Rethink Robotics Baxter User Manual page 136

• To disable an existing signal, select none in the spin box next to the signal, then
return with the Back button. This removes the association of the signal from the
current action, subtask, or at the task level, but the signal itself remains available,
so it can be associated to other actions, subtasks, or at the task level.
• Internal signals default names all begin with INT. (e.g. INT Ready 1)
• As of Intera 3.2, the designation Torso is now Robot, and default names all begin
with Robot. (e.g. Robot, Ready). As a reminder, Baxter has a single input and a
single output accessible through the robot's Db15 port.
• The "Reset Count" policy for a Ready signal can be set to never, and you can
separately assign a Reset Count signal, if needed.
READY SIGNAL: CONFIGURE AS GATE OR ENABLE
For pick and place actions with a Ready signal, you have the option of instructing Baxter what to do
if a signal that was true when Baxter started the action becomes false. For example, in the case of
using a part present signal, if the part disappears (and the signal is false), you can choose whether
you want Baxter to continue moving or to stop.
• If Enable is chosen for the signal, and the part present signal disappears (turns
false), Baxter will stop, go back to its approach, and wait for the signal to be true
before trying again.
Signals
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Intera 3.2