Table of Contents
Advertisement
Table of Contents
E-Stop Button
When pressed, the red, latching push-button removes power from the platform's motors and from the E-
Stop-controlled power port after a 1 second delay. To reset the E-Stop, twist the button slightly, so it pops
up.
When the E-Stop button is pressed, the robot's motors will be disabled, and must be re-enabled by
software (using the ENABLE command). Motor enabled/disabled state is available through ARIA. The
ARIA and ARNL example programs show how to detect whether motors are disabled, whether the E-
Stop button was pressed, and how to re-enable the motors.
Brake-release Button
Hold down the brake-release button to manually move the platform.
Keyswitch
The keyswitch can be used to disable the OFF button and certain functions on the Operator screen. The
key can be removed in either the locked or unlocked positions.
Other Controls and Indicators
Light Discs, Light Tower
Circular lights on the sides of the platform are used by software to indicate status or state. A user-
supplied light tower can also be added for extra signaling.
Several modes are available with different colors and patterns displayed on the light discs and light
tower. Software can set a mode using the WHEEL_LIGHT command (See Programming and Protocol).
ARIA and ARNL contain example programs that show how to send the wheel light command to set
different modes.
Mo
de
1
"Busy". Blue arcs rotate back and forth.
2
"Error/EStop". Flashing red.
3
"Warning". Flashing yellow.
Page 46 of 134
Description
light discs
Light Tower Outputs
OUT1 (green), OUT2
(orange), OUT3 in turn.
OUT3 (red) periodic.
OUT2 (orange) periodic.
on
Advertisement
Table of Contents
