Lights on the hand

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

Item Color Activity Meaning
Power LEDs 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
Application Layer Error Red On (during boot) Verifying ET1200 EEPROM
Application Layer Error 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
CAN1/2 Transmit Blue V.fast flicker Demand values are being sent to the motors
CAN1/2 Receive Blue V.fast flicker Motors are sending sensor data
Joint sensor 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
CAN1/2 Transmit Blue Off No messages transmitted on CAN 1/2
CAN1/2 Receive Blue Off No messages received on CAN 1/2
Joint sensor chip select Yellow Off Sensors not being sampled