Rethink Robotics Baxter User Manual page 160

Task Reset In (edge and level): pauses (level) and resets (edge) the task.
Error In (level): stops the task.
Pause (level, enable): pauses the task when asserted
Do Subtask (level): when true, signal the subject is allowed to run.
Reset Count (edge): reset count for the associated task element.
OUTPUTS
Done (level): the count for the particular task element has been reached. Stays true until the count is
reset.
Note: while Done is a level, due to the automatic resetting of counts it will often stay on for only a
short period of time, but always at least 0.5 seconds.
Increment Count (pulse): the count for a particular task element has just changed. This only hap-
pens if the element is successful.
Start (pulse): a task element is starting.
End (pulse): a task element is finishing.
Task Reset Out (pulse): the Task has been reset.
Error Out (level): the Task has an internal error.
Confusion (level): the Task is in a confused state.
Active (pulse): the associated hold is currently executing.
INTERACTION OF READY AND CONFUSION
In most cases, connecting the Ready signal to a task element will suppress that element from caus-
ing confusion (and, therefore, setting the Confusion signal true). Specifically, if a task is not currently
running any actions, Intera makes an effort to determine whether a Ready signal becoming true
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Intera 3.2