Quickstart

Note

These instructions are meant as a guide and reminder for users already familiar with the system. They do not provide the necessary knowledge for a safe operation.

Startup

  • Turn on the battery by using the switch next to it.
  • Turn on the robot by briefly turning the key switch clockwise. Wait until the LED strip lights up and completes the colorful startup pattern.
  • Press the emergency stop button, release it again and confirm with a brief clockwise turn of the key switch. The xy table should now move to the end of both axes and then back to the middle.
  • Press the X button on the gamepad to enable teleoperation mode. The LED strip should blink yellow. Hold the RB button while using the two joysticks to move the robot. Note that for safety reasons, both joysticks have to be at zero at the beginning of movement. If they are not, the gamepead will vibrate when the RB button is pressed. Move the robot conveniently close to the working area. Finally, press the B button to disable teleoperation mode.
  • The robot sends out a wifi network named cosima. Connect to it with the control PC. In most cases you would use the handheld computer of the total station.
  • On the control PC, open a browser and go to the site http://192.168.0.100:8888/. You should be greeted by the Cosima User Interface.
  • Set up the external reference system (total station), set it to track the robot prism and enable data output. The connection indicator in the Cosima GUI should change from red to yellow or green.
  • If the connection indicator is yellow, use teleoperation mode (see above) and drive the robot a few meters back and forth in a medium speed. The robot will calculate its angle in the external coordinate system. Once it is done, the connection indicator turns green. You can exit teleoperation mode now.
  • Cosima is now ready to receive and execute jobs.

Shutdown

  • Turn and hold the key switch anti-clockwise. The LED strip should start flashing white. As soon as the flashing stops, release the key switch.
  • The LEDs will slowly fade while the robot is shutting down. This should take about 30 seconds.
  • If the robot is not used for a longer period or if it should be transported, turn off the battery by using the switch next to it.