Safety Guidelines

Before First Use

• Inspect all joints and cables before every session
• Ensure the workspace is clear — minimum 1 m × 1 m around the base
• Test the emergency stop function before each session
• Never leave the arm unattended while powered on
• Keep children, pets, and bystanders out of the workspace at all times

Safe Use Requirements

1. Install in a Safe Location

When installing OpenArm, securely fasten it with screws or clamps to a flat and stable surface. Avoid placing it near fragile objects, flammable materials, or sources of moisture. Make sure there are no walkways or passages nearby where people frequently pass.

2. Maintain a Safe Distance

When operating OpenArm, always ensure that no part of your body or any objects enter its range of motion. When approaching the robot for adjustments, check that power is OFF and make sure nobody nearby can accidentally turn it ON. Use barriers or markings to restrict access to the operating area if needed.

3. Wear Appropriate Protective Equipment (PPE)

Always wear safety goggles when operating OpenArm. Wear additional PPE — safety shoes, helmets, or gloves — as required by your environment. Wear close-fitting clothing to avoid getting caught in moving parts.

4. Operate Within Specified Payload Limits

Do not operate OpenArm beyond the specified payload limits. When using an end effector, subtract its weight from the arm's rated payload before loading. A 1.5 kg end effector leaves 2.6 kg nominal and 4.5 kg peak usable payload from the arm's rated capacity. Reduce maximum velocity when operating near payload limits.

5. Prepare for an Emergency Stop

Familiarize yourself with the emergency stop device location and operation before starting any session. The emergency stop switch should be placed at a sufficient distance from the arm in a safe, easily reachable position.

6. Assess Risks and Continuously Improve

Record and regularly review any hazards or improvement points noticed during use. Safety must be continuously enhanced — it cannot be ensured only once. Join the community to participate in safety discussions.

Workspace Safety

• Define software workspace limits before running any motion commands
• Always start with slow speeds — less than 10% of maximum velocity
• Use fake hardware mode to verify all trajectories before running on real hardware
• Mount the arm securely to a stable surface — never operate on an unsecured or mobile platform

Emergency Procedures

If the arm behaves unexpectedly, stop motion immediately. Do not investigate while the arm is powered.

• Emergency stop (software):
  ros2 topic pub /emergency_stop std_msgs/Bool "data: true"
• Emergency stop (physical): Press the emergency stop button on the arm
• Power disconnect: Disconnect the 24V supply immediately if the software stop is unavailable
• Power off first — investigate second. Never reach into the workspace while the arm is energized.

Electrical Safety

• Use only the provided 24V DC power supply
• Do not modify any power circuitry
• Inspect all cables for cuts, kinks, or exposed wiring before each session
• Keep all liquids away from electronics, connectors, and the control board

Payload & Load Limits

• Single arm nominal payload: 4.1 kg; peak: 6.0 kg
• Always subtract end-effector weight from the arm's rated payload before loading
• Account for center-of-mass offset — an offset load is effectively heavier than its measured weight
• Reduce maximum velocity when operating at or near payload limits

Maintenance Checklist

To keep OpenArm operating safely, regular inspections are essential. Pay attention to the following points to detect abnormalities or wear at an early stage.

Loosening of Base Fasteners and Screws

Repeated movement and vibration can cause screws or clamps to loosen unexpectedly. Loose screws at the base or around arm joints can lead to serious accidents. Always check for looseness before each session.

• Check all base mounting bolts before each session
• Check joint screws monthly during daily use
• Torque fasteners to specification — do not overtighten

Damage to Mechanical Limits

Each joint is equipped with mechanical limits to prevent abnormal postures and protect wiring. These can become deformed or broken by strong impacts. Damaged mechanical limits may fail to prevent abnormal joint movement during a malfunction.

• Inspect mechanical limits visually after any collision or hard impact
• Replace damaged limits immediately — do not continue operating

Unusual Noises or Joint Catching

Damage from excessive loads or impacts during operation can produce unusual noises or catching when joints move. Common causes include frame deformation, motor gearbox damage, or trapped cables.

• Identify the specific joint location before investigating
• Power off immediately if catching is detected mid-operation
• Investigate and resolve the root cause before resuming use

Damage to Wiring and Connectors

Repeated sharp bending or improper connection/disconnection can damage wiring and connectors. Damaged cables can cause incorrect operation or electrical faults in the power supply or control devices.

• Inspect cables from base to end effector before each session
• If any abnormal operation is detected, immediately power off and inspect
• Replace cables at the first sign of wear or damage — do not tape or splice
• Do not disassemble motor units — contact SVRC support for internal repairs

Software Prerequisites & Setup Requirements

Before setting up the OpenArm software stack, ensure you have all required hardware and a compatible operating environment.

Hardware Required

Component	Details
OpenArm robotic arm	With Damiao motors installed
24V power supply	Appropriate current capacity for number of motors in use
Cables	Included with motor package
Damiao USB CAN Debugger	Required for Motor ID setup step only; Windows PC required
SocketCAN-compatible interface	Required for motor control (e.g., CANable, PEAK PCAN); Ubuntu 22.04 or 24.04 recommended

Setup Sequence

1. Motor ID Configuration — Use the Damiao USB CAN Debugger on Windows to assign unique CAN IDs (J1–J8) to each motor.
2. CAN Interface Setup — On Ubuntu, configure the SocketCAN interface. Bring up at 1M/5M baud (CAN FD) and verify the interface appears.
3. Motor Test — Run the motor test utility from openarm_can to confirm all joints respond on the bus.
4. Motor Configuration — Apply per-motor parameters (position limits, control mode, PID gains) using the provided configuration scripts.
5. Demo Run — Launch an included demo script to verify the full pipeline before running your own application.