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  2. Hi, I need help in doing a simple pick and place task with the Sawyer robot in the Gazebo simulator. I tried the IK pick and place script which was provided but the gripper always used to miss pick the cube. Is there a way to integrate the OpenCV with the IK pick and place script so that the robot can detect the objects kept on a table and perform the operation in the right manner. Also, is there a way that the edge detection algorithm can be used for the pick and place operation? Please let me know of the resources, methodologies or scripts available for testing purposes. I also want to know if its possible to use a kinect sensor to help the robot in the pick and place operation. Thanks!
  3. Sheldon

    TCP coomand when task starts

    Does anyone know if it's possible to use the SDK to program a TCP command to be sent any time a task is run?
  4. SmartID

    J5 Joint Error

    But mine is J4
  5. SmartID

    J5 Joint Error

    Hello Sheldon, I have the same error on my Sawyer, it might be from Series elastic actuators, it goes all the way till reach the stopping point. I have this error only using the Zero- mode... But still await for an answer back... BR ~Florin
  6. I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it.
  7. Who (from Rethink Robotics) supported you on it? Who (from Rethink Robotics) supported you on it?
  8. I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it.
  9. Do you have this firmware?
  10. Hi Eric, Yes, I did after a bit of a challenge from the Techsupport. Upon robot delivery, the safety PLC is not configured for external PLC control. You need to ask for a safety PLC software upgrade file and steps on how to load it on the Banner safety PLC from your local support, and this will solve everything if the sawyer is running the latest firmware. Depending on your external safety devices you can then choose appropriate signals. Shame there is no option to pause/stop the main task externally. It has to be through software logic triggered on a digital input signal or Comms through a PLC. I hope this helps. Regards Ash
  11. Can anyone help with this?
  12. I want to do the same, did you solved it?
  13. Eric Prieto

    Sawyer velocity controller parameters

  14. Ray

    Robot Booting Problem

    in case anyone else has the same problem. figured out what the problem is. the connection cable between the arm and the control box is a deficit. replacing the cable fixed the problem.
  15. Ray

    Robot Booting Problem

    Hi, All, I just purchased a sawyer robot and it is not functional. When I boot it, it shows configuration failures, as shown in the photo 1 attached. and when I run a diagnosis, I think it finds JCB configuration errors, as shown in photo 2 and 3. any help will be very appreciated! thank you in advance!
  16. Raphael

    J5 Joint Error

    Hi, Sheldon, I'm sorry to hear that. There seems to be a mechanical problem / defect. Please send us a detailed description of the error, with videos / pictures to We will find a solution. BR Rethink
  17. Sheldon

    J5 Joint Error

    The J5 joint on my Sawyer is having issues. Upon startup the joint rotates all the way to the stopping point. Even when using Intera studio to articulate the arm it says it cannot articulate to the position. I can't seem to figure out what could cause this. Any thoughts?
  18. Hi I was reading another, older thread here that suggested it is not possible to use scripts like 'go to cartesian pose', or anything requiring the motion planner server, with the simulated robot. Is this correct? I am asking because before I spend time troubleshooting my error ("Timed out waiting for Motion Controller Server to connect") I wanted to make sure it is presently possible with the current SDK! My application: I want to send very basic zig zag patterns to the robot, starting from the top left corner of a 2D plane in front of the robot, and moving left to right and down the plane. We do have the robot but I need the convenience of using gazebo for now. Many thanks Ross

    How to shutdown sawyer robot

    What is the correct process (to follow) to shutdown correctly the robot in SDK mode?
  20. Hi There, I'm new to sawyer robot and i must say integrating external safety devices and controlling the sawyer remotely from a PLC via a simple start, stop and safety reset is not straight forward as compared to the other robots I have integrated to PLC and safety system. I'm trying to use a three push-button - Start/Resume, Stop and Safety reset which are controlled through a PLC. I found there are only non-safety signals that go through SC26 safety relay! The three non-safety IN11, IN12, and IN13 do not come with Nonsafety robot stop or pause. Any of the external safety inputs - IN 15-16 and IN17-18 act as safety stop which is not I want it to happen. Is there a way to stop/ pause the robot without tripping the safety through hardwire signals? For tripping the robot using a safety mat or Light curtain I simulated by sending control voltage as per the manual. The robot's safety trips but the SC26 goes into fault mode and the signal on IN13 has no impact. This is very odd and nothing is explained in the manual. Does the SC26 safety relay in the sawyer need re-programming? I'm surprised to see there are no jumpers in the safety input channel. Please, can anyone help? I have a tight deadline. Regards, Ash
  21. Hello, I am setting up the Sawyer in the Mujoco physics simulator, but I have some trouble finding information on the joint velocity controller. More specifically, I am interested to know what happens when we set joint velocities using the set_joint_velocities method on the Limb class . I assume it uses a PID contoller to convert the commanded velocities to low level signals on the arms, but I would like to know the process more precisely. For instance, what are the velocities mapped to and what is the type of controller and what are its corresponding gains? I am trying to understand how the actuation model works in a bit more detail so I can set up the simulation adequately, apologies if I missed some documentation somewhere that goes through the information I am looking for. Thanks!
  22. SmartID

    Sawyer Components

    Found it x Thanks !
  23. SmartID

    Sawyer Components

    Good day, all ! Where can I find part number for Sawyer ? Some tehnical data with components and part number for all components. Ex : If a customer has the ring for lock/unlock gripper, damaged, where I can find the part number of that ring ? Many thanks !! Florin
  24. Honglu He

    Toggle Vacuum On/Off in SDK

    In Intera Mode it's easy to toggle the vacuum on/off by pressing the white "grasp" button. Is there a way to do that in SDK mode? I've tried to publish command to "/io/end_effector/right_vacuum_gripper/command", "/io/end_effector/right_vacuum_gripper/command", and "/robot/digital_io/right_valve_1b/state", but they didn't change the state of the vacuum.
  25. John McDonald

    Gazebo simulator

    What version of ubuntu, etc. are your running on? We have successfully run the simulator in our robotics class where student have worked with gazebo + SDK on ubuntu 16.04 / ROS kinetic where the students are not connected to the robot. We have done this with a direct install onto our lab machines, however we also have a docker setup that's available here: Hope this helps!
  26. Rich Mercurio

    Original equipment electric parallel gripper

    Does anyone know where to get this gripper repaired?
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