Rethink Robotics Sawyer, Original Instructions Manual, Page: 19 / 220

12
Intera 5.3
Getting to Know Sawyer
degrees. The closer you are to the edge of these limits, the greater the chance
the robot will be unable to train an action.
•
If you notice Sawyer cannot reach a location, try moving the location closer to
the robot, or re-train the location.
•
The training cuff can rotate 540 degrees. If, when training, the orientation of the
training cuff is twisted near its limit, the robot may have trouble when you run the
task.
The possible vertical range of an action is reduced as you move closer to the edges of the
maximum available workspace of the robot.
The robot’s software, including collision avoidance, can also limit the movement and capabilities of
the arm. For example, you cannot incorrectly train the robot so the arm crashes into itself.
In Intera Studio, you can click on the Joints Tab to see the extent of rotation of each of Sawyer's
joints. A slider near either end of the slider range indicates proximity to a joint limit. You can also see
the joint position indicators on the right side of the robot’s display screen.
Head
Sawyer’s “head” is the LCD display that sits on top of the robot. It houses the Graphical User
Interface (GUI). The head also contains a camera and a light that communicates the robot’s
condition.
The head is back drivable. It has a motor in it, which means you can physically move the head
whether or not the robot has power. The head can be moved along the same joint/axis that it moves
itself. It rotates a total of approximately 350 degrees.
There are two modes for head movement: passive and active. Passive means you can move the
head manually. In active mode, the head automatically follows the movement of the training cuff.
IMPORTANT: It is relatively easy to move the head. Even a single tap of the finger can move it, so do
not use force when moving the head. When you feel resistance, stop.