What to do if...

• The Arm does not move at all??
  • check, wether the arm is powered, turn the key clockwise and hold it for 5 seconds, this will release the emergency brake
  • check, wether the alarm switch has nor been pressed, release is by turning it and then turning the key (5s)
  • if the arm got stucked in a strange position, release the brakes with(for the left arm)
    • pa10ClearBrake 0 0xff 0xfe 2 0 (last parameter 0 = release all joints, 1 first joint only...)
    • if you use ClearBrake make sure that a second person holds the arm, because it WILL fall down
  • check wether the fibre cables are connected
  • if you get "cannot find xyz"-messages, make sure you have configured your user account like described in ->Mobile Platform->User Account

usefull commands for testing purpose:

• movej left to zero
• movej left to savepark
• movej left to 0,1,2,3,4,5

!!! ALWAYS HOLD EMERGENCY-STOP IN YOUR HAND WHILE OPERATING WITH THE ARM !!!

movej ist natuerlich nicht im Suchpfad... desshalb:

export PATH=$PATH:'/local/tams1.2/develop/tirccl/bin/'