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TIAGo Pro power management and docking#

Switching on/off TIAGo Pro#

On/off buttons

To operate the TIAGo Pro, there are two key components for powering it on and off:

  • The Electrical Switch Key : Controls the robot’s main power.

  • The Power Button : Turns the onboard computer on and off.

Turning TIAGo Pro ON:

  1. Turn the key of the electrical switch clockwise to power up the robot’s electronics.

  2. Press and hold the power button for 1 second.

  3. When the light indicator turns green, the onboard computer is ON, and the robot is ready to use.

Turning TIAGo Pro OFF:

  1. Press and hold the power button for 2 seconds until the green light indicator turns OFF.

  2. Turn the key of the electrical switch counterclockwise to shut down the robot’s electronics.

Key of the electrical switch

Figure: Key of the electrical switch#

Power button

Figure: Power button#

Emergency stop#

The TIAGo Pro is equipped with three emergency buttons:

  • One on the torso

  • One on the base

  • One wireless button

For the robot to function properly, all emergency buttons must be released.

Activating the Emergency Stop#

To trigger an emergency stop, press any of the emergency buttons. This will engage the motor brakes, ensuring the robot halts immediately. Deactivating the Emergency Stop:

  1. Rotate the pressed emergency button clockwise until it pops out.

  2. Ensure all emergency buttons are released.

Restarting the Robot After an Emergency Stop#

To resume operations after pressing an emergency button, follow these steps:

  1. Release the emergency button.

  2. Wait for the computer button to change from red to blinking yellow.

  3. Press the computer button.

  4. Wait until the button turns green and stops blinking.

  5. Run the following command to restart the robot services:

sudo systemctl restart pal_startup.service

Wireless emergency button#

Some tips and tricks for working with the wireless button are listed below:

  • Connectivity range: The wireless button has to be within connectivity range,

    up to 10 meters, at any time. If the button loses connection with the robot it will consider it as a pressed emergency button.

  • Battery life: Ensure that the wireless button has enough battery life when

    operating the robot. If the button goes out of battery it will be considered as a pressed emergency button.

  • While the robot is turned off: To preserve battery life of the emergency button

    it is recommended to press the button while the robot is turned off. In pressed state, the wireless emergency button does not consume energy.

Caution

Don’t forget to release the button again when starting the robot.

Charging the battery#

In order to have information about how to charge the battery of your robot, please refer to omni base battery and power supply.