Rethink Robotics Baxter, Руководство пользователя

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Intera 3.2
Signals
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In Error (level) – Signals to Baxter that an external machine or device has an error.
Baxter stops and waits until In Error becomes false before resuming where it left
off.
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In Pause - Freezes Baxter when true. (Pause can sometimes be more convenient
than an Error In signal, which causes Baxter to display a confused face and
requires someone to interact with Baxter to "fix" whatever caused the error in
signal.)
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In Skip (level) - For sub-tasks, signals that the task should skip to the next sub-
task. This signal is only considered when a sub-task is between action
sequences. For Hold actions, causes the hold action to terminate immediately
instead of waiting until the time interval has elapsed.
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In Do Subtask - Allows you to more easily tell Baxter what to do and when to do
it. If a task has all its subtasks with the Do Subtask signal assigned, each subtask
is, in effect, in "listening" mode. You can send a Do Subtask signal at any point to
instruct Baxter to perform a specific subtask and then wait there until the next
signal tells Baxter where to go and what to do. This provides greater flexibility
when working with a ready signal and reduces ladder logic in a PLC. If all
subtasks do not have the “Do Subtask” signal associated with them, Baxter will
perform its task typically, skipping those subtasks that have "Do Subtask"
associated but not asserted.
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Reset In - Baxter can receive a Reset In Signal if a PLC triggers Baxter to reset its
task to start at the first action. This is essentially the same as stopping Baxter
and pressing the reset button. Returns all counts to 0.
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Reset Count - Resets count when true.
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Out Done (level) - This signals that Baxter is done with an action, sub-task or
task, i.e., that the count is complete. This signal may stay true for an arbitrary
length of time, but never less than 0.5 seconds.
•
Out Count (edge) - Signals that Baxter has executed an action that has changed
a count.
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Out Error (level) - Signals that Baxter has a problem and has stopped executing
the task.
•
Out Confusion (level) - Signals that Baxter may need materials or help. User
intervention is likely required.
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Out Action Started (edge) - Signals that Baxter is starting on an action or
subtask, i.e., that the arm has reached the action's approach point. In other
words, start pulses at the approach pose of the first action of the subtask. You
can define the duration of a pulse for as much as 5 seconds or as little as .5
seconds. The default is 1 second.
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Out Action Ended (edge) - Signals that Baxter has finished an action or subtask,
i.e., pulses at the retract pose of the last action in the subtask. You can define the