Difference between revisions of "Giant robot arm"
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[[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:Six-axis-robot.gif|an image describing the six axes of a six-axis robot]] | ||
[[File:Robot home position.png|250px|robot homed position pose]] | |||
= where did it come from and why is it here? = | = where did it come from and why is it here? = | ||
Revision as of 00:28, 8 October 2014
Yaskawa Motoman K10S
where did it come from and why is it here?
the robot was sold to sudoroom for scrap for $200, and it's here because it's awesome
software for communicating with the robot from a regular computer
https://github.com/jerkey/yasnac
documentation
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/
hardware used to get it to even turn on without errors
https://github.com/jerkey/yasnac_fakery
Electrical components
- TM10T3B-H Thyristor module
- [1] http://irtfweb.ifa.hawaii.edu/~tcs3/tcs3/vendor_info/DeltaTau/manuals_0311/ACC-8D%20OPTION%209.PDF encoder datasheet (for different encoders?)
http://servo-repair.com/documents/yaskawa/CACR-SR.pdf <------- this is totally what we have, absolute encoders and CACR servopacks
http://servo-repair.com/documents.php
http://www.youtube.com/watch?v=osErRS4m4S8#t=55