What`s new with Intera 3.2
what’s new with interaTM 3.2 and release notes Safety Statement Complying with ISO 10218-2 requires performing a risk assessment of each application to determine the needed safety performance and safeguarding. ANSI RIA R15.06-2012 is a U.S.national adoption of ISO 10218-1 & 2. Users should exercise caution while training Baxter and practicing its motions. The risk of injury is increased when using custom end-effectors, off-vertical motions, and potentially hazardous work pieces. Rethink Robotics recommends the use of safety glasses when interacting with Baxter, as with other equipment used in industrial environments. For additional information, reference Baxter’s Safety Documentation: http://www.rethinkrobotics.com/resources/safety/ Baxter’s maximum transit speed is now controlled to 2 meters per second. (2 m/s). What’s New with Intera 3.2 and Release Notes page 2 This document will provide a preview of what’s new in Intera 3.2 as well as a list of important release notes. Please remember to read the entire “READ ME FIRST” installation guide before updating Baxter to Intera 3.2. What’s New? Increased Flexibility Create tasks without a pick and place – You can now create a hold as a distinct subtask; you no longer need to create a pick and a place to be associated with a hold. Baxter will move to the hold location, hold for as long as you define, and then move on to its next pose. More end effector options – Attach an end effector or don’t attach an end effector -- the choice is yours. Beside attaching end effectors that are already supported, you can easily attach a vision system, a dispenser, or other non-grasping end effectors. Configuring End Effectors Made Easy – Now you simply enter the weight and length when attaching Rethink’s electric parallel gripper. Also, Intera recalls the last configured gripper parameters, making reconfiguring much quicker. So if you unplug the end effector for calibration, for example, when you plug it back in, you can reconfigure the end effector with a single click. No movement at start up – The arms no longer move when you power on the robot. This keeps the arms from inadvertently colliding with anything in the environment. Define the number of attempts – By default, Baxter will attempt to pick twice. With Intera 3.2, you can define specifically how many attempts Baxter will make. You can also choose to have the robot stop if a part is knocked out of the robot’s hand. Apply changes to paths in both directions – Have you ever modified a custom path only to have to then modify its return path? We now make that easy. After modifying a path, you can now press a button to copy the changes to the return path. Clear all actions from an arm – If desired, you can quickly delete all actions on a given arm in a task. This is helpful when something has changed in the work cell for one arm and you want to completely change that arm’s actions. New confusion checklist – If the robot goes confused, Baxter now displays a checklist of items to inspect. Hold – A new checkbox allows you to instruct Baxter to hold a pose until it receives a signal to do something else. This gives you greater flexibility when working with tasks that require signals to move on from a hold. Delete all tasks from the gallery – You can quickly delete all tasks in the gallery by pressing the Rethink button and confirming the deletion. New Signals New Signal Association UI – Allows you to configure and assign signals much more quickly than in previous releases. Internal Signals – Use Intera’s existing signaling architecture to communicate between arms. For example, for more granular coordination between arms, send a “Done” signal What’s New with Intera 3.2 and Release Notes page 3 when a pick completes on a right arm to trigger the left arm with a “Ready” signal.This reduces the need of a PLC in some cases. Do Subtask – Associate this signal with subtasks. When the signal is true, it executes a specific subtask. Active Signal – Use with Holds to trigger an external device like a dispenser or vision system until the signal goes false. Pause Signal – When this signal goes true, the robot pauses where it is and then continues when this signals goes false. Existing Signals’ Enhancements – Use Start and End signals on subtasks; Ready can be set to gate or enable; Ready’s “reset count” can now be set to “Never.” There is a new Reset Count signal. Intera 3.2 Release Notes The device name of “Torso,” which represents Baxter’s single input and single output signal, has been changed to “Robot.” If a Reset Count signal is associated to an action or subtask, the robot will not go confused when a count is completed. If for some reason you need to downgrade the robot, you must download the Intera 3.1.2 software. You cannot downgrade from Intera 3.2 to Intera 3.1.1 or 3.1. Tasks created in Intera 3.2 are not compatible with earlier versions of software. Note that downgrading from 3.2 to 3.1.2 will remove all tasks, gripper settings, etc. If you delete an external MODBUS device from the robot, any tasks in the gallery that have signals associated with that device will automatically be set to the “Internal” device. If you reconfigure that external MODBUS device, you need to edit each of the signals in the task to match the new device. The Error input signal now stops the robot and requires human interaction to start the robot again. This signal should be used for serious failures from other components of the line when you want the robot to stop working. If you simply want to pause the robot when a signal goes true, and have it continue working when the signal goes false, we recommend you use the new Pause signal introduced in Intera 3.2. The holding force parameter in the electric parallel gripper settings has been removed from the UI in this release. Once the gripper detects an object, the motors stop driving and lock in position. Previously, if the gripper was detecting that it lost a part, this "Holding Force" parameter would drive the motors closed again. The problem had been that when this value was changed from the default 30% to a higher value, it could cause the gripper shuttles to jam and fail calibration. If you need to control the force but keep the grip speed slow, the better parameter to use would be object detection force. Lower your grip speed and keep object detection force higher. That will allow you to use a greater force in getting the fingers to a successful pick position that will hold the part firmly. We've made the configuration of end effectors more straightforward and intuitive. Now you may input the total weight of the whole end effector assembly (for parallel/pneumatic gripper What’s New with Intera 3.2 and Release Notes page 4 plus fingers, as well as suction gripper base plus any structures and suction cups). Previously the robot was adding the weight of the default parallel gripper base (0.3kg) automatically to the configured FINGER weight. Therefore, after upgrading to 3.2, the displayed total weight of the parallel gripper assembly will be 0.3 kg higher than the previously configured FINGER weight in 3.1. Similarly, after upgrading from 3.1 to 3.2, for parallel/pneumatic grippers, an extra 45mm will be added to the previously configured finger length in 3.1, which was added by the software automatically but is now included in the configured total length of the end effector assembly. The length and weight of Rethink’s electric parallel grippers are below: Component Weight (Kilograms) Length (Millimeters) Electric Parallel Gripper without fingers 0.3 Kg 43 mm Wide Short Finger 0.02 Kg 73 mm Narrow Short Finger 0.01 Kg 73 mm Wide Long Finger 0.02 Kg 112 mm Narrow Long Finger 0.02 Kg 112 mm What’s New with Intera 3.2 and Release Notes page 5 What’s New with Intera 3.2 and Release Notes page 6 ©2008-2015 Rethink Robotics, Inc. 27-43 Wormwood St, Boston, MA 02210. All Rights Reserved. Rethink Robotics and Baxter are trademarks of Rethink Robotics, Inc. U.S. Patents Pending. What’s New with Intera 3.2 and Release Notes page 7
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