rozum robotics Pulse, Operator'S Manual

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ROZUM ROBOTICS PULSE DESK
Rev. 5, in effect from Q2 2019 Page 7 | 56
1.2 States and modes of the PULSE robot
1.2.1 Normal states and modes of the PULSE robotic arm
Table 1-2 describes the normal states and modes of the robotic arm. Transition from
INITIALIZATION to READY is automatic, whereas from READY to WORK and back—are
software-enforced.
Table 1-2 : The states and modes of the PULSE robotic arm
State Details
INITIALIZATION
Power is supplied to the robotic arm via the cable connecting it to the control
box. The arm is initializing, running self-tests to check its components. During
the initialization, the LED on the control box is blinking green, while the LED
on the robotic arm is off.
Do not move the arm manually until the initialization is over
and the wrist LED on the arm is steady green!
In case any self-test fails, the arm goes to the emergency state.
The red LED on the control box lights up, whereas the LED on
the arm wrist remains off.
READY
The robotic arm is on and ready for operation, but not in motion. The green
LED on the control box is constantly on. The LED on the arm wrist is steady
green.
You can now proceed to initialize the PULSE DESK software
(see
Section 3.1 ) or get access to the API (see Section 5 ) or the sandbox
(see Section 6 ).
If you are initializing the PULSE DESK software for the first time, the arm
goes to the LEARN mode as soon as the starting page of the software is
displayed on the screen. Subsequently, the LEARN mode is enabled whenever
you create a new program (see
Section 4.1.1 ).
Once the LEARN mode is on, the control buttons are enabled, and the wrist
LED turns yellow. In the mode, two sub-modes are possible:

Freeze : The arm joints are locked in their current positions, and the user
cannot move them by hand. The Freeze mode is on by default.
In the Freeze mode, an attempt to move the robotic arm by hand
guiding can cause damage to its components.