[sudo-discuss] robot repair

[Somebody]

Thanks for documenting whats happening w the Robot, Jake. Its like a little movie script in my mind. :) 

Jake <jake at spaz.org> wrote:

>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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>> 
>> 
>> 
>>
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