[sudo-discuss] robot repair

[Jake]

the errors are definitely caused by the missing extra motors, and when i 
reconnect the extra motor controller, one of the errors stops!

so if i reconnect both extra motor controllers... the arm should be ready 
to move.

On Sat, 2 Aug 2014, Marc Juul wrote:

> On Sat, Aug 2, 2014 at 7:07 PM, Jake <jake at spaz.org> wrote:
>       omg i think i figured out what's wrong
>
>       it's not throwing errors for servos 1 and 2 of the robot, it's referring to the two motors that are not connected, they were part of the
>       assembly line.  We actually have the controllers for both, they were in that huge metal box I put on the curb (after taking them out) but we
>       only have one of the motors and anyway...
> 
> 
> Oh what? But doesn't it only list axis 1, 2, 3, 4, 5 and 6? If 1 and 2 are the extra axes then shouldn't there be axis 7 and 8 as well?
>  
>
>       on page 28 of http://servo-repair.com/documents/yaskawa/CACR-SR.pdf
>       (labeled page 23 in the document) it shows the pins of the connector for the errors we're getting.
>
>       I think if i short the right pins on the connectors, the errors will go away and it will think the two missing servo controllers are happy,
>       even though we don't actually want to hook them up to anything.
>
>       unfortunately, reconfiguring the ERC controller to know that it doesn't have two extra motors would require changing the EPROM, and even if we
>       had a ROM burner handy I wouldn't know what to change.
>
>       Does anyone want to play with the robot arm?
> 
> 
> Uh. Yes. I have some work-work but maybe I can sneak away for a bit in a bit.
> 
> --
> marc/juul
>  
>
>       -jake
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