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Intera 5.3
Overshoot - The overshoot is calculated as the difference in position of the end-effector measured
at the E-Stop time and the steady state time.
We also tested under multiple scenarios, and varied payload and voltage mode. The table below
summarizes the data from these runs.
Table D-1: E-Stop performance data for eight different conditions, varying the velocity mode and
the payload. The joint acceleration setting is set to
express
and the speed ratio is set to 1.0 in the
Intera software.
More information about low velocity mode can be found in the document titled Sawyer Safety Over-
view: Low Power Mode
.
Payload vs. Reach
Depending on where Sawyer is in the workspace and how the end-effector is designed, the combi-
nation of speed, acceleration, reach and payload can have an impact on overall performance of the
robot. We can use Figure D-4 to represent the workspace in terms of speed ratio, acceleration,
reach and payload, unless one of the following conditions is met:
•
The reach of the robot during a task is greater than 1 m;
•
The center of mass of the payload is offset from the J6 axis by more than 10 cm;
•
The payload offset from the J6 axis is greater than 2 kg.
MODE SETTLING TIME (sec) OVERSHOOT (mm)
Low velocity mode/0 kg payload 0.3 50
Low velocity mode/3.85 kg payload 0.5 80
Normal velocity mode/0 kg payload 0.2 80
Normal velocity mode/3.85 kg payload 0.2 110