Rethink Robotics Baxter User manual

user guide
for intera 3.2 software

Welcome!
Thank you for purchasing Baxter, the world's first collaborative robot for manufacturing.
This user guide is designed to provide you with an overview of the robot's features, help support
you through the setup process, instruct you on training Baxter for tasks, and outline some basic
troubleshooting measures should you need them.
The latest and most detailed information is available on our Intera MFG Wiki page at:
mfg.rethinkrobotics.com
Safety Statement
Complying with ISO 10218-2 requires performing a risk assessment of each application to
determine the needed safety performance and safeguarding. ANSI RIA R15.06-2012 is a U.S.-
national adoption of ISO 10218-1 & 2.
Users should exercise caution while training Baxter and practicing its motions. The risk of injury
is increased when using custom end-effectors, off-vertical motions, and potentially hazardous
work pieces.
Rethink Robotics recommends the use of safety glasses when interacting with Baxter, as with
other equipment used in industrial environments.
For additional information, reference Baxter’s Safety Documentation: http://www.rethinkrobot-
ics.com/resources/safety/
Baxter’s maximum transit speed is now controlled to 2 meters per second. (2 m/s).
Disclaimer
Every effort is made to ensure that the information in this manual is accurate. This publication
could include technical or typographical errors or other inaccuracies. Rethink Robotics, Inc®
may make changes to the product described in this publication or to this publication at any
time, without notice.
A newer version of this document may be available here:
mfg. rethinkrobotics.com/wiki/Support_Resources
Typographical conventions and notes used in this guide
IMPORTANT Calls out essential information that must be followed to prevent
injury to the operator or damage to the robot.
Note
Calls out key conceptual information.
Tip Provides hints or other helpful information when training or
operating Baxter.
Bold When used in-line, bold text indicates a specific named element,
like a physical button or button on the screen. For example,
“Rotate the knob to scroll through the saved tasks.”
<Italics> Used to indicate: a new term , or name of another document.

1Intera 3.2
Contents
Quick Start 6
Performing a Pick and Place in Just a Few Minutes 6
Power On Baxter 6
1. Move the Arm 7
2. Create a New Task 8
3. Grasp an Object 10
Getting to Know Baxter 12
Setting Up Baxter 12
Accessories 12
Hardware 13
Front View 13
Back View 14
Grippers 14
How to Interact with Baxter 17
Using the Training Cuffs 17
Navigating the Screens 18
Moving the Arms 19
Grasping Objects 20
How Baxter Communicates 21
Eye Expressions 21
Attention Ring 22
Condition Ring 23
Confused Face Messages 24
“Light Bulb” Tips 24
Main Screen 25
Turning On Baxter 26
Training and Managing Tasks 27
Getting to Know Intera 27
Tasks, Sub-tasks, and Actions 28
The Difference Between Vertical and Non-vertical Tasks 29
The Task Map 29
Task Gallery 33
Training a Pick and Place 35
Training a Pick Using Vision 36
Camera Settings 45
Training a Group of Pick or Place Actions 49
Managing Tasks and Sub-tasks 51

2Intera 3.2
Contents
Task Button Bar 52
Sub-task Button Bar 53
Coordinating Sub-tasks Across Arms 54
Combining Sub-tasks 56
Changing Gripper Parameters 56
Change Number of Attempts to Pick an Object 59
Modifying Actions 62
Modifying a Pick Action 62
Customizing the Size of a Visual Search Area 64
Modifying a Place Action 65
Modifying Count 68
How to Modify/Practice an Action 68
How to Make Detailed Modifications to an Action (Advanced Settings Screen) 71
Running Tasks 74
Create a Path for Baxter 75
Paths, Waypoints, Poses 75
How to Create a Custom Path for Baxter 76
Best Practices: Creating Waypoints 78
How to Practice a Path 78
How to Modify a Waypoint 80
How to Modify a Path (includes Practice and Retrain) 82
Motion Presets 89
How to Change Motion Presets at the Task/Arm Level 89
How to Change the Motion Preset at the Action Level 91
Hold 93
How to Train Baxter to Perform a Hold 93
How to Modify a Hold 94
How to Create a Series of Hold Subtasks 96
Nudge 99
How to Nudge a Pose 99
Lock/Unlock 107
How to Lock or Unlock Baxter 107

3Intera 3.2
Contents
Robot Positioning System 109
Introduction 109
When to Use the Robot Positioning System 110
How to Create a Landmark 111
Alternate Way to Create a Landmark 115
How to Associate a Landmark to an Action 117
How to Reregister a Landmark 118
Robot Positioning System - Best Practices 122
Frequently Asked Questions about Robot Positioning System 123
Application Examples 124
Unloading Parts from a Rotary Table and Onto Conveyors 124
Transferring Parts from One Conveyor to Another 125
Putting parts into fixtures that require precision 125
Signals 127
Working with Signals 127
Internal Signals 129
Creating Signals 132
Assigning Signals 133
Maintaining and Supporting Baxter 136
Powering Down Baxter 136
Maintaining Baxter 136
Cleaning Baxter 136
Replacing the Air Filters 136
Upgrading Software 137
Supporting Baxter 137
Helping Baxter When It Is Confused 137
Calibrating the Arms 138
Troubleshooting Baxter 141
Exporting Log Files 142
Enjoy! 142
Appendix A: Configuring Grippers 143
Configuring a Vacuum Cup Gripper 144
Configuring an Electric Parallel Gripper 146
Configuring a Non-Actuating Custom Gripper 147

4Intera 3.2
Contents
Restore Gripper Configuration 147
Appendix B: Specify Object and Custom Gripper Weights 148
How to Specify Object Weight 148
Appendix C: Configuring External Devices 151
Connecting a Modbus Remote Terminal Unit (RTU) to Baxter 153
Additional Information About the Modbus RTU 155
Appendix D: Signals and their Definitions 156
Terminology 156
Signal Types 157
Task Element Details 159
Signals 160
TASK 160
SUBTASK 162
GRIPPING ACTIONS: PICK, PLACE 162
OTHER ACTIONS: HOLD 164
FAQs - Signals and Their Definitions 164
Appendix E: Transfer Tasks from One Baxter to Another 168
How to Export Tasks from a Robot 168
How to Import Tasks to a Robot 170
Appendix F: Tips & Best Practices 172
Training Actions 172
Vertical and Non-Vertical Tasks 172
Workspace and Robot Joint Limits 172
Waypoint Wisdom: Tips for Creating Custom Paths 173
Grasping Objects 173
Object Training and Visual Search 175
Conveyors 175
Stacks 176
Multiple Locations 176

5Intera 3.2
Contents
Appendix G: Safety Mats 177
Appendix H: Support & Warranty 179

6Intera 3.2
Quick Start
Quick Start
Performing a Pick and Place in Just a Few Minutes
Follow the steps in this section to get up and running with Baxter quickly. The bulk of this User
Guide explains Baxter in more detail its parts, terminology, how to perform various tasks, create
paths, etc., but to get a very basic idea of how to operate Baxter, start here.
NOTE: For Baxter to perform properly, it should be calibrated (see “Calibrating the Arms” on
page 138), and its grippers attached (per the instructions in the gripper kit) and configured (see
“Appendix A: Configuring Grippers” on page 143) before you train a Pick and Place task. Otherwise,
Baxter’s arm may pull or miss Picks when performing tasks.
Power On Baxter
To turn Baxter on, press and release the white power button on the lower left back of the robot (See
“Back View” on page 14 for the location.)
IMPORTANT: Do not hold the power button down when powering on. It could damage the robot.
The lights on the head turn on, and the display shows a neutral face.

7Intera 3.2
Quick Start
1. Move the Arm
Grab anywhere along Baxter’s arm and push and pull on it slightly to feel its resistance. Now, grab
the indented portion of the
training cuff, the part between Baxter’s wrist and grippers, and squeeze
it just above the buttons on either side. Baxter is now in “Zero G” mode and you can now move the
arm easily.
Release the training cuff and the arm becomes (semi-) rigid again. Note that the arm stays in the
location and orientation it was in when you stopped squeezing the training cuff. The location and
orientation of the arm (its shoulder, elbow, wrist, and so on) is called its
pose .
THE NAVIGATOR
On both of Baxter’s arms, and on either side of Baxter’s torso, is the Navigator, a set of buttons and
a knob you use to make selections on Baxter. The selections you make on the Navigator are shown
on Baxter’s display.
Training Cuff
(squeeze here)

8Intera 3.2
Quick Start
2. Create a New Task
The work you train Baxter to perform is called a task . A task can be very simple, like the pick and
place you’re about to create, or much more complicated, involving both of Baxter’s arms moving in
a coordinated fashion to and from multiple pick and place locations, holding a variety of poses, and
sending and receiving signals from other machines and devices.
Back Button
Scroll Knob/
OK Button
Rethink button

9Intera 3.2
Quick Start
You can both scroll the knob to move through options on Baxter’s display, or press it to make a
selection. We refer to pressing the scroll knob to make a selection as “pressing the OK button” or
sometimes, “press OK on the Navigator.”
Generally you press the Back button on the Navigator when you want to return to the previous
screen.
Scroll the knob to reveal the main button bar and stop scrolling when you reach the New Task icon
(as shown here).
Press OK on the Navigator. Baxter displays the
Task Map.

10 Intera 3.2
Quick Start
For now you just need to know that the blue icon on the display represents Baxter’s right arm, the
green icon represents the left arm, and the shaded area is where the arms can reach.
Squeeze the training cuff and move one of Baxter’s arms. Watch as the appropriate icon moves on
screen in response to the movement of the arm.
3. Grasp an Object
NOTE: If the end effectors have not already been configured, configure them now, otherwise the
gripper may not work. See “Appendix A: Configuring Grippers” on page 143.
Place an object on the work surface for Baxter to grasp.
Remember: For you to train a pick and place, Baxter must have at least one arm with a properly
working gripper attached. If not, follow the gripper kit instructions and install a gripper now.
If your Baxter has parallel electric grippers installed, make sure the grippers are open, then position
the fingers on either side of the object. If you’re using the vacuum grippers, position the object just
touching the vacuum cup.
Press the Grasp button on the training cuff.

11 Intera 3.2
Quick Start
Baxter grabs the object and nods its head acknowledging your instruction. If you look at Baxter’s
display, you’ll see an icon for a Pick, plus a sub-task number and letter. (For details, see “Tasks,
Sub-tasks, and Actions” on page 28.)
Still squeezing the training cuff, move the arm to the location where you want Baxter to place the
object, then press the Grasp button again to release the object. Baxter nods and releases the
object.
The Task Map displays the icon for a Place (along with sub-task number and letter).
Reset the object to its original position, select Run or Reset, and watch Baxter perform the task.
You just trained your first task using Baxter.
Grasp button

12 Intera 3.2
Getting to Know Baxter
Getting to Know Baxter
Setting Up Baxter
To prepare for the arrival and setup of Baxter, read the Baxter Pre-Delivery Guide . The document
arrives in an email prior to the delivery of your order.
To set up Baxter:
•Locate the installation card that ships with the robot. Follow the instructions to
assemble the pedestal (if ordered), and attach Baxter to the pedestal or alternate
work surface.
•Follow the instructions included with the gripper kit to install a gripper.
If you misplace these documents, refer to our wiki:
mfg.rethinkrobotics.com/wiki/Support_Resources
Accessories
Included accessories:
•Power cord
•E-stop button and 10-foot cable
Optional accessories:
•Rethink Robotics Electric Parallel Gripper Kit
•Rethink Robotics Vacuum Cup Gripper Kit
•Baxter pedestal

13 Intera 3.2
Getting to Know Baxter
Hardware
Front View
1. Condition ring
2. Attention ring
3. Display
4. Torso
5. Navigator (one on each forearm)
6. Lower front panel
7. Training cuff (shown with parallel
gripper)
8. Training cuff (shown with vacuum
gripper
9. Pedestal (optional)
1
3
2
6
8
7
9
55
4

14 Intera 3.2
Getting to Know Baxter
Back View
Grippers
Grippers are the robot’s hands—they enable Baxter to grasp and release objects. The grippers
attach to the
wrist plate at the base of the robot’s training cuff. Baxter supports two standard
Rethink Robotics grippers: electric parallel and vacuum cup, and can support some custom
grippers. Please contact Rethink Support with questions about other types of grippers.
After installing or altering a gripper, see “Appendix A: Configuring Grippers” on page 143 to
configure it. (Note that installation and alteration instructions ship with the gripper kit.)
Note: Custom finger lengths are supported and can be entered into the software, but
custom widths are not currently supported by the software.
1
2
3
5
1. Navigator (one on each side)
2. Non-active (button for future use)
3. Air filter (one on each side)
4. Power button
5. Power and I/O panel (with DB15, USB,
and Ethernet Ports)
6. Pedestal (optional)
6
4

15 Intera 3.2
Getting to Know Baxter
ELECTRIC PARALLEL GRIPPER
1. Training cuff
2. Gripper body
3. Fingers
4. Finger positions
2
1
3
4

16 Intera 3.2
Getting to Know Baxter
VACUUM CUP GRIPPER
1. Training cuff
2. Gripper body
3. Pneumatic tube fitting
4. Vacuum cup
4
1
2
3

17 Intera 3.2
Getting to Know Baxter
How to Interact with Baxter
Using the Training Cuffs
Use the training cuffs to move the arms, to manipulate the state of the grippers, and secondarily, to
select on-screen options.
Training cuff switch: 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; create a new subtask; add/create landmarks; outline a visual search
area.
1
3
2
1. Training cuff switch
2. Grasp button
3. Action button

18 Intera 3.2
Getting to Know Baxter
Navigating the Screens
Use the navigator on either of the arms to scroll to and interact with options on the screen. When
you press the OK button (2) (or the action button on the cuff), the white indicators on the navigator
light up.
Back button: Press to exit the current screen and return to the previous screen. Will also cancel the last
action.
Knob: Scroll the knob to move between on-screen options. Press the knob (OK) to select an option.
OK indicator light: When the action button on the cuff or the OK button on the navigator is pressed, the
white indicator around the knob lights up.
Rethink button: Press to display options for the current screen.
Training cuff indicator: When the switch on the cuff is squeezed, the blue indicators along the top and
bottom edge of the navigator light up.
1
4
3
5
2
1. Back button
2. Knob (turn to scroll) and OK button
(press)
3. OK indicator light
4. Rethink button
5. Training cuff indicator lights