Giant robot arm

Yaskawa Motoman K10S

robot in sudoroom

humans bringing the robot to sudoroom

as it was found

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://spaz.org/~jake/robot
  • INFORM Lanugage manual PDF and another copy here INFORM PDF
• [1]
• Robotforum posts on the Yaskawa motoman k6sb with erc controller talk to these people for the conversation

hardware used to get it to even turn on without errors

https://github.com/jerkey/yasnac_fakery

Electrical components

• TM10T3B-H Thyristor module PDF

• ACC-8D20 option PDF manual 33 page manual on ???

• encoder datasheet (pdf)(for different encoders?)

• Yaskawa CACR-SR Manual (PDF) <------- this is totally what we have, absolute encoders and CACR servopacks

• Servo Repair documents website

• http://www.youtube.com/watch?v=osErRS4m4S8#t=55

Coordinate conversion and 3d model

https://github.com/sudoroom/sudo-robot-arm

Cool Projects

Drawing with the Robot Arm Project

Substack and Jake went ahead and hacked the robot (see the blog post ). now you can upload simple drawings and get it to draw for you.

• Get an image file (PNG) and convert it to SVG free convert to SVG web app
• Take the SVG and convert it to INFORM http://substack.neocities.org/svg2inform.html (thanks Substack!)
• Go to SudoRoom, chat with the right hackers, learn to calibrate (safety first!!!) and then let the robot do the drawing for you!

• Cheers! Cheers! More thanks to Jake for learning how to fake the serial disk https://github.com/jerkey/yasnac/blob/master/src/fakedisk.py