply for EMYS and one additional socket on Motor board, nominal voltage: 12V, maximum current: 18A,
  • Wrist – power supply for four MX-64R dynamixel servos driving robot wrists, nominal voltage: 12V, maximum current: 18A,
  • Laser – power supply for Hokuyo laser scanner, nominal voltage: 5V, maximum current: 1,2A.
  • Comp. – power supply for master PC, nominal voltage: 19V, maximum current: 3,2A,
  • Hand_L – power supply for robot left hand, nominal voltage: 15V, maximum current: 3,3A,
  • Hand_R – power supply for robot right hand, nominal voltage: 15V, maximum current: 3,3A,
  • Kinect – power supply for Kinect device, nominal voltage: 12V, maximum current: 5A.

There are four addition buttons on the bottom of the screen:

  • ENABLE A – enables all channels of Power board A,
  • DISABLE A – disables all channels of Power board A,
  • ENABLE B – enables all channels of Power board B,
  • DISABLE A – disables all channels of Power board B.

 

MULTIMEDIA DATA

  5

This screen presents data related to multimedia module:

  • ID – multimedia module ID,
  • Alarm level 1 – level (in percent) of first low voltage alarm,
  • Alarm level 1 indicator – turn red, when alarm 1 is on (works with hysteresis),
  • Alarm level 2 – level (in percent) of second low voltage alarm,
  • Alarm level 2 indicator – turn red, when alarm 2 is on (works with hysteresis),
  • Alarm level OFF – level (in percent) of OFF voltage alarm (very low voltage, robot should be turned OFF or plugged to charger),
  • Alarm level OFF indicator – turn red, when alarm OFF is on (works with hysteresis),
  • Battery capacity – current battery level (in percent),
  • Present voltage – present battery voltage measured on batteries,
  • Present current – present current value, which is consumed by whole robot (it does not include charging current),
  • Mute button – button which enables to mute/unmute robot sound – currently unhandled.

 

PLATFORM MOVEMENT

6

Platform movement screen contains visualization of platform movement.

In the upper part of the screen there are three gauges visualizing platform orientation: alpha – robot pitch, theta – robot yaw, sigma – robot roll. The zero position is visualized by hand being upright.

Main part of the screen is 2D plane (X axis horizontal, Y axis h with the robot which is symbolized by red shape (with marked heading). When robot is out of the selected view it is indicated by blinking red of the plane boarder. The white line behind the robot is trace of his previous positions. The green symbol of platform showing in different points of plane symbolizes the desired position and orientation send by ARNL Navigation.

The bottom part of the screen consists of six buttons:

  • + – scale plus, zooms in the view on center of the plane – maximum positions in both axes  become 2 times smaller,
  • - – scale minus, zooms out the view– maximum positions in both axis become 2 times bigger,
  • Clean –  button cleans the whole view (robot trace),
  • Platform – button with indicator (green light platform view enabled, grey light – disabled) allows to choose if current platform position and orientation (red symbol) should be shown,
  • Destination – button with indicator (green light platform view enabled, grey light – disabled) allows to choose if desired platform position and orientation (green symbol) should be shown,
  • Trace – button with indicator (green light platform view enabled, grey light – disabled) allows to choose if previous platform position (white line behind the platform) should be shown.

 

PLATFORM SCOPES

7

Platform scopes screen enables to view time charts of various platform parameters.

Main part of the screen contains two time charts: the upper one presents the value of chosen platform parameter, the lower one presents the changes of the parameter (its speed). Only exception is load – the upper chart presents load for left motor, the lower one for right one.

The bottom part of the screen consists of thirteen buttons:

  • X – button with indicator (red light - X view enabled, grey light – disabled) allows to choose if X position of the platform on 2D plane and its speed are in active view,
  • Y – button with indicator (red light - Y view enabled, grey light – disabled) allows to choose if Y position of the platform on 2D plane and its speed are in active view,
  • Alpha – button with indicator (red light - Alpha view enabled, grey light – disabled) allows to choose if Alpha angle (robot pitch) and its speed are in active view,
  • Theta – button with indicator (red light - Theta view enabled, grey light – disabled) allows to choose if Theta angle (robot yaw) and its speed  are in active view,
  • Sigma – button with indicator (red light - Sigma view enabled, grey light – disabled) allows to choose if Sigma angle (robot roll) and its speed  are in active view,
  • PhiL – button with indicator (red light - PhiL view enabled, grey light – disabled) allows to choose if position and speed of left wheel are in active view,
  • PhiR – button with indicator (red light - PhiR view enabled, grey light – disabled) allows to choose if position and speed of right wheel are in active view,
  • Load – button with indicator (red light - Load view enabled, grey light – disabled) allows to choose if motors load (left motor on upper, right on lower chart) are in active view,
  • + – scale plus, zooms in the view in Y AXIS (only the value chart, not the speed one), maximum positions in Y axis become 2 times smaller,
  • - –  scale  minus, zooms out the view in Y AXIS (only the value chart, not the speed one), maximum positions in Y axis become 2 times bigger,
  • 1 HOUR – button with indicator (green light – 1 hour view enabled, grey light – disabled) allows to choose if 1 hour view is active,
  • 10 MIN. – button with indicator (green light – 10 minutes view enabled, grey light – disabled) allows to choose if 10 minute view is active,
  • 1 MIN. – button with indicator (green light – 1 minute view enabled, grey light – disabled) allows to choose if 1 minute view is active.

 

ARMS SCOPES

8

Arm scopes screen enables to view time charts of arm joints.

Main part of the screen contains two time charts: the upper one presents the angle of chosen joint, the lower one presents its angular velocity.

The bottom part of the screen consists of ten buttons:

  • LRFT ARM – button with indicator (red light – left arm active, grey light – inactive) allows to choose if left arm joint  is visualized,
  • RIGHT ARM – button with indicator (red light – right arm active, grey light – inactive) allows to choose if right arm joint  is visualized,
  • Q1 – button with indicator (red light – Q1 joint active, grey light – inactive) allows to choose if joint Q1 of active arm is visualized,
  • Q2 – button with indicator (red light – Q2 joint active, grey light – inactive) allows to choose if joint Q2 of active arm is visualized,
  • Q3 – button with indicator (red light – Q3 joint active, grey light – inactive) allows to choose if joint Q3 of active arm is visualized,
  • Q4 – button with indicator (red light – Q4 joint active, grey light – inactive) allows to choose if joint Q4 of active arm is visualized,
  • Q5 – button with indicator (red light – Q5 joint active, grey light – inactive) allows to choose if joint Q5 of active arm is visualized,
  • 1 HOUR – button with indicator (green light – 1 hour view enabled, grey light – disabled) allows to choose if 1 hour view is active,
  • 10 MIN. – button with indicator (green light – 10 minutes view enabled, grey light – disabled) allows to choose if 10 minute view is active,
  • 1 MIN. – button with indicator (green light – 1 minute view enabled, grey light – disabled) allows to choose if 1 minute view is active.

 

ARMS GAUGES

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Arm gauges presents 10 gauges presenting current arm joints angle values and their visualization. The zero position is visualized by hand being upright.

 

POWER SCOPES

10

Power scopes screen enables to view time charts of battery voltage and discharge current.

The upper part of the screen of the screen contains time chart of voltage with 3 buttons changing time scale:

  • 1 HOUR – button with indicator (green light – 1 hour view enabled, grey light – disabled) allows to choose if 1 hour view of voltage is active,
  • 10 MIN. – button with indicator (green light – 10 minutes view enabled, grey light – disabled) allows to choose if 10 minute view of voltage is active,
  • 1 MIN. – button with indicator (green light – 1 minute view enabled, grey light – disabled) allows to choose if 1 minute view of voltage is active.

The lower part of the screen of the screen contains time chart of current with 3 buttons changing time scale:

  • 1 HOUR – button with indicator (green light – 1 hour view enabled, grey light – disabled) allows to choose if 1 hour view of current is active,
  • 10 MIN. – button with indicator (green light – 10 minutes view enabled, grey light – disabled) allows to choose if 10 minute view of current is active,
  • 1 MIN. – button with indicator (green light – 1 minute view enabled, grey light – disabled) allows to choose if 1 minute view of current is active.

 

STATUS

11

Status screen presents state of the whole low-level control system.

At the top of the screen SYSTEM STATUS control presents the overall state of the control system – green light no critical errors occurred, red light – critical errors occurred. The triggers for critical errors can be changed in Safety Settings screen. Next to it, there is Clear Status button which allows to clear status error (it does not clear the errors which are the purpose of system error – e.g. arm shutdown errors, if they are still active, clearing status will not give any effect).

First section on the screen is AVAILABILITY, which provides information which modules are connected and respond to communication queries (green light) and which are not. There are fourteen controls for ten arm controllers (in fact they are connected in pairs), platform controller, multimedia board and two power supply boards.

Next section is ARM section. On the top of the sections there are two indicators:

  • Motors enable – informs if arm movement is enabled (green light) or disabled (grey light),
  • System calibration – informs about overall calibration status: green– arm is calibrated, blinking green – calibration in progress, grey – no calibration, red – calibration error.

Next there are calibration and errors indicators of all ten arm joints:

  • Calibration status – the same meaning as system calibration,
  • Voltage error – voltage below proper value,
  • Angle limit error – set angle exceeds angle limits,
  • Overheating error – Escon overheating error,
  • Packet error – wrong packet received (e.g. unknown command, incorrect communication frame),
  • Enable error – move command received when controller is in disable state,
  • Overload error – Escon overload error,
  • Ready error – Escon ready error,
  • Positioning error – difference between arm and motor encoder is above the set limit, arm unable to reach set position.

Next section is Power A & Power B, it contains following indicators for all seven channels of power supply boards:

  • Enable – indicates weather channel is enabled/disabled,
  • Voltage error – turns red when voltage exceeds internal limits (is too high or too low),
  • Current error – turns red when current exceeds internal limits.

Fourth section is MULTIMEDIA, it presents current sound state (muted/unmuted – currently not supported) and information about low voltage alarms (red light – alarm active, grey light – alarm inactive).

Last section is PLATFORM, it presents platform and its motors state. Firstly, there are six error indicators (red light – error occurred, grey light – no errors):

  • Max Alpha stop – the alpha angle has exceed value allowed value – navigation should be aborted,
  • Alpha angle error - the alpha angle has exceed the angle of safe operation – robot is falling over – this error will disable platform motors,
  • Voltage error – the voltage level is below the proper value,
  • IMU error – no connection with XSENS IMU,
  • Escon R error – error of controller of right wheel – for more details see error indicators in WHEELS section,
  • Escon L error – error of controller of left wheel – for more details see error indicators in WHEELS section.

Next there are motors (left and right) state indicators – firstly torque enable indicator (green light – torque enabled, grey light – torque disabled) and later three motor drivers errors indicators (red light – error occurred, grey light – no errors).

 

PLATFORM SETTINGS

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Platform movement controllers settings define the control algorithm adjustments. These settings should not be changed without consultation with robot designer, because inappropriate values may cause the fall of the robot and its damage. There are eleven settings, which can be changed by clicking up/down arrows next to them (all of them, except Al. Off., change the value by 1, the Al. Off. is changed by 0.1):

  • First row of settings (Rot Kp, Rot Kd, Rot Ki) are PID parameter for control algorithm for theta angle (robot orientation, yaw angle). The advised values are: Kp = 70, Kd = 25, Ki = 0,
  • Second row of settings (Trans. Kp, Trans. Kd, Trans. Ki) are PID parameter for control algorithm for robot translation. The advised values are: Kp = 71, Kd = 78, Ki = 0,
  • Third row of settings (Incl. Kp, Incl. Kd, Incl. Ki) are PID parameter for control algorithm for alpha angle. The advised values are: Kp = 72, Kd = 10, Ki = 0,
  • Fourth row contains two additional settings:
    • Al. Off. - alpha angle offset - enables to change the set position for alpha angle (in degrees), the advised value is 0.0,
    • Al. Stop - alpha angle value at which platform navigation will be stopped and stop error will occur (in degrees), the advised value is 11. The value of this setting should always be smaller than Safe Position Activation Angle setting (SAFETY SETTINGS screen), because stopping navigation should be carried out before activating safe positon.

 

STARTUP SETTINGS

13

Startup settings screen controls power-up actions of the low level control system. The settings define set of actions which will be undertaken just after starting the robot. Power up actions are controlled by ten controls with state indicators (green light – action will be executed at start-up, grey light – action will not be executed at startup).  The settings are:

  • Navigation enable – if enabled, ARNL navigation will be enabled after startup (connection enable control will be enabled). The initial state can be always changed in Platform data section.
  • Auto calibration – if enabled, arms will automatically calibrate after starting the robot. You MUST remember to ensure enough space for arm movements during calibration, otherwise arm may be damaged. Although, robot arms can start calibration from any position, it is strongly advised to put them manually close to neutral position (arms straightened, in body plane, hands slightly below the arms high, Bowden cables of arm joints, placed near second and fourth joint, should be above the joints). If auto calibration was not enabled, manual calibration (called from Arm data screen) is required before any arm movements.
  • Power settings allow to choose which power supply channels will be enabled:
    • Head supply – EMYS head power supply
    • Wrist supply – dynamixel motors, driving robot wrists supply,
    • Laser supply – laser scanner supply,
    • Comp. supply – onboard computer supply,
    • Hand_L supply – left hand supply,
    • Hand_R supply – right hand supply,
    • Kinect supply – Kinect sensor supply.

Initial choice may be changed in Power data screen.

  • Sound – enables the robot sound (currently unavailable)

It is advised to enable all above mentioned settings, although you should use auto calibration setting with special care (see startup section).

 

ALARM SETTINGS

14

Alarm settings screen contain controls of actions undertaken on low voltage alarms. There are eight, rows of controls with indicators (red light – the chosen power supply/control will be disabled when alarm will occur, grey light – voltage alarm will not affect power supply/control) and three columns which correspond to three voltage alarm level (alarm 1 – 20% of battery, alarm 2 – 10% of battery, alarm OFF – 0% of battery, which means that robot will shut down shortly). There are six power supply settings and two other controls:

  • Head supply – disables head supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – grey, alarmOFF - red,
  • Wrist supply – disables wrist supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – red, alarmOFF - red,
  • Laser supply – disables laser supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – red, alarmOFF - red,
  • Comp. supply – disables computer supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – grey, alarmOFF - red,
  • Hands supply – disables both hands supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – red, alarmOFF - red,
  • Kinect supply – disables Kinect supply at certain voltage alarms. Advised settings are: alarm1 – grey, alarm2 – red, alarmOFF - red,
  • Arm enable – disables torque for arm joints. Advised settings are: alarm1 – grey, alarm2 – red, alarmOFF - red,
  • Navigation enable – disables communication with ARNL navigation. Advised settings are: alarm1 – grey, alarm2 – grey, alarmOFF - red.

The suggested settings, can be interpreted in the following way: first alarm is just a warning of low battery power – no robot components are disconnected/disabled, the second alarm indicates that robot’s battery level is very low and all unnecessary components should be disabled, only computer, head and navigation system are still working, enabling remote control robot on his way to power source. The alarm OFF indicates that robot’s battery level is critically low and robot will shut down in a very short time (1-2 minutes for new batteries to seconds for exploited batteries). After this alarm, all robot components will be disabled, robot will only keep the balance. When alarm OFF occur, robot operator should immediately take care of the robot.

 

SAFETY SETTINGS

15

Safety settings screen consists of two parts. The first one contains controls with indicators (red light – error causes the critical error of the whole system, grey light – error does not cause the critical error of the system) which define which errors cause the whole system failure. They are:

  • Platform connection – lack of communication with platform controller will cause whole system failure,
  • Arm connection – lack of communication with at least one of the arm controllers will cause whole system failure,
  • Power connection – lack of communication with at least one of power boards will cause whole system failure,
  • Multimedia connection – lack of communication with multimedia controller will cause whole system failure,
  • Platform error – at least one of the errors listed in platform controller alarm stop register (max alpha stop, alpha angle error, IMU error, voltage error, escon R error, escon L error),  has occurred,
  • Arm error – at least in one of the arm controllers at least one of the errors listed in arm alarm shutdown register (overheating error, overload error, escon ready error, positioning error) has occurred,
  • Power error – in at least one channel of power boards voltage or current error has occurred.

The suggested settings is turn all above controls red (any of above errors will cause whole system failure). The only situation in which the above settings can be changed, is testing single robot components without all robot low level controllers connected/fully operating.

Second part of the screen contains controls with indicators (red light – action will be undertaken after critical error, grey light – action will not be undertaken after critical error) of critical error actions, which are the actions which will be undertaken when critical error will occur. The actions are:

  • Head supply – disables head supply after critical error. Advised setting is grey,
  • Wrist supply – disables wrist supply after critical error. Advised setting is red,
  • Laser supply – disables laser supply after critical error. Advised setting is red,
  • Comp. supply – disables computer supply after critical error. Advised setting is grey,
  • Hands supply – disables both hands supply after critical error. Advised setting is red,
  • Kinect supply – disables head supply after critical error. Advised setting is red,
  • Arm enable – disables torque for arm joints after critical error. Advised setting is red,
  • Navigation enable – disables communication with ARNL navigation after critical error. Advised setting is red.

The suggested settings should not be changed.

In the bottom of the screen there is Safe Position Activation Angle with two arrows for adjusting its value. Safe Position Activation Angle is alpha angle (pitch angle) at which robot will rapidly move his arms to save position (along the robot body). The advised value for this setting is 20 degrees. The value of this setting should always be greater than Alpha stop setting (PLATFORM SETTINGS screen), because stopping navigation should be carried out before activating safe positon.

 

CONSOLE

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Screen contains diagnostic information about the robot operation. First, it prints information about robot startup. Later, important operating information are printed, e.g. communication errors, playing alarm sounds, etc. To refresh screen, it is needed to exit screen and enter it again.

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.8.0, 27.04.2016

FLASH Documentation