FSM

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Description

This tutorial describes the Field Service Menu and its purposes

To Access the FSM

  • Restart the robot.
  • From the main menu, croll over and select the power icon.
Main Screen Power Button Crop.png
  • Scroll down and select Restart.
Sleep1.png
  • Attach a USB keyboard to the USB port on the robot.
  • When the robots’s GUI first appears, press Alt-F repeatedly on the keyboard until the FSM menu appears. The robot's GUI has started when you see the robots's eyes appear on the screen.
FSM main menu.png

To Run a Test in the FSM

Baxter

  • Scroll to and select Tests and then select the applicable test from the list.
Tests.png
  • Available field service tests include:
  • PC_filesystem_check_(at_next_reboot) – Sets a flag that causes the operating system to run a Linux filesystem check the next time the PC is rebooted.
  • CPU_health_check – Verifies that the PC's CPU voltages, temperatures, and PC fan speeds are within normal limits.
  • Check JCB configuration – Verifies that all of the JCBs present in the robot match the robot's configuration file (MAC addresses must match the configuration file). Detects JCBs that don't appear in the config file and JCBs that have different firmware versions from the others.
  • Repair JCB configuration – Repairs the robot’s configuration file so the JCBs present match.
  • JCB_firmware_version – Checks that all JCBs have the same firmware revision as the installed PC software.
  • JCB_sensor_errors – Checks the JCBs for persistent fault conditions that can be detected without enabling the robot. (Does not detect all possible hardware faults; some faults only become evident when the robot is enabled.)
  • ITBs – Interactive test that verifies all buttons and indicators on each of the navigators. This test requires the operator to observe the display and navigator LEDs, and press appropriate buttons when prompted.
  • Cuff_buttons – Interactive test that verifies the cuff buttons on each arm. This test requires the operator to observe the display and navigator LEDs, and press appropriate buttons when prompted.
  • Rangefinders – Interactive test that verifies the IR rangefinders on each arm. This test requires the operator to observe the display and move an object, such as a hand, in front of the IR rangefinders when prompted.
  • E-stop – Interactive test that verifies the E-stop module. This test requires the operator to observe the display, and press and release the E-stop button when prompted.
  • Floor_mat – Interactive test that verifies the floor mat. This test requires the operator to observe the display, and press and release the floor mat when prompted.
  • Foot Switch – Verifies the discrete machine I/O lines. This test requires the operator to attach an external loopback connector in place of the E-stop.
  • Halo LEDs – Turns the robot halo LEDs on in alternating patterns to allow the operator to visually confirm their function. Also useful for very short disco numbers.
  • Camera_configuration – Verifies that the cameras specified in the robot configuration file are present and able to communicate. In the event of a fault in the camera or USB subsystem, this test displays the probable location of a USB repeater failure.
  • Camera_functional_test – Verifies that each camera present is able to deliver error-free image data to the PC using a test pattern. Does not test the cameras' optical paths, so will not detect dirty or blocked lenses.
  • Test left hand camera only – Verifies the configuration loaded on the left hand camera is correct.
  • Test right hand camera only – Verifies the configuration loaded on the right hand camera is correct.
  • Write_default_head_camera_cals – Writes a default geometric calibration record to the head camera. This utility should be used when replacing a head camera.
  • Update_camera_firmware – Verifies that all cameras have the same firmware version as that stored in the robot PC; updates the camera firmware as needed.
  • Update_JCB_firmware – Verifies that all JCBs have the same firmware version as that stored in the robot PC; updates the JCB firmware as needed.
  • Restore JCB data blocks – Recreates corrupt data block stored on the JCBs.
  • Update End_Effector_firmware – Verifies that all end effectors have the same firmware version as that stored in the robot PC; updates the end effector firmware as needed.
  • Check_Gripper_firmware_version – Reads the firmware version of all of the grippers (end effectors) present on the robot.

Sawyer

  • Scroll to and select Tests and then select the applicable test from the list.

Sawyer FSM Tests.png

  • Available field service tests include:
  • PC filesystem check (at next reboot) – Sets a flag that causes the operating system to run a Linux filesystem check the next time the PC is rebooted.
  • CPU health check – Verifies that the PC's CPU voltages, temperatures, and PC fan speeds are within normal limits.
  • Check JCB configuration – Verifies that all of the JCBs present in the robot match the robot's configuration file (MAC addresses must match the configuration file). Detects JCBs that don't appear in the config file and JCBs that have different firmware versions from the others.
  • Repair JCB configuration – Repairs the robot’s configuration file so the JCBs present match.
  • JCB firmware version – Checks that all JCBs have the same firmware revision as the installed PC software.
  • JCB sensor errors – Checks the JCBs for persistent fault conditions that can be detected without enabling the robot. (Does not detect all possible hardware faults; some faults only become evident when the robot is enabled.)
  • Navigators and Head LEDs - Interactive test that verifies the navigators and halo light LEDs. This test requires the operator to observe the navigator and head LEDs, and press appropriate buttons when prompted.
  • Cuff buttons – Interactive test that verifies the cuff buttons on each arm. This test requires the operator to observe the display and navigator LEDs, and press appropriate buttons when prompted.
  • Camera configuration – Verifies that the cameras specified in the robot configuration file are present and able to communicate. In the event of a fault in the camera or USB subsystem, this test displays the probable location of a USB repeater failure.
  • Camera functional test – Verifies that each camera present is able to deliver error-free image data to the PC using a test pattern. Does not test the cameras' optical paths, so will not detect dirty or blocked lenses.
  • Update camera firmware – Verifies that all cameras have the same firmware version as that stored in the robot PC; updates the camera firmware as needed.
  • Write default head camera_cals – Writes a default geometric calibration record to the head camera. This utility should be used when replacing a head camera.
  • Update JCB firmware – Verifies that all JCBs have the same firmware version as that stored in the robot PC; updates the JCB firmware as needed.
  • Restore JCB data blocks – Recreates corrupt data block stored on the JCBs.
  • Update End Effector firmware – Verifies that all end effectors have the same firmware version as that stored in the robot PC; updates the end effector firmware as needed.
  • Check Gripper firmware version – Reads the firmware version of all of the grippers (end effectors) present on the robot.
  • WiFi Network Device – Connects to a secure access point, acquires a DHCP lease, and downloads a 50mb file and verifies the file is not corrupted.

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Check the Gripper Firmware

To verify and update the gripper firmware

  • To verify the gripper firmware is up to date:
  • Install the electrical parallel gripper(s)
  • Perform test ‘Check_Gripper_firmware_version’. It will list the firmware version of the gripper.
Check gripper firmware version.png
  • If you are unsure if the version listed is up to date or not, run test ‘Update End_Effector_firmware’. This test will either update the firmware or displayed that they’re up to date.
Update gripper firmware.png

Delete Stored Tasks

This is used when a task becomes corrupt and as a result, the robot will not properly boot up

  • To delete stored tasks:
  • Scroll to and select Configuration
FSM main menu.png
  • Scroll down, select ‘Delete stored task data’, then select ‘Save Changes’, and then select ‘Return to Main Menu’
Delete stored task data.png

Assign a Static IP

To assign the robot’s IP address

  • To set the robot's IP address:
  • Scroll to and select Configuration
FSM main menu.png
  • Scroll down, select ‘Set IP Address Type’ to 'Manual, select 'Edit IP Address' and enter the desired IP address. Repeat this to edit the Netmask and Gateway. Once complete, scroll down and select ‘Save Changes’ then select ‘Return to Main Menu’.
Set IP address.png

NOTE: The set IP address CANNOT start with 169.254.xxx.xxx and the Gateway address CANNOT be the same as the set IP address.

Exporting Logs via the FSM

Rethink Robotics Support may request log files in order to troubleshoot an issue or retrieve more information about the robot. If the robot will not boot into the GUI, you can export the log files from the FSM. The steps below describe the process of exporting log files from the FSM.

  • Attach a USB 2.0 Hub to the USB port on the back of the robot. Connect a USB keyboard and a FAT32 formatted USB drive with at least 8 GB of free space into the USB 2.0 Hub.
  Notes: 
  1. Sawyer's control box has multiple USB ports, so a USB Hub is not required.
  2. Not all USB 2.0 Hubs are compatible. Known compatible Hubs are Logitech, Rosewill, Belkin, and Targus. Known non-compatible Hubs are DLink and Gear Head. If a Hub is 
  used that is not mentioned, please contact Support with the brand name and if it is compatible or non-compatible.
  • Scroll down and select "Export Logs"
FSM export logs.png
  • The logs will begin exporting and you will receive a message that states "Log export in progress..."
FSM export logs in progress.png
  • Once all of the logs have been exported, you will receive the message "Logs exported successfully".
FSM export logs success.png
  • If there isn't a USB device connected, the connected USB device is not in FAT32 format or there is not enough space on the USB device, you will receive an error message from the FSM. See below:
FSM export logs no USB stick.png::::FSM export logs not enough space.png

To Exit the FSM

  • Exit to the Main Menu
  • Scroll and select ‘Disable field service menu’
Disable FSM.png
  • Scroll down and select ‘Reboot Robot’
  • The robot will power down and reboot normally into its GUI

Need Help?

Contact Support at Rethink Robotics with any questions you may have.