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Difference between revisions of "Giant robot arm"
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[[File:Giantrobot-getting.jpg|thumb|humans bringing the robot to sudoroom]] | [[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:Giant_robot_arm_where_it_came_from.jpg|thumb|as it was found]] | ||
[[File: | [[File:Robot_axes.jpg|robot axes and their directions]] | ||
[[File:Robot home position.png|250px|robot homed position pose]] | [[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!]] | [[File:SudoRoom Robot Art Painter!.png|thumb|You can even make the robot arm paint for you!]] | ||
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Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first | Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first | ||
Your computer must be connected to the robot over an RS232 serial cable. [https://github.com/jerkey/yasnac/blob/master/remote/motofile motofile] lets you send job files to the robot, and [https://github.com/jerkey/yasnac/blob/master/remote/motocommand motocommand] lets you tell the robot what to do, as if you were pressing buttons on the control panels.<br>[https://github.com/jerkey/yasnac/blob/master/remote/motomove motomove] can move the robot directly (without loading a job file) but it is poorly supported in the robot's firmware and was never considered complete by the manufacturer (they moved onto the MRC control system development for this) so use it with caution. | Your computer must be connected to the robot over an [https://sudoroom.org/mediawiki/index.php?title=Giant_robot_arm&action=submit#Serial_port_pinout_to_connect_to_a_regular_PC_(DTE)_9-pin_socket RS232 serial cable]. [https://github.com/jerkey/yasnac/blob/master/remote/motofile motofile] lets you send job files to the robot, and [https://github.com/jerkey/yasnac/blob/master/remote/motocommand motocommand] lets you tell the robot what to do, as if you were pressing buttons on the control panels.<br>[https://github.com/jerkey/yasnac/blob/master/remote/motomove motomove] can move the robot directly (without loading a job file) but it is poorly supported in the robot's firmware and was never considered complete by the manufacturer (they moved onto the MRC control system development for this) so use it with caution. | ||
= documentation = | = documentation = | ||
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= Getting the robot working if it has forgotten its purpose = | = 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. | * 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 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>] | ||
* 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>] | * 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. | * 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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15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas. | 15:45 <@Rab> You could join ##linuxcnc on feenode and see if anybody has any ideas. | ||
= Serial port pinout to connect to a regular PC (DTE) 9-pin socket = | |||
{| class="wikitable" style="margin:auto, text-align:left" | |||
|- | |||
! 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:Projects]] | ||
[[Category:Diagnostics]] | [[Category:Diagnostics]] | ||
[[Category:Diagnostics]] | [[Category:Diagnostics]] | ||