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HARP Safety & Recovery

HARP continuously monitors the status of connected devices, including the robot arm, end effector, sensors, and haptic leader devices, to confirm that they remain available and responsive during operation.

HARP can also integrate with an industrial safety controller. When configured, external safety devices such as safety doors, light curtains, or emergency-stop circuits can affect HARP operation:

  • A PAUSE condition can temporarily suspend teleoperation.
  • A STOP or E-Stop condition stops the active session and prevents operation from continuing until the condition has been cleared and the system is reset.

Devices within the same Control Group are monitored together. If a required device becomes unavailable or enters a fault state, HARP can stop or prevent motion for the associated control group rather than allowing the remaining devices to continue operating independently.

Recovery Behavior​

HARP applies different recovery behaviors depending on the type and severity of the detected condition.

  • Temporary communication issues: HARP can attempt to recover or reconnect automatically when appropriate.
  • Connection loss: Robot motion is stopped while HARP attempts to restore communication. Reconnection attempts may use increasing delays between retries.
  • Safety-related stops: Conditions such as an E-Stop do not automatically resume operation. The cause must first be cleared, after which the operator can use Reset to continue.
  • Repeated failures: If a device repeatedly enters a fault or stop condition, HARP can stop automatic recovery attempts and require operator intervention.
  • Critical hardware faults: The affected device may be disconnected from the active session and require a manual reconnection after the fault has been resolved.
NOTE

If an E-Stop, Protective Stop (P-Stop), or device disconnection occurs, keep HARP open and resolve the underlying issue first.

Once the condition has been cleared, press the red Reset button in the Command Center to recover the Control Group and restore operation.