Jake Hiltz

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Jake Hiltz last won the day on September 18 2018

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About Jake Hiltz

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    Power User

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  • Company Name
    rethink robotics

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  1. Jake Hiltz

    Sawyer not connecting to ROS

    @Conti Michele: Your screen shows that your are running Intera Studio, which indicates that the robot is booted up into the manufacturing mode, not the SDK mode. You need to power down the robot, then boot into the field service Menu (FSM) http://sdk.rethinkrobotics.com/intera/Field_Service_Menu_(FSM) From the FSM, you need to select SDK, then reboot again. When the robot boots up, you will just see the Rethink logo on the head screen. This is how you know you are in the SDK.
  2. Jake Hiltz

    Problem encountered with the PLG gripper installation

    Hi Yuan, The gripper is pneumatic, which means that you need to supply compressed air (2 - 8 bar). It is connected to the open connector shown in your picture.
  3. Jake Hiltz

    External I/O

    Hi Hal, Yes, you can use the supplied 24V as long as the total current doesn't exceed 1A. Jake
  4. Jake Hiltz

    Sawyer robot's connection with Robotiq gripper

    Hi Akira, I wish I had an easy answer, but I haven't set one of these up before. Some sort of TCP/IP to serial converter might work. Regarding Ethernet IP (and the associated EDS files), Sawyer is an "adapter" which can talk to a "scanner" (which is often a PLC). I think the Robotiq gripper might also be a scanner, so don't think that would work. You might able to use the Universal Controller from Robotiq and communicate with it via TCP/IP messages to/from Sawyer. The user manual for the gripper shows the strings that need to be sent to the controller for various commands starting on section 4.7.2 https://robotiq.com/support/hand-e/literature-instruction-manual
  5. Jake Hiltz

    Installing an external Laser safety scanner

    You're welcome Martin! It is late in Germany, you shouldn't still be working!
  6. Jake Hiltz

    Installing an external Laser safety scanner

    Hi Martin, I forwarded this along to the support team who can help you with the new config file for the Banner. If you attempted to put 24V to those inputs now, I suspect it would go into a safety stop because it detects a voltage when it doesn't expect it. The signal needs to be high for more than 50ms. That is the default debounce time for inputs per the Banner specs (http://info.bannerengineering.com/cs/groups/public/documents/literature/174868.pdf)
  7. Jake Hiltz

    Installing an external Laser safety scanner

    Hi Martin, The jumpers I am referring to are physical wires that connect IN15 and !N16 to the 24V terminal located above the Banner. If those wires are there, then it is already configured, if not it is not. To continue, restart, or enable, the IN11, 12, or 13 need to see a transition from 0V to 24V. So, yes, you would put the switch between the input and 24V. Sorry, I wasn't very thorough in that explanation. You can use the 24V terminal located just above the Banner. Just make sure to unplug the robot from power before doing any wiring because the 24V is still hot even if the robot is powered down, but still plugged in.
  8. Jake Hiltz

    Installing an external Laser safety scanner

    Hi Martin, Correct, IN15 and IN16 are the inputs you should connect the scanner to. If there is already a jumper between 24V and these inputs, you will not have to reprogram it. If there is not, please email support@rethinkrobotics.com and we will give you a new configuration file to load on the Banner that will activate them. When the scanner is activated, the robot will go into the emergency stop state, just like pressing the e-stop button. Therefore, if you cannot get close enough to the robot to re-enable, and restart the task, you will want to wire switches or push buttons to IN11, IN12, and IN13 (continue, restart, enable). Jake
  9. Jake Hiltz

    Intera SDK Version

    Hi lr101095, I moved your question over to the SDK forum.
  10. Jake Hiltz

    Sawyer robot's connection with Robotiq gripper

    Thank you Tobias for the great info. The bolt pattern on Sawyer's arm is ISO 9409-1-40-4-M6, so make sure to get the plate that supports that specification. Here is a link to a drawing. http://mfg.rethinkrobotics.com/intera/End_of_Arm_Tooling#Sawyer_Standard_Tool_Plate
  11. Jake Hiltz

    Pedestal column moves

    Hi Sid, Yes, this can happen if the threaded rods that secure the pedestal column are loose. I recommend taking the robot off the pedestal, then tightening the 2 nuts there to at least 30Nm. You can tighten them even further as long as you don't exceed 180Nm. You may also want to remove them and apply some thread locking (like Loctite brand), that would also help to prevent them from becoming loose. After putting the arm back on the pedestal, please tighten those bolts down to 16Nm.
  12. Jake Hiltz

    PLG - gripping rubbers

    Yes! The black pads are made of rubber and the light colored ones are made of silicone. So, depending on the types of material you are handling, one of those materials may be required.
  13. Jake Hiltz

    External I/O

    Hi Raj, Unfortunately, there is no documentation or support for using the Moxa with SDK in version 5.2.
  14. Jake Hiltz

    External I/O

    Hi jbrodt, Have you checked out this page? http://mfg.rethinkrobotics.com/intera/Moxa_ioLogik_E1212 There you will find wiring diagrams from the perspective of the Moxa. Your sensor should also have a wiring diagram and probably has a brown, black, and a blue wire. It is just a matter of matching them up. Note, there is a terminal strip directly above the yellow Banner safety controller that you can use for power. Also, before doing any wiring, I recommend to unplug the controller from the AC power source. If it is plugged in, that 24V power supply is on even if the robot is turned off. You may blow a fuse if you wire while it is plugged in. Typically, the brown wire goes to +24V, the black wire goes to the specific input you want to use, and the blue wire goes to 0V. Depending on whether the sensor is PNP or NPN, you will connect either 0V or 24V to the common. So, typically, this is the specific wiring which also includes the ground connection specified in the Moxa diagrams. PNP: - brown wire to +24V - black wire to the input on the Moxa (DI0 for example) - blue wire to 0V, GND, and COM 0. NPN: - brown wire to +24V and COM 0 - black wire to the input (DI0 for example) - blue wire to 0V and GND Once you have it wired, you can use the signals in your task. So, if you wire up DI0, on the Moxa, this is DI_0 in the software. You can use a Do If node, a Loop If, or a Wait Until node which uses the input as the condition. More info on signals: http://mfg.rethinkrobotics.com/intera/Signals_Panel More info on the Do If, Loop If, and Wait Until nodes: http://mfg.rethinkrobotics.com/intera/Intera_Studio#Node_Palette Let us know if you have more questions. Jake
  15. Jake Hiltz


    Hi Bill, Have you tried the tutorials on the Wiki? http://sdk.rethinkrobotics.com/intera/Gripper_Example http://sdk.rethinkrobotics.com/intera/Gripper_Cuff_Control_Example If this is an ClickSmart gripper, you need to boot into MFG version first and configure it. Check out Ian's post on that topic here: