This page provides detailed information about the hardware of the Sawyer robot.
- Sawyer Hardware Overview
- Sawyer Electrical Specifications
- Sawyer Environmental Specifications
- Sawyer Arm Specifications
- Embedded Camera Specifications
- Control Box
- Low Power Mode
- Sawyer Workspace Dimensions
Sawyer Hardware Overview
This section provides a basic overview of the hardware that makes up the Sawyer robot.
Use the training cuffs to move the arm, manipulate the state of the gripper, and secondarily, to select on-screen options.
- Zero-G Mode - Squeeze this switch at the indentation in the cuff to move the robot’s arm. When this switch is squeezed, the blue indicator on the arm’s navigator button lights up.
- Grasp Button - Press to toggle a parallel gripper open or closed, or a vacuum gripper on or off.
- Action Button - Press to select items on the display screen. Create waypoints, Hold actions; select, copy, or move actions on the task map, as well as outline a visual search area.
- Traning Cuff Light - Indicator light to provide feedback when actions are performed and display the current state (ie: running in zero-g mode) of the arm.
Use the navigator on the arm or base to scroll to and interact with options on the screen.
- Back Button - Press to exit the current screen and return to the previous screen. Will also cancel the last action.
- Rethink Button - Access the Robot Screen Menu
- Selector Knob - Scroll the knob to move between on-screen options. Press the knob (OK) to select an option.
- Zero-G Mode - Press and hold this button to move the robot's arm with motor assist. This button has the same functionality as the Zero-G button on the training cuff.
- Square- Quick access to options currently available. Long press will re-position the robot screen towards end of arm.
- X Button - Toggles the active tool center point
Sawyer Head LED Status
|Sawyer Condition||Head LED Color|
|Error in Task||Flashing Yellow|
|Connected to Intera Studio||Solid Yellow|
|Not Connected to Intera Studio||Solid White|
|E-Stop Engaged||Flashing Red (SOS Pattern)|
|Hardware Issue||Flashing Red (SOS Pattern)|
|Boot Up||No Color|
Sawyer Cuff LED Status
|Sawyer Condition||Cuff LED Color|
|Arm Power On||Amber|
|Zero G Active||White|
|Insert Node / Update Pose||Flashing White|
|Collision Detected||Flashing Red|
|Wait / Wait Until Node Active||Flashing Green|
|E-Stop Engaged||No Color|
Sawyer Electrical Specifications
|Interface||Standard 120VAC power. Robot power bus and internal PC both have "universal" power supplies and support 90-263V AC (47 - 63Hz)|
|Max Consumption||4A at 120V AC, 480W max per unit|
|Supply Voltage Available||24V at 1A via Terminal Block|
|Electrical Efficiency||87% - 92%|
|Power Supply||Uses industrial-grade DC switching power supply for robot power bus|
|Tolerance to sags||Sags tolerated to 90V. Sustained interruption will require manual power-up|
|Voltage Flicker||Holdup time 20ms|
|Voltage Unbalance||Single phase operation only|
Sawyer Environmental Specifications
|Altitude||Up to 2000 meters|
|Operating Temperature||5°C to 40°C|
|Relative Humidity||80% for temperatures up to 31°C, decreasing linearly to 50% relative humidity at 40°C|
|Storage conditions||-30°C to 65°C. Relative humidity: 5% to 95% (non-condensing)|
Sawyer Arm Specifications
The arm of the Sawyer Robot is the most important component of the robot and having a solid understanding of the different specifications of the arm is crucial when it comes to understanding how the robot operates. The information in the sections below will provide you with the knowledge necessary to gain a better understanding of how the Sawyer works.
Joint and Link Names
Sawyer joint and link names are referenced many times in technical documentation and will be referenced by Rethink Robotics support representatives regularly. The diagram below labels the joints and link of the Sawyer arm.
The joint and link naming for the Sawyer arm starts at the base and increases incrementally up to the wrist. The joints are named J0 - J6 and the links are named L0 - L6.
The joints in the Sawyer are also classified into two categories (roll or pitch) by their movement. The small table below lists each joint in one of these two categories.
|J0 J2 J4 J6||J1 J3 J5|
Link lengths for Sawyer's joints are measured in mm, from the center of one joint to the center of the next. They can be found in the image and table below.
Range of Motion - Roll Joints
The range of motion of each roll joint is presented below. The overall joint range is specified.
|Joint Name||Range (Degrees)|
Range of Motion - Pitch Joints
The range of motion of each pitch joint is presented below. The overall joint range is specified.
|Joint Name||Range (Degrees)|
Embedded Camera Specifications
Arm Vision System
|Camera Resolution||752 x 480px|
|Lens Type||Wide Angle|
|Other Features||Global Shutter, Synchronized Embedded Lighting|
|Camera Resolution||1280 x 800px|
|Lens Type||Wide Angle|
Note: All dimensions are in millimetres
Ports and Devices
- Air (4x)
- Power and Data
- Terminal Unit (8 Digital Inputs, 8 Digital Outputs)
- Safety Rated Controller
- Terminal Block Voltage Supply 24V at 1A max
- Solenoid Valve (2x)
- Ethernet Port
- USB Port (2x)
Low Power Mode
Sawyer is designed as a power and force limited robot by inherent design, but customers can choose to further limit the capabilities of the robot by further limiting the power available to the robot in such a way that limits the maximum speed at which it can run. This is done by operating Sawyer in Low Power Mode.
The Banner Safety Controller found inside the Controller has been customized to monitor the voltage of the power going to Sawyer's arm. To place Sawyer in Low Power mode, jumper the Low Voltage Enable signal before powering up the robot (see the schematic below for the wiring diagram). The robot’s maximum speed will be limited to approximately half that of normal operation.
If, at some point, the Banner Safety Controller senses the robot operating at normal power mode when the wiring is configured for low power mode, the motor power relay will be opened, cutting power to the motors in the arm, and a safety violation error will be reported.
Low Power Mode in the Intera UI
When the Banner Safety Controller has been set up properly for low power mode, you will see the highlighted feedback in the UI in both the Robot Screen and Intera Studio.
Note: All dimensions are in centimeters.