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
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
enabling relative job function and the communications option
Ben says:
"If I remember, press OP2, enter the magic code 24.#4.#2 then set these:
set SD079 to 1 for relative job (x,y,z coordinates)
set SD110 to 1 for data communication (remote mode)
and reboot the robot."
hardware used to get it to even turn on without errors
Electrical components
- 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
Coordinate conversion and 3d model
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
15:25 <@Rab> No small matter unfortunately, unless you get really imaginative on the CAM side and utilitize the robot's axes of movement in very simple ways. 15:27 <@Rab> I think it'll probably need to be somebody's brilliant custom CAM because open-sores CAM is pretty seriously limited, and more than 3-axis commercial CAM is insanely expensive. 15:28 <@Rab> PyCAM might be a start, that's what I'll use if I do anything 3D. 15:38 <@Rab> Autodesk Fusion 360 includes Autodesk's 3+2 CAM, which is probably the best and most usable CAM you'll find anywhere for zero dollars. But fuck that proprietary cloud shit. 15:42 <@Rab> CAM is one of those software applications which is so hard, anybody skilled enough to do it right also wants to get paid. That's a direct challenge to Sudo Room BTW. 15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.