Internal Signals - Rethink Robotics Baxter User Manual

duration of a pulse for as much as 5 seconds or as little as .5 seconds. The
default is 1 second.
• Reset Out - Baxter can send a Reset Out Signal to reset a PLC when the user
presses "Reset" in Baxter's UI. Returns all counts to 0.
• Hold Active - Sent when Baxter's arm arrives at a Hold location. When Baxter's
arm settles in the hold pose, the Active signal is sent out and will remain true for
the duration you have defined, whether 5 seconds, 30 minutes or unlimited.
When that time is up, Baxter will move on to its next location and wait for the
next signal.
Note:
configured hold time or the pulse duration.

Internal Signals

Internal signals do not involve communications between Baxter and outside devices. Rather, they
use the existing signaling system for communication within the robot itself.
Internal signals enable more granular control over arm coordination with less reliance on a PLC.
Whereas in previous versions you could coordinate across arms at a subtask level, as of 3.2 you
can coordinate anywhere you can add a signal, say at the start of an action, during the action, or the
end of an action.
As one example, with internal signals, Baxter can perform a pick on one arm, then signal the other
arm with a Done signal. That triggers the Ready signal of the other arm, which then performs its
task.
To set up, internal signals need to have an input and output on the same line, and the trigger logic of
the input (Gate/Enable) needs to work with the duration of the output, i.e., Gate will work with a
duration of 0.5 seconds, but Enable will likely need a longer duration.
Note: Baxter will show confusion when an internal input signal does not have a
corresponding output signal on the same line.
Signals
The duration of the Active signal is equal to whichever is longer: the
129
Intera 3.2