Giant robot arm - Revision history

Jerkey at 22:30, 14 May 2026

2026-05-14T22:30:57Z

← Older revision		Revision as of 15:30, 14 May 2026
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	= videos by Wade Bourne		= videos by Wade Bourne
	* [https://spaz.org/~jake/robot/wadevids/robot%20carves%20a%20piece%20of%20foam.mp4 robot carves a piece of foam.mp4]
	* [https://spaz.org/~jake/robot/wadevids/robot%20draws%20a%20circle%20in%20a%20square.mp4 robot draws a circle in a square.mp4]		* [https://spaz.org/~jake/robot/wadevids/robot%20draws%20a%20circle%20in%20a%20square.mp4 robot draws a circle in a square.mp4]
	* [https://spaz.org/~jake/robot/wadevids/robot%20redraws%20a%20circle%20in%20a%20square.mp4 robot redraws a circle in a square.mp4]		* [https://spaz.org/~jake/robot/wadevids/robot%20redraws%20a%20circle%20in%20a%20square.mp4 robot redraws a circle in a square.mp4]
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	* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello.mp4 robot writes hello.mp4]		* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello.mp4 robot writes hello.mp4]
	* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello%20backwards.mp4 robot writes hello backwards.mp4]		* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello%20backwards.mp4 robot writes hello backwards.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20carves%20a%20piece%20of%20foam.mp4 CAUTION: LOUD robot carves a piece of foam.mp4]

	= what is it for? =		= what is it for? =

Jerkey: add content by wade bourne

2025-09-18T21:02:40Z

add content by wade bourne

← Older revision		Revision as of 14:02, 18 September 2025
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	<big>Yaskawa Motoman K10S</big>		<big>Yaskawa Motoman K10S</big>

	[[File:Robot_teasing_korl.jpg\|thumb\|robot in sudoroom]]		[[File:Robot typing its name on a laptop.jpeg\|750px\|left\|typing on a laptop]]
			[[File:Robot_teasing_korl.jpg\|thumb\|right\|robot in sudoroom]]
	[[File:Giantrobot-getting.jpg\|thumb\|humans bringing the robot to sudoroom]]		[[File:Giantrobot-getting.jpg\|thumb\|humans bringing the robot to sudoroom]]
	[[File:Giant_robot_arm_where_it_came_from.jpg\|thumb\|as it was found]]		[[File:Giant_robot_arm_where_it_came_from.jpg\|thumb\|as it was found]]
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	[[File:Robot home position.png\|250px\|robot homed position pose]]		[[File:Robot home position.png\|250px\|robot homed position pose]]
	[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]		[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]

			= videos by Wade Bourne
			* [https://spaz.org/~jake/robot/wadevids/robot%20carves%20a%20piece%20of%20foam.mp4 robot carves a piece of foam.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20draws%20a%20circle%20in%20a%20square.mp4 robot draws a circle in a square.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20redraws%20a%20circle%20in%20a%20square.mp4 robot redraws a circle in a square.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20types%20hello%20world%20on%20a%20laptop.mp4 robot types hello world on a laptop.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20typing%20its%20name%20on%20a%20laptop.mp4 robot typing its name on a laptop.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello.mp4 robot writes hello.mp4]
			* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello%20backwards.mp4 robot writes hello backwards.mp4]

	= what is it for? =		= what is it for? =
Line 14:		Line 24:
	= software for communicating with the robot from a regular computer =		= software for communicating with the robot from a regular computer =

	https://github.com/jerkey/yasnac		[https://github.com/wbourne0/yasnac software written in Go by Wade Bourne]

			[https://github.com/jerkey/yasnac software written by several people for working with the robot]

	Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first		Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first

Jerkey at 08:27, 13 August 2025

2025-08-13T08:27:28Z

@@ Line 42: / Line 42: @@
 = Getting the robot working if it has forgotten its purpose =
-* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet.  If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen.
+* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet.  If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen like this:
 * Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed.  You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position.  As of 2022/12/7 the absolute encoder values for SLURBT are: 5771,30829,-25795,-792,66,-1047.  IF the physical limit switch (for example on the S axis) is hit, you have to HOLD the "overrun" bypass button next to the serial port while booting up and CAREFULLY jogging S- or S+ to fix that problem, and then you can let go of the button.
 * There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle.  Hard-power cycling the robot is how you reboot it.  [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>]  [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>]

Jerkey at 05:48, 23 December 2024

2024-12-23T05:48:03Z

← Older revision		Revision as of 22:48, 22 December 2024
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	[[File:Robot home position.png\|250px\|robot homed position pose]]		[[File:Robot home position.png\|250px\|robot homed position pose]]
	[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]		[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]



	= what is it for? =		= what is it for? =

	It's a six-axis CNC machine that is rated to move 10 kilograms around in any orientation, with 1mm accuracy.		It's a six-axis CNC machine that is rated to move 10 kilograms around in any orientation, with 1mm accuracy.


	= software for communicating with the robot from a regular computer =		= software for communicating with the robot from a regular computer =
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	= documentation =		= documentation =
			* [https://spaz.org/~jake/robot/479950-3-Programming_manual_v4-ocr.pdf programming manual] (searchable thanks to OCR)
	* Homing https://pdfcoffee.com/erc-homing-pdf-free.html		* Homing https://pdfcoffee.com/erc-homing-pdf-free.html
	* Collection of docs http://spaz.org/~jake/robot		* Collection of docs http://spaz.org/~jake/robot
	* [http://spaz.org/~jake/robot/155493-INFORM-LANGUAGE.pdf INFORM Lanugage manual PDF] and another copy here [http://www.ro.feri.uni-mb.si/predmeti/robotizacija/inform.pdf INFORM PDF]		* [http://spaz.org/~jake/robot/155493-INFORM-LANGUAGE.pdf INFORM Lanugage manual PDF] and another copy here [http://www.ro.feri.uni-mb.si/predmeti/robotizacija/inform.pdf INFORM PDF]
	* [http://www.robot-forum.com/robotforum/yaskawa-motoman-robot-forum/motoman-k6sb-with-erc-controller/ Robotforum posts on the Yaskawa motoman k6sb with erc controller] ''talk to these people for the conversation''		* [http://www.robot-forum.com/robotforum/yaskawa-motoman-robot-forum/motoman-k6sb-with-erc-controller/ Robotforum posts on the Yaskawa motoman k6sb with erc controller] ''talk to these people for the conversation''
			* [https://spaz.org/~jake/robot/CACR-SR15SZ1SDY214-SERVOPACK-YASKAWA-MANUAL.pdf a modern replacement for the motor controllers] (aka a much more readable PDF about these motor drivers)
			* [https://spaz.org/~jake/robot/CACR-SR-BB1.pdf an original PDF manual for the motor controllers] (but actually searchable thanks to OCR)

	= enabling relative job function and the communications option =		= enabling relative job function and the communications option =

Jerkey: /* Electrical components */

2022-12-29T23:35:29Z

Electrical components

← Older revision		Revision as of 16:35, 29 December 2022
Line 66:		Line 66:

	* http://www.youtube.com/watch?v=osErRS4m4S8#t=55		* http://www.youtube.com/watch?v=osErRS4m4S8#t=55
			Servo contactor wiring notes: coil 160 ohms, connector CN2 pins 2 and 6. CN2:6 is also on relay socket and CN5:7, assumed common.
			CN2:2 goes to CN5:8 and on to CN2CN:4 (near main on/off switch) where it gets jumped to CN2CN:3 by RLY12

	= Coordinate conversion and 3d model =		= Coordinate conversion and 3d model =

Jerkey at 01:33, 8 December 2022

2022-12-08T01:33:16Z

← Older revision		Revision as of 18:33, 7 December 2022
Line 21:		Line 21:
	Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first		Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first

	Your computer must be connected to the robot over an RS232 serial cable. [https://github.com/jerkey/yasnac/blob/master/remote/motofile motofile] lets you send job files to the robot, and [https://github.com/jerkey/yasnac/blob/master/remote/motocommand motocommand] lets you tell the robot what to do, as if you were pressing buttons on the control panels.<br>[https://github.com/jerkey/yasnac/blob/master/remote/motomove motomove] can move the robot directly (without loading a job file) but it is poorly supported in the robot's firmware and was never considered complete by the manufacturer (they moved onto the MRC control system development for this) so use it with caution.		Your computer must be connected to the robot over an [https://sudoroom.org/mediawiki/index.php?title=Giant_robot_arm&action=submit#Serial_port_pinout_to_connect_to_a_regular_PC_(DTE)_9-pin_socket RS232 serial cable]. [https://github.com/jerkey/yasnac/blob/master/remote/motofile motofile] lets you send job files to the robot, and [https://github.com/jerkey/yasnac/blob/master/remote/motocommand motocommand] lets you tell the robot what to do, as if you were pressing buttons on the control panels.<br>[https://github.com/jerkey/yasnac/blob/master/remote/motomove motomove] can move the robot directly (without loading a job file) but it is poorly supported in the robot's firmware and was never considered complete by the manufacturer (they moved onto the MRC control system development for this) so use it with caution.

	= documentation =		= documentation =
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	15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.		15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.

			= Serial port pinout to connect to a regular PC (DTE) 9-pin socket =
	{\| class="wikitable" style="margin:auto, text-align:left"		{\| class="wikitable" style="margin:auto, text-align:left"
	~~\|+ Serial port pinout to connect to a regular PC (DTE) 9-pin socket~~
	\|-		\|-
	! DB25 pins !! DE9 holes !! Signal (DE9 end) !! RJ45 pin#		! DB25 pins !! DE9 holes !! Signal (DE9 end) !! RJ45 pin#

Jerkey at 21:46, 7 December 2022

2022-12-07T21:46:01Z

← Older revision		Revision as of 14:46, 7 December 2022
Line 4:		Line 4:
	[[File:Giantrobot-getting.jpg\|thumb\|humans bringing the robot to sudoroom]]		[[File:Giantrobot-getting.jpg\|thumb\|humans bringing the robot to sudoroom]]
	[[File:Giant_robot_arm_where_it_came_from.jpg\|thumb\|as it was found]]		[[File:Giant_robot_arm_where_it_came_from.jpg\|thumb\|as it was found]]
	[[File:~~Six-axis-robot~~.~~gif~~\|~~an image describing the six~~ axes ~~of a six-axis robot~~]]		[[File:Robot_axes.jpg\|robot axes and their directions]]
	[[File:Robot home position.png\|250px\|robot homed position pose]]		[[File:Robot home position.png\|250px\|robot homed position pose]]
	[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]		[[File:SudoRoom Robot Art Painter!.png\|thumb\|You can even make the robot arm paint for you!]]
Line 43:		Line 43:
	= Getting the robot working if it has forgotten its purpose =		= Getting the robot working if it has forgotten its purpose =
	* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet. If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen.		* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet. If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen.
	* Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed. You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position.		* Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed. You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position. As of 2022/12/7 the absolute encoder values for SLURBT are: 5771,30829,-25795,-792,66,-1047. IF the physical limit switch (for example on the S axis) is hit, you have to HOLD the "overrun" bypass button next to the serial port while booting up and CAREFULLY jogging S- or S+ to fix that problem, and then you can let go of the button.
	* There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>]		* There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>]
	* There is a button behind the small hinged cover on the main control panel, which is for rebooting after the arm has been moved out of range, so you can manually bring the arm back into position.
	* Homing the robot is easy compared to getting the robot to be in the mood to be homed, especially after replacing the memory batteries. Don't be like this guy: <u>https://www.robot-forum.com/robotforum/thread/14021-erc-k6sb-make-abs-data/</u> [https://spaz.org/~jake/robot/MotomanERChomePosition.pdf <u>the PDF mentioned therein: MotomanERChomePosition.pdf</u>]		* Homing the robot is easy compared to getting the robot to be in the mood to be homed, especially after replacing the memory batteries. Don't be like this guy: <u>https://www.robot-forum.com/robotforum/thread/14021-erc-k6sb-make-abs-data/</u> [https://spaz.org/~jake/robot/MotomanERChomePosition.pdf <u>the PDF mentioned therein: MotomanERChomePosition.pdf</u>]
	* after the robot is working, you will have to remind it that you paid for all the deluxe options, like rectangular coordinates and remote access serial stuff. The "magic code" is 24.#4.#2 and the instructions for entering it are above, recounted by Ben.		* after the robot is working, you will have to remind it that you paid for all the deluxe options, like rectangular coordinates and remote access serial stuff. The "magic code" is 24.#4.#2 and the instructions for entering it are above, recounted by Ben.
Line 91:		Line 90:
	15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.		15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.

			{\| class="wikitable" style="margin:auto, text-align:left"
			\|+ Serial port pinout to connect to a regular PC (DTE) 9-pin socket
			\|-
			! DB25 pins !! DE9 holes !! Signal (DE9 end) !! RJ45 pin#
			\|-
			\| 2 \|\| 2 \|\| RX \|\| 2
			\|-
			\| 3 \|\| 3 \|\| TX \|\| 3
			\|-
			\| 4 \|\| 1 \|\| DCD \|\| 1
			\|-
			\| 5 \|\| 4 \|\| DTR \|\| 4
			\|-
			\| 7 \|\| 5 \|\| GND \|\| 5
			\|}
	[[Category:Projects]]		[[Category:Projects]]
	[[Category:Diagnostics]]		[[Category:Diagnostics]]
	[[Category:Diagnostics]]		[[Category:Diagnostics]]

Jerkey at 00:15, 24 November 2022

2022-11-24T00:15:24Z

← Older revision		Revision as of 17:15, 23 November 2022
Line 40:		Line 40:

	and reboot the robot."		and reboot the robot."

	~~= hardware used to get it to even turn on without errors =~~

	~~https://github.com/jerkey/yasnac_fakery~~

	= Getting the robot working if it has forgotten its purpose =		= Getting the robot working if it has forgotten its purpose =
	* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet. If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen.		* There is a battery inside the connector compartment of the robot arm, and another next to the computer boards on the door of the control cabinet. If the batteries go dead or are disconnected, the robot will act stupid and refuse to boot up with some dumb error screen.
			* Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed. You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position.
	* There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>]		* There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>]
	* There is a button behind the small hinged cover on the main control panel, which is for rebooting after the arm has been moved out of range, so you can manually bring the arm back into position.		* There is a button behind the small hinged cover on the main control panel, which is for rebooting after the arm has been moved out of range, so you can manually bring the arm back into position.
Line 52:		Line 49:
	* after the robot is working, you will have to remind it that you paid for all the deluxe options, like rectangular coordinates and remote access serial stuff. The "magic code" is 24.#4.#2 and the instructions for entering it are above, recounted by Ben.		* after the robot is working, you will have to remind it that you paid for all the deluxe options, like rectangular coordinates and remote access serial stuff. The "magic code" is 24.#4.#2 and the instructions for entering it are above, recounted by Ben.
	* If the robot wakes up to a MAKE ABS DATA error it's probably having trouble communicating with some of the position encoders on the motors. The ABSolute position encoders are backed up by a battery and they can get into a state where they don't work right, that's what's described in the previous links is to get them to cooperate.		* If the robot wakes up to a MAKE ABS DATA error it's probably having trouble communicating with some of the position encoders on the motors. The ABSolute position encoders are backed up by a battery and they can get into a state where they don't work right, that's what's described in the previous links is to get them to cooperate.
	* The controller wants to see eight position encoders. Six ~~are on the six~~ motors of the robot, ~~the~~ 7th ~~is the~~ giant heavy motor/gearbox assembly on the floor, and ~~the~~ 8th is simulated by an arduino hanging by the wires from the circuitboard inside the cabinet. ~~I really need~~ to ~~clean~~ up ~~that wiring~~, ~~and replace~~ the ~~7th motor~~ with the ~~dual-encoder emulator arduino code branch~~		* <s>The controller wants to see eight position encoders. Six motors of the robot, a 7th giant heavy motor/gearbox assembly on the floor, and an 8th simulated by an arduino hanging by the wires from the circuitboard inside the cabinet.</s> We formerly used [https://github.com/jerkey/yasnac_fakery hardware to get it to boot up without errors], but moving jumpers on one of the circuit cards allowed it to be content with only the 6 axes of the arm itself.

	= Electrical components =		= Electrical components =

Jerkey: /* documentation */

2022-11-23T08:38:49Z

documentation

← Older revision		Revision as of 01:38, 23 November 2022
Line 24:		Line 24:

	= documentation =		= documentation =
			* Homing https://pdfcoffee.com/erc-homing-pdf-free.html
	* http://spaz.org/~jake/robot		* Collection of docs http://spaz.org/~jake/robot
	** [http://spaz.org/~jake/robot/155493-INFORM-LANGUAGE.pdf INFORM Lanugage manual PDF] and another copy here [http://www.ro.feri.uni-mb.si/predmeti/robotizacija/inform.pdf INFORM PDF]		* [http://spaz.org/~jake/robot/155493-INFORM-LANGUAGE.pdf INFORM Lanugage manual PDF] and another copy here [http://www.ro.feri.uni-mb.si/predmeti/robotizacija/inform.pdf INFORM PDF]
	* [http://www.motoman.com/msp/docs/manuals.php?order=controller]
	* [http://www.robot-forum.com/robotforum/yaskawa-motoman-robot-forum/motoman-k6sb-with-erc-controller/ Robotforum posts on the Yaskawa motoman k6sb with erc controller] ''talk to these people for the conversation''		* [http://www.robot-forum.com/robotforum/yaskawa-motoman-robot-forum/motoman-k6sb-with-erc-controller/ Robotforum posts on the Yaskawa motoman k6sb with erc controller] ''talk to these people for the conversation''

Jerkey: /* software for communicating with the robot from a regular computer */

2022-06-28T05:06:12Z

software for communicating with the robot from a regular computer

← Older revision		Revision as of 22:06, 27 June 2022
Line 17:		Line 17:
	= software for communicating with the robot from a regular computer =		= software for communicating with the robot from a regular computer =

	https://github.com/~~glvnst~~/yasnac		https://github.com/jerkey/yasnac

	https://github.com/jerkey/yasnac		Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first

			Your computer must be connected to the robot over an RS232 serial cable. [https://github.com/jerkey/yasnac/blob/master/remote/motofile motofile] lets you send job files to the robot, and [https://github.com/jerkey/yasnac/blob/master/remote/motocommand motocommand] lets you tell the robot what to do, as if you were pressing buttons on the control panels.<br>[https://github.com/jerkey/yasnac/blob/master/remote/motomove motomove] can move the robot directly (without loading a job file) but it is poorly supported in the robot's firmware and was never considered complete by the manufacturer (they moved onto the MRC control system development for this) so use it with caution.

	= documentation =		= documentation =