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Difference between revisions of "Giant robot arm"
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= 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 like this: | ||
<code> | |||
ERROR NO. ERROR STATUS | |||
SV1: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 01 0000_0001 | |||
SV2: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 05 0000_0010 | |||
SV3: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 00 0000_0000 | |||
SV4: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 00 0000_0000 | |||
</code> | |||
This probably means the battery in the robot arm itself (behind the connectors) is dead. You might have to short Batt0 to RESET for 30 minutes or something before putting in a new battery and re-homing? | |||
https://www.robot-forum.com/robotforum/thread/20910-motoman-yasnac-erc-k6sb1-make-abs-data-error/ | |||
* 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. | * 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>] | ||