Lights on the hand

Here is an annotation of the back of the hand’s lights:

../_images/hand_lights.png

On power up, the lights will be in the following state:

Item

Color

Activity

Meaning

6V Power (Power LED)

White

On

Power good

A 5V regulator (Power LED)

White

On

Power good

D 5V regulator (Power LED)

White

On

Power good

3.3V Regulator (Power LED)

White

On

Power good

EC Link Active

Green

On

EtherCAT link established

EC Link Error

Red

Off

No EtherCAT link error

Run

Green

Off

Hand is in Init state

Error (Application Layer)

Red

On (during boot)

Verifying ET1200 EEPROM

Error (Application Layer)

Red

Then off

No EtherCAT packet error

ET1200 chip select

Yellow

On

PIC32 communicating with ET1200

Lights will also appear inside the base, indicating 5v, 6v and 24v (or 28v) supplies. These can only be seen by removing the covers.

When the ROS driver is running you should see the following lights on the Palm:

Light

Colour

Activity

Meaning

Run

Green

On

Hand is in Operational state

Transmit (CAN1/2)

Blue

V.fast flicker

Demand values are being sent to the motors

Receive (CAN1/2)

Blue

V.fast flicker

Motors are sending sensor data

Joint sensor ADC chip select

Yellow

On

Sensors being sampled

After killing the driver, the lights will be in a new state:

Light

Colour

Activity

Meaning

Run

Green

Blinking

Hand is in Pre-Operational state

Transmit (CAN1/2)

Blue

Off

No messages transmitted on CAN 1/2

Receive (CAN1/2)

Blue

Off

No messages received on CAN 1/2

Joint sensor ADC chip select

Yellow

Off

Sensors not being sampled