Rethink Robotics Sawyer, Original Instructions Manual, Page: 182 / 220

175
Intera 5.3
Note: With Intera 3 software, the default Banner Safety Controller configuration supports only the
Emergency Stop Switch. With Intera 5 software and the default wiring and configuration settings,
the Safety Controller will also support common safeguarding devices such as laser scanners, light
curtains, and safety mats.
LOW POWER MODE
Sawyer is designed as a power and force limited robot by inherent design, but customers can
choose to further limit the capabilities of the robot by further limiting the power available to the
robot in such a way that limits the maximum speed at which it can run. This is done by operating
Sawyer in Low Power Mode .
The Banner Safety Controller has been customized to monitor the voltage of the power going to
Sawyer's arm. To place Sawyer in Low Power mode, jumper the Low Voltage Enable signal before
powering up the robot. The robot’s maximum speed will be limited to approximately half that of
normal operation.
If, at some point, the Banner Safety Controller senses the robot operating at normal power mode
when the wiring is configured for low power mode, the motor power relay will be opened, cutting
power to the motors in the arm, and a safety violation error will be reported.
WHAT HAPPENS WHEN A SAFETY DEVICE IS TRIGGERED
When there is a category 0 stop signal, for example, the E-stop is pressed or a light curtain is
obstructed, the Banner Safety Controller Interface signals the robot's I/O Controller Interface to
inform the robot controller that it will be losing power, and signals the motor bus relays, opening the
switch, and cutting power to the actuators in the arm.
In the meantime, the joint controller boards in the arm receive notification of the category 0 stop,
and decelerate the actuators using regenerative braking, leveraging the residual power generated
from the spinning motors to stop them. The arm rapidly slows to a stop. Brakes in three of the large
joints lock in place to prevent the arm from falling under gravity, while the three small joints at the
end of the arm gently coast to a gravity-neutral position.
EMERGENCY STOP SWITCH
Sawyer ships with an E-stop device (Emergency Stop button), which can be used in the event of an
emergency to remove power from Sawyer's arm. The E-Stop button is a safety-rated safety device
that meets functional safety performance level PLd CAT3.