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Motoman | <big>Yaskawa Motoman K10S</big> | ||
= to | [[File:Robot_teasing_korl.jpg|thumb|robot in sudoroom]] | ||
https://github.com/jerkey/ | [[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 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!]] | |||
= 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/glvnst/yasnac | |||
https://github.com/jerkey/yasnac | |||
= documentation = | |||
* http://spaz.org/~jake/robot | |||
** [http://spaz.org/~jake/robot/155493-INFORM-LANGUAGE.pdf INFORM Lanugage manual PDF] and another copy here [http://www.ro.feri.uni-mb.si/predmeti/robotizacija/inform.pdf INFORM PDF] | |||
* [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/ 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 = | |||
https://github.com/jerkey/yasnac_fakery | |||
= Electrical components = | = Electrical components = | ||
*[http://pdf.datasheetcatalog.com/datasheet/MitsubishiElectricCorporation/mXvttst.pdf TM10T3B-H Thyristor module PDF] | |||
*[http:// | *[http://irtfweb.ifa.hawaii.edu/~tcs3/tcs3/vendor_info/DeltaTau/manuals_0311/ACC-8D%20OPTION%209.PDF ACC-8D20 option PDF manual] 33 page manual on ??? | ||
*[ | * [http://irtfweb.ifa.hawaii.edu/~tcs3/tcs3/vendor_info/DeltaTau/manuals_0311/ACC-8D%20OPTION%209.PDF encoder datasheet] (pdf)(for different encoders?) | ||
http://servo-repair.com/documents/yaskawa/CACR-SR.pdf | * [http://servo-repair.com/documents/yaskawa/CACR-SR.pdf Yaskawa CACR-SR Manual] (PDF) <------- this is totally what we have, absolute encoders and CACR servopacks | ||
http://servo-repair.com/documents.php | * [http://servo-repair.com/documents.php Servo Repair documents website] | ||
http://www.yaskawa.co.jp/technology/img/tech/tech03_03_01.gif | http://www.yaskawa.co.jp/technology/img/tech/tech03_03_01.gif | ||
| Line 24: | Line 59: | ||
http://ceeps.colostate-pueblo.edu/Engineering/RoboticsLaboratory/Motoman%20K3/PublishingImages/motoman04.gif | http://ceeps.colostate-pueblo.edu/Engineering/RoboticsLaboratory/Motoman%20K3/PublishingImages/motoman04.gif | ||
http://www.youtube.com/watch?v=osErRS4m4S8#t=55 | * 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 [https://sudoroom.org/drawing-with-the-robot-arm/ 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 [http://image.online-convert.com/convert-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 | |||
[[File:SudoRoom Robot Art Painter!.png|painting with the SudoRoom Robot arm <3 it's so good to learn from other people!]] | |||
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. | |||
[[Category:Projects]] | |||