This page provides a detailed overview about the Field Service Menu (FSM) and how to access it. 

Contents

Prerequisites


Required Tool

  • USB Keyboard

 

Optional Tool

  • FAT32 formatted USB stick

Access the Field Service Menu


  • Attach a USB keyboard to a USB port located inside or outside the Controller
  • Restart the robot
  • Press the Rethink button, select System on the Head Screen Menu, select Power, select Reboot


System menu.jpg Power.jpg


  • When Sawyer’s face first appears, continually press and release Ctrl-F on the keyboard until the FSM menu appears. The robot's GUI has started when Sawyer's eyes appear on the screen.


Bootface.png Mainmenu.png

Perform a Test


  • From the Main Menu, use Tab or arrow keys on the keyboard to select MFG Tests
  • Select the applicable test from the list, and select Run selected test(s)


Mfgtests.png


  • Available field service tests include:


  • CPU health check – Verifies that the PC's CPU voltages, temperatures, and PC fan speeds are within normal limits.
  • 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.
  • 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.
  • JCB firmware version – Checks that all JCBs have the same firmware revision as the installed PC software.
  • 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.
  • Restore JCB data blocks – Recreates corrupt data block stored on the JCBs.
  • 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.
  • 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.
  • Check Gripper firmware version – Reads the firmware version of all of the grippers (end effectors) present on the robot.
  • 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.
  • 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.)
  • Repair JCB Configuration - Repairs the robot’s configuration file so the JCBs present match.
  • 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.
  • 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.

Assign a Static IP

 

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.


  • From the Main Menu, use Tab or arrow keys on the keyboard to select Configuration


Configuration.png


  • Scroll to IP type and select Static IP
  • Scroll to IP Address and enter the desired IP address/CIDR Suffix.
  • IP Gateway: The IP address of the network device that connects different networks. The address must also align with the robot's IP address and the CIDR Suffix. If the robot is on an isolated local network, this is not relevant, but is still required.

Example: If the IP address is 10.10.10.10/24, then the IP Gateway must be 10.10.10.x.

  • Once complete, scroll down and select Save.

Export Logs


  • Insert a FAT32 formatted USB stick with at least 4GB of free space into one of the USB ports on the Controller.
  • From the Main Menu, use Tab or arrow keys on the keyboard to select Export logs to USB


Exportlogs.png


  • A message will appear when the log files have been successfully exported

Switch from Intera to Intera-SDK


  • From the Main Menu, move to the Next Boot In section using Tab or arrow keys on the keyboard and select SDK from the pop up window.


Mainmenu.png Next boot in.png


  • Verify Intera-SDK has a check next to it, then press Enter
  • A window with a Disclaimer will appear. Please read through it, then select Yes


Fsmsdk1.png


  • Scroll up and select Reboot
  • The robot will power down and reboot into SDK mode

Collision Detection Sensitivity


To adjust the collision detection sensitivity of Sawyer:

  • From the Main Menu, use Tab or arrow keys on the keyboard to select Collision Detection.


Collision sensitivity.png


  • Move the slider to the desired threshold.
  • Click on back and save changes.

Exit the Field Service Menu

  • Exit to the Main Menu


Mainmenu.png Next boot in.png


  • Verify Intera is selected in the Next Boot In section.
  • Scroll up and select Reboot
  • The robot will power down and reboot normally