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TIAGo Pro Safety and regulatory reference#
This section provides an overview of safety issues, general usage guidelines to maintain safety, and some safety-related design features. Read these instructions carefully to ensure the safety of people and surroundings and to prevent damages to the environment and to the robot. Follow these instructions every time the robot is used.
Safety#
Read the following safety precautions before setting up, using and maintaining the robot. Incorrect handling of this product could result in personal injury or physical damage to the robot. The manufacturer assumes no responsibility for any damage caused by mishandling what is beyond normal usage defined in this product manual.
Environment
TIAGo Pro is intended to operate and be stored indoors, in a dry environment and on dry, flat flooring only. Operating or storing TIAGo Pro in different conditions may result in damage to the product.
TIAGo Pro is designed to operate in temperatures between 0°C to 40°C (32°F and 104°F). Operating the product outside of this temperature range may result in damage to the product.
Do not operate the device in the presence of flammable gases or fumes. Operation of any electrical instrument in such an environment constitutes a definite safety hazard.
Usage
Take care while handling TIAGo Pro. Do not apply any physical pressure or impact when operating TIAGo Pro.
Children under the age of 13 must not use or interact in any way with TIAGo Pro without adult supervision at all times.
Do not leave pets unattended around TIAGo Pro.
Do not operate the robot outdoors.
Before using TIAGo Pro’s autonomous navigation mode (follow, go-to, patrol or telepresence), ensure the floor is clear of small objects.
Do not place hot drinks, liquids in open containers, or flammable or fragile objects on TIAGo Pro.
When TIAGo Pro is moving, ensure that all people or pets are at a safe distance of at least 0.5 meters from the device at all times.
Keep TIAGo Pro away from steep drops such as stairs, ledges and slopes.
Do not intentionally drive TIAGo Pro into people, animals or objects.
Do not tie anything to TIAGo Pro or use it to drag objects, pets or people.
Do not accessorize TIAGo Pro or cover TIAGo Pro with any fabrics, tapes or paint.
Be wary of driving TIAGo Pro over wires, thresholds and carpets as they may harm TIAGo Pro’s wheels or motor.
Do not point direct light or lasers at TIAGo Pro as it may damage the performance of the sensors.
Do not manually move TIAGo Pro while the robot is in autonomous navigation mode (follow, go-to, patrol or telepresence).
Do not break, scratch, paint or draw on TIAGo Pro’s screen.
Keep TIAGo Pro on ground surfaces. Do not place TIAGo Pro on chairs, tables, counters, etc.
Keep TIAGo Pro in an upright position at all times.
Do not use TIAGo Pro in completely dark settings.
Keep TIAGo Pro away from flames and other sources of heat.
Do not stand or place anything on the docking station.
The space where TIAGo Pro operates should have a flat floor and be free of hazards, particularly stairways and other drop-offs.
Avoid sharp objects (such as knives), sources of fire, hazardous chemicals or furniture that could be knocked over.
The terrain must be capable of supporting the weight of the robot. It must be horizontal and flat. Do not use carpets, to avoid the robot tripping over.
Make sure the environment is free from objects that could pose a risk if knocked, hit, or otherwise affected by TIAGo Pro.
Make sure there are no cables or ropes that could be caught in the covers or wheels; these could pull other objects over.
Be aware of the location of emergency exits and make sure the robot cannot block them.
Avoid the use or presence of magnetic devices near the robot.
Do not use robot’s end-effectors to hold and manipulate dangerous objects.
Power
TIAGo Pro comes with a regionally approved power supply cord. Do not use any other power supply cord. If the cord or jack is damaged, it must be replaced. For replacement cords, please contact the customer support team.
The docking station is designed to be plugged into a 100-240 V 50/60 Hz standard outlet. Using any power converters will immediately void the warranty.
If you live in an area prone to electrical storms, it is recommended that you use additional surge protection on the power outlet to which the docking station cable is connected.
Use TIAGo Pro with the installed battery only. Battery replacement is to be performed only by the official TIAGo Pro customer service team.
Do not disassemble or modify the battery. The battery contains safety and protection devices, which, if damaged, may cause the battery to generate heat, explode or ignite.
Do not immerse the battery pack in any liquid.
Maintenance
Always disconnect TIAGo Pro from the docking station before cleaning or maintaining the robot.
Do not handle TIAGo Pro or the docking station with wet hands or fluids.
To clean TIAGo Pro, wipe the robot with a clean, lint-free cloth. Don’t spray or pour liquids onto TIAGo Pro. Avoid harsh cleaners.
Before cleaning the docking station, ensure the power cord is disconnected.
Do not disassemble TIAGo Pro or the docking station. Refer servicing only to qualified and authorized personnel.
If you notice any missing, broken or falling parts, stop using TIAGo Pro immediately and contact customer support.
Do not use TIAGo Pro if the product box is open or damaged when you receive it. Contact the customer support team.
Warning Safety measures in practice#
Please read our additional product warnings below. Failure to follow these warnings will invalidate our limited warranty.
Warning
Do not operate the device in presence of flammable gases or fumes.
Do not place fingers, hair, or other appendages on or near moving parts of the product.
Children must not operate the device without adult supervision at all times.
Do not leave unattended pets around TIAGo Pro.
Warning
Chemical Exposure: do not allow battery liquid to come into contact with skin or eyes. If contact occurs, wash the affected area with plenty of water and promptly seek medical advice. Immediately contact the customer support team.
Warning
Fire or Explosion Hazard: do not crush or dismantle battery packs. Do not heat or place the battery pack near any heat source or direct sunlight. Do not incinerate or short-circuit the battery pack. Do not subject batteries to mechanical shock.
Warning
Heat sources and direct sunlight: do not place TIAGo Pro’s docking station near any heat source or in direct sunlight. Do not touch or short-circuit the charging contacts on TIAGo Pro’s docking station.
Emergency Stop#
Multiple emergency stop buttons can be found on the robot. One on the back of the robot, one on the base and an optional wireless button. As the name implies this button may be used only in exceptional cases where the immediate stop of the robot is required. To activate the emergency stop the user has to push the button. To deactivate the emergency stop, the button has to be rotated clockwise according to the indications on the button until it pops out.
Pushing the Emergency button the TIAGo Pro’s motors will enter in ERROR and safe mode. Be careful using this emergency stop action because the motors will be switched to ERROR mode and all the controllers will be shutted down.
For the robot to function properly all the buttons need to be released.
Computers and sensors will NOT be powered down.
When pushed, motors are stopped and the ethercat disconnected.
To restore normal functioning, first the emergency button must be released by rotating it clockwise and then wait for the PC green button on the robot’s back switch from red fix light to a blinking yellow. Press the button and wait until it turns green and stop blinking. The grippers at this point will do the homing procedure (slow opening and closing) and then run the following command to restore the robot computer
sudo systemctl restart pal_startup.service
Warning
Charge the wireless emergency button: if you are not able to recover the robot from the emergency check the power of the wireless emergency button. If the button is not charged, the robot will not recover.
Warning
Emergency button when you are not using the robot: when you are not using the robot we suggest you to turn off the robot and press the emergency button in such way the charge of the button will be preserved during the robot standby.
Fire fighting equipment#
For correct use of TIAGo Pro in a laboratory or location with safety conditions, it is recommended to have in place a C Class or ABC Class fire extinguisher (based on halogenated products), as these extinguishers are suitable for stifling an electrical fire. If a fire occurs, please follow these instructions:
Call the fire service.
Push the emergency stop button, as long as you can do so without any risk.
Only tackle a fire in its very early stages.
Always put your own and others’ safety first.
Upon discovering the fire, immediately raise an alarm.
Make sure the exit remains clear.
Fire extinguishers are only suitable for fighting a fire in its very early stages. Never tackle a fire if it is starting to spread or has spread to other items in the room, or if the room is filling with smoke.
If you cannot stop the fire or if the extinguisher runs out, get yourself and everyone else out of the building immediately, closing all doors behind you as you go. Then ensure the fire service is on their way.
Measures to prevent falls#
TIAGo Pro has been designed to be statically stable and safe even when its lightweight arms are holding the maximum payload in the most extreme kinematic configuration. Nevertheless, some measures need to be respected in order to avoid the robot tipping over.
Warning
Measure 1: do not apply external downward forces to the arms when they are extended.
Warning
Measure 2: TIAGo Pro has been designed to navigate in flat floor conditions. Do not navigate on floors with unevenness higher than 5%.
Warning
Measure 3: avoid navigating close to downward stairs, as TIAGo Pro’s RGB-D camera will not detect this situation and the robot may fall down the stairs.
Measures to prevent collisions#
Most collisions occur when moving TIAGo Pro’s arm. Even if the SEA arms are very compliant and safer than the usual rigid arms, it is important to take very strict measures into account in order to minimize the risk of collisions.
Battery leakage#
The battery is the only component of the robot that is able to leak. To avoid leakage of any substance from the battery, follow the instructions defined below, to ensure the battery is manipulated and used correctly.
The following guidelines must be respected when handling the robot in order to prevent damage to the robot’s internal batteries.
Do not expose the robot to fire.
Do not expose the robot to water or salt water, or allow the robot to get wet.
Do not open or modify the robot. Avoid, in all circumstances, opening the internal battery case.
Do not expose the robot to temperatures above 49°C for over 24 hours.
Do not store the robot at temperatures below -5°C for more than 7 days.
For long-term storage (more than 1 month) charge the battery to 50%.
Do not use TIAGo Pro’s batteries for any other purpose.
Do not use any devices except the supplied charger to recharge the battery.
Do not drop the batteries.
If any damage or leakage is observed, stop using the battery.