Difference between revisions of "Giant robot arm"

Giant robot arm (view source)

Revision as of 13:46, 7 December 2022

423 bytes added , 13:46, 7 December 2022

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Jerkey

Bureaucrats, Interface administrators, Administrators, Widget editors

311

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 [[File:Giantrobot-getting.jpg|thumb|humans bringing the robot to sudoroom]]
 [[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:Robot_axes.jpg|robot axes and their directions]]
 [[File:Robot home position.png|250px|robot homed position pose]]
 [[File:SudoRoom Robot Art Painter!.png|thumb|You can even make the robot arm paint for you!]]
@@ Line 43: / Line 43: @@
 = 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.
-* 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.
+* 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 button behind the small hinged cover on the main control panel, which is for rebooting after the arm has been moved out of range, so you can manually bring the arm back into position.
 * Homing the robot is easy compared to getting the robot to be in the mood to be homed, especially after replacing the memory batteries.  Don't be like this guy: <u>https://www.robot-forum.com/robotforum/thread/14021-erc-k6sb-make-abs-data/</u> [https://spaz.org/~jake/robot/MotomanERChomePosition.pdf <u>the PDF mentioned therein: MotomanERChomePosition.pdf</u>]
 * after the robot is working, you will have to remind it that you paid for all the deluxe options, like rectangular coordinates and remote access serial stuff.  The "magic code" is 24.#4.#2 and the instructions for entering it are above, recounted by Ben.
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 :45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas.
+{| class="wikitable" style="margin:auto, text-align:left"
+|+ Serial port pinout to connect to a regular PC (DTE) 9-pin socket
+|-
+! DB25 pins !! DE9 holes !! Signal (DE9 end) !! RJ45 pin#
+|-
+| 2 || 2 || RX || 2
+|-
+| 3 || 3 || TX || 3
+|-
+| 4 || 1 || DCD || 1
+|-
+| 5 || 4 || DTR || 4
+|-
+| 7 || 5 || GND || 5
+|}
 [[Category:Projects]]
 [[Category:Diagnostics]]
 [[Category:Diagnostics]]