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

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 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