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Intera 5.3
Sawyer and Safety
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Subsystems:
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Distributed Joint Controllers: Provide local “heartbeat” monitoring at each
joint, local joint disabling and braking capability.
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Global Joint Disable/Braking: Implemented by the disruption of the
heartbeat signal.
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Joint Position and Force Sensing Redundancy: Multiple sensors and
feedback mechanisms at each joint enable correlation of results to detect
failure.
•
Joint Controller Watchdog Timer: Self-monitoring disables motors and
applies brakes if an internal issue is detected with any joint or sensor.
5. Sensing and Behavior
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Head Motion and Screen: Sawyer provides feedback on their status and
intentions, using their eyes during operation to signal intent by looking in the
direction of the next motion. This cue is intuitively picked up by nearby workers,
signaling what the robot will do next.
•
Motion Deactivated: Sawyer can be quickly and easily stopped by touching any
button, as if tapping a coworker on the shoulder.
•
Head-Mounted Lights: Sawyer has lights to signal status at a glance.
Rethink’s Collaborative Robot Regulatory Certifications
An application risk assessment, performed by the integrator and/or user, is a critical requirement to
ensure the proper use of Rethink's Collaborative Robots and the safety of personnel associated
with the robot’s application. The end effector and part must be evaluated as part of the application’s
task-based risk assessment. If either presents a hazard, safeguarding can be required. For
example, a risk assessment for an application where Sawyer would be handling “knives” or sharp-
edged objects would result in excluding collaborative operation and using Sawyer as a typical
machine that is safeguarded.
Sawyer complies with applicable requirements in ISO 10218-1:2011 as supplemented by ISO/TS
15066 for collaborative robots and provides E-stop and protective stop functions meeting
requirements in ISO 13849-1:2006, Cat. 3 / PL d. Sawyer meets applicable requirements for
electrical, fire & mechanical hazards in IEC 61010-1:2010 (including all country deviations in the CB
Scheme), and EMC requirements in IEC 61326-1:2013.
Summary of Contents for Sawyer
Page 15: ...8 Intera 5 3 Getting to Know Sawyer Hardware Overview of Your Robot ...
Page 16: ...9 Intera 5 3 Getting to Know Sawyer Dimensions ...
Page 17: ...10 Intera 5 3 Getting to Know Sawyer Sawyer Reach ...
Page 93: ...86 Intera 5 3 Train Pick and Place Patterns on the Head 11 Press OK to go to the next step ...
Page 104: ...97 Intera 5 3 Train Pick and Place Patterns on the Head You may now run the task ...
Page 134: ...127 Intera 5 3 TCP IP The Set To node in the Behavior Editor is used to output information ...
Page 138: ...131 Intera 5 3 Fieldbus Devices 3 Using a keyboard navigate to CONFIGURATION and press ENTER ...
Page 155: ...148 Intera 5 3 ...
Page 156: ...149 Intera 5 3 ...
Page 180: ...173 Intera 5 3 ...
Page 190: ...183 Intera 5 3 Fixed Data 112 From Robot ...
Page 206: ...199 Intera 5 3 Small Assembly 114 From Robot 115 To Robot ...
Page 207: ...200 Intera 5 3 Large Assembly 116 From Robot 117 To Robot ...
Page 208: ...201 Intera 5 3 Floats 118 From Robot 119 To Robot ...
Page 209: ...202 Intera 5 3 Strings 120 From Robot 121 To Robot ...
Page 218: ...Z Zero G button 16 17 Zero G mode 24 Zero Gravity mode 17 zoom reset 42 ...
Page 219: ......
Page 220: ...Last updated June 18 2018 Intera 5 3 User Guide Getting Started Rev A ...