Emergency Halt Procedure

Emergency Halt Procedure#

The Emergency Stop (E-Stop) is a critical safety feature that immediately powers down all actuators and stops the Kangaroo robot’s movement. It is used in urgent situations to protect personnel from being harmed and equipment from being damaged.

Emergency Stop Buttons#

Kangaroo is equipped with two emergency stop buttons:

  • Wireless E-Stop: A wireless receiver installed inside the robot torso and a battery powered handheld remote controller. This wireless e-stop system has a range of 10 meters, if the distance between the robot and the remote button is larger, an emergency event can be triggered, equivalent to the pressing the button. To release the button, rotate counterclockwise.

  • On-Robot E-Stop: A red push-button located on the robot’s body (Fig. 17} which can be activated .

Pressing this button will stop the robot and the . (Activating either button triggers the same emergency shutdown.)

../../_images/wireless_emergency_button.png

Fig. 15 Wireless emergency button receiver and remote controller#

IMPORTANT

Always secure the robot with its safety crane or other support before powering off or using the Emergency Stop. Failing to support the robot will result in uncontrolled collapse when the motors are disabled.

Activating the Emergency Stop#

In case of an emergency, press and hold the red Emergency Stop button on either the remote controller or the robot’s body.

Warning

Pressing the Emergency Stop immediately cuts power to all motors. The Kangaroo’s legs will go limp and the robot will collapse under its own weight. Keep clear of the robot when activating the E-Stop.

Restart Procedure#

Verify Safety Support: Before reactivating the robot, ensure it is fully supported by the safety crane or support system. Do not attempt to lift or hold the robot manually.

When at least one of the emergency buttons is pressed the “POWER” button LEDs are solid RED.

Reset the E-Stop: If the on-robot E-Stop is engaged, rotate counter-clockwise the button to release it. On the wireless, release the E-Stop by rotating the button counter-clockwise.

Check LED Indicators: Once the E-Stop is released, the “POWER” button LEDs will start blinking (RED or YELLOW).

Recovery Process: Press the “POWER” button for 1 second in order to start the recovery procedure. During the recovery process, the “POWER” LEDs blink GREEN and when the process is complete and successful will light in solid GREEN.

Restart Software Interface: The following command needs to be executed to restart all the control intferace and Ethercat.

pal module_manager restart

Note

Before continuing with the Homing Procedure ensure all Diagnositcs are in green from the WebGUI.

📹 Video Reference:#

The following video shows the result of pressing the Emergency Stop button:

The following video provides instructions about how to recovery from Emergency Mode: