This page provides detailed information about the hardware of the Sawyer robot.


Contents


Sawyer Hardware Overview


This section provides a basic overview of the hardware that makes up the Sawyer robot. 


Sawyer Overview

Training Cuff


Use the training cuffs to move the arm, manipulate the state of the gripper, and secondarily, to select on-screen options.

  1. 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.
  2. Grasp Button - Press to toggle a parallel gripper open or closed, or a vacuum gripper on or off.
  3. 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.
  4. 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.


  1. Back Button - Press to exit the current screen and return to the previous screen. Will also cancel the last action.
  2. Rethink Button - Access the Robot Screen Menu
  3. Selector Knob - Scroll the knob to move between on-screen options. Press the knob (OK) to select an option.
  4. 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.
  5. Square- Quick access to options currently available. Long press will re-position the robot screen towards end of arm.
  6. X Button - Toggles the active tool center point


Sawyer Head LED Status


Sawyer ConditionHead LED Color
Working/RunningSolid Green
Error in TaskFlashing Yellow
Connected to Intera StudioSolid Yellow
Not Connected to Intera StudioSolid White
E-Stop EngagedFlashing Red (SOS Pattern)
Hardware IssueFlashing Red (SOS Pattern)
Boot UpNo Color

Sawyer Cuff LED Status


Sawyer ConditionCuff LED Color
Arm Power OnAmber
Zero G ActiveWhite
Jogging ArmWhite
Insert Node / Update PoseFlashing White
Joint LimitRed
Collision DetectedFlashing Red
Wait / Wait Until Node ActiveFlashing Green
E-Stop EngagedNo Color

Sawyer Electrical Specifications


DescriptionSpecification
InterfaceStandard 120VAC power. Robot power bus and internal PC both have "universal" power supplies and support 90-263V AC (47 - 63Hz)
Max Consumption4A at 12V AC, 480W max per unit
Supply Voltage Available24V at 1A via Terminal Block
Electrical Efficiency87% - 92%
Power SupplyUses industrial-grade DC switching power supply for robot power bus
Tolerance to sagsSags tolerated to 90V. Sustained interruption will require manual power-up
Voltage FlickerHoldup time 20ms
Voltage UnbalanceSingle phase operation only

Sawyer Environmental Specifications


DescriptionSpecification
EnvironmentIndoor Use
AltitudeUp to 2000 meters
Operating Temperature5°C to 40°C
Relative Humidity80% 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)
Pollution Degree2

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.



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.

RollPitch
J0 J2 J4 J6J1 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.



Link NameLength
L081mm
L1192.5mm
L2400mm
L316.5mm
L4400mm
L5136.3mm
L6133.75mm

   

Range of Motion - Roll Joints


The range of motion of each roll joint is presented below. The overall joint range is specified.

Joint NameRange (Degrees)
J0350
J2350
J4341
J6540


Range of Motion - Pitch Joints


The range of motion of each pitch joint is presented below. The overall joint range is specified.

Joint NameRange (Degrees)
J1350
J3350
J5341

Embedded Camera Specifications


Arm Vision System


DescriptionSpecification
Camera Resolution752 x 480px
Lens Size3.7mm
Lens TypeWide Angle
ChromoGrayscale
Other FeaturesGlobal Shutter, Synchronized Embedded Lighting


Head Camera


DescripionSpecification
Camera Resolution1280 x 800px
Lens TypeWide Angle
ChromoRGB

Control Box


General Dimensions


Note: All dimensions are in millimetres



Ports and Devices


Side View

Bottom View

Inputs

  • Power
  • Air


Outputs

  • Air (4x)
  • Power and Data
  • Video


Inside View


  • 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.




Pedestal


General Dimensions


Note: All dimensions are in centimeters.

Overview


Sawyer Workspace Dimensions


Basic Overview


Top Down View


Side View