Key Concepts
Rev 1.8 -- Use or Disclosure of Data Contained on this Page is Subject to the Restrictions on the Inside Title Page of this Document
12/5/16
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Mode Change Interlock
If you are in the process of switching modes (
Standby
to
Hand
mode or
Hand
to
Arm
mode) and the system detects a command to move, the mode change
interlock becomes active. As a result, the white Arm Mode LED on the Wrist
Display blinks rapidly informing you of the problem.
You can switch modes when mode change interlock is active, however you will not
be able to command the arm. When the IMUs are returned to the zero position or
the wired input falls below the activation threshold you will be able to command the
arm.
If the problem does not clear automatically and the white Arm Mode LED continues
to blink, you need to re-position the IMUs/feet or zero the IMUs by going into
Standby
) or you need to ensure the wired inputs are
not activated.
Zeroing the IMUs
Zeroing the IMUs establishes a neutral position. When you take the arm out of
Standby
mode the system zeros the IMUs by taking a snapshot of the IMU’s
position and identifies that position as neutral. For example, if you should take the
arm out of
Standby
mode while your feet and attached IMUs are in an inclined
position the IMUs will be zeroed at that position. If you should then place your feet
and IMUs in a different position without zeroing the IMUs the result could be
unintended arm motion. To ensure this does not occur re-zero the IMU s by
performing the following steps:
1.
Using the designated mode input place the arm in the
Standby
mode.
2.
Place your feet at the position you want to zero the IMUs (usually feet flat on the
ground).
3.
Using the designated mode input take the arm out of
Standby
mode.
4.
The IMUs are now zeroed for that position and the IMU LED blinks blue once
every five (5) seconds.
If you have to continually re-zero the IMUs while not changing the neutral
position you should check to ensure the IMUs and shoe clips are securely
attached to your shoes.
