Each robot has two E-stops connected in series: a wireless E-stop (big red button) and a button on the robot (green light). To enable torque, the red button must be disengaged (twist it to make it pop up) and the STO button on the robot must be pressed in. If these conditions are met, the light inside the STO button on the robot will light up. If the green light on the robot is on, the torque is enabled (i.e. robot can move).
IMPORTANT: The wireless STO should always be engaged (i.e. pushed in) whenever the robot is not in active use (e.g. before or after an experiment, or while you take a break, etc.).
USAGE NOTES:
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Prioritize pressing the red external button for safety purposes.
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When things go wrong, push in the wireless E-stop. Do not attempt to reach the button on the robot's back; this is unsafe on the best of days.
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The button on the back is there to make sure a user can force the torque off while they are near the robot (i.e. prevent anyone else from making the joints move).
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The two buttons are wired in series.
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The button should be lit up (i.e. green) for the motors to work
A. The button on the DFB should be depressed.
B. And the wireless red button is disengaged.
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If you find an unattended robot and its STO is not engaged, err on the side of caution and please press the wireless E-stop button.
To power/charge the wireless E-stop, connect it to a USB-C power supply.
Make sure the wireless STO is pressed before inserting the battery (torque off).
To insert a battery, remove the pin from the robot's hind side (you have to push on the pin's end, while pulling it out), then lift up the handle. Drop the battery inside the battery holder and make sure you hear a click. After a few seconds the blue light (power symbol) will turn on (this is the onboard computer). Lower the handle (the yellow strap should stick out through the battery ). Replace the hind pin.
Important: Never operate the robot without the handle or without having both handle pins secured. Doing so will damage the hardware.
Important: The battery voltage is 60V. Do not touch the red or black power cables inside the robot/motor drivers. If you hear something rattling inside the torso, immediately shut down the robot and remove the battery (loose metal objects + electricity == bad).
Make sure the wireless STO is pressed before removing the battery (torque off).
Remove the pin from the robot's hind side, then lift up the handle. Push the black button on the battery do disconnect it from the battery connector and pull gently on the yellow strap to lift up the battery a bit. Then pull out the battery.
Important: Remove the battery from the robot when you are done. Do not leave a battery inside the robot or allow it to drain fully.
Make sure the wireless STO is pressed before swapping the battery (torque off).
It is possible to do a battery swap while keeping the onboard computer powered on. To do so, connect a battery to the external yellow XT30 connector (right next to the battery slot). Then follow the instructions to remove the robot's battery and insert a new battery. Finally, remove the external battery.
The onboard computer will remain powered on during the procedure, but the motors will be powered off.