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Difference between revisions of "Giant robot arm"
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= | = what is it for? = | ||
It's a six-axis CNC machine that is rated to move 10 kilograms around in any orientation, with 1mm accuracy. | |||
= software for communicating with the robot from a regular computer = | = software for communicating with the robot from a regular computer = | ||
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= documentation = | = documentation = | ||
* http://spaz.org/~jake/robot | * 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://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.motoman.com/msp/docs/manuals.php?order=controller] | ||
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https://github.com/jerkey/yasnac_fakery | https://github.com/jerkey/yasnac_fakery | ||
= 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 switch inside the control cabinet on the edge of the CPU1 card which puts it into MAINT mode (switch up) or PARAM mode (switch down), normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. | |||
* There is a button behind the small hinged cover on the main control panel, which is for rebooting after the arm has been moved out of range, so you can manually bring the arm back into position. | |||
* 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: https://www.robot-forum.com/robotforum/thread/14021-erc-k6sb-make-abs-data/ (the PDF mentioned there can be found in the spaz link, here: https://spaz.org/~jake/robot/MotomanERChomePosition.pdf ) | |||
* 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 below, recounted by Ben. | |||
* If the robot wakes up to a MAKE ABS DATA error it's probably having trouble communicating with some of the position encoders on the motors. The ABSolute position encoders are backed up by a battery and they can get into a state where they don't work right, that's what's described in the previous links is to get them to cooperate. | |||
* The controller wants to see eight position encoders. Six are on the six motors of the robot, the 7th is the giant heavy motor/gearbox assembly on the floor, and the 7th is simulated by an arduino hanging by the wires from the circuitboard inside the cabinet. I really need to clean up that wiring. | |||
= Electrical components = | = Electrical components = | ||
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[[Category:Projects]] | [[Category:Projects]] | ||
[[Category:Diagnostics]] | |||
[[Category:Diagnostics]] | |||