Giant robot arm

Motoman YRFL 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

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

• [1] http://irtfweb.ifa.hawaii.edu/~tcs3/tcs3/vendor_info/DeltaTau/manuals_0311/ACC-8D%20OPTION%209.PDF encoder datasheet (for different encoders?)

http://servo-repair.com/documents/yaskawa/CACR-SR.pdf <------- this is totally what we have, absolute encoders and CACR servopacks

http://servo-repair.com/documents.php

http://www.youtube.com/watch?v=osErRS4m4S8#t=55

Coordinate conversion and 3d model

https://github.com/sudoroom/sudo-robot-arm