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Difference between revisions of "Giant robot arm"
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<big>Yaskawa Motoman K10S</big> | <big>Yaskawa Motoman K10S</big> | ||
[[File:Robot_teasing_korl.jpg|thumb|robot in sudoroom]] | [[File:Robot typing its name on a laptop.jpeg|750px|left|typing on a laptop]] | ||
[[File:Robot_teasing_korl.jpg|thumb|right|robot in sudoroom]] | |||
[[File:Giantrobot-getting.jpg|thumb|humans bringing the robot to sudoroom]] | [[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:Giant_robot_arm_where_it_came_from.jpg|thumb|as it was found]] | ||
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[[File:SudoRoom Robot Art Painter!.png|thumb|You can even make the robot arm paint for you!]] | [[File:SudoRoom Robot Art Painter!.png|thumb|You can even make the robot arm paint for you!]] | ||
= videos by Wade Bourne | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20carves%20a%20piece%20of%20foam.mp4 robot carves a piece of foam.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20draws%20a%20circle%20in%20a%20square.mp4 robot draws a circle in a square.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20redraws%20a%20circle%20in%20a%20square.mp4 robot redraws a circle in a square.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20types%20hello%20world%20on%20a%20laptop.mp4 robot types hello world on a laptop.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20typing%20its%20name%20on%20a%20laptop.mp4 robot typing its name on a laptop.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello.mp4 robot writes hello.mp4] | |||
* [https://spaz.org/~jake/robot/wadevids/robot%20writes%20hello%20backwards.mp4 robot writes hello backwards.mp4] | |||
= what is it for? = | = what is it for? = | ||
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It's a six-axis CNC machine that is rated to move 10 kilograms around in any orientation, with 1mm accuracy. | 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 = | |||
[https://github.com/wbourne0/yasnac software written in Go by Wade Bourne] | |||
https://github.com/jerkey/yasnac | [https://github.com/jerkey/yasnac software written by several people for working with the robot] | ||
Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first | Use motofile and motocommand while the REMOTE button on the robot is lit up. To enable the REMOTE button, you must [https://sudoroom.org/wiki/Giant_robot_arm#enabling_relative_job_function_and_the_communications_option enable remote operation] first | ||
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= documentation = | = documentation = | ||
* [https://spaz.org/~jake/robot/479950-3-Programming_manual_v4-ocr.pdf programming manual] (searchable thanks to OCR) | |||
* Homing https://pdfcoffee.com/erc-homing-pdf-free.html | * Homing https://pdfcoffee.com/erc-homing-pdf-free.html | ||
* Collection of docs http://spaz.org/~jake/robot | * Collection of docs 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.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'' | * [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'' | ||
* [https://spaz.org/~jake/robot/CACR-SR15SZ1SDY214-SERVOPACK-YASKAWA-MANUAL.pdf a modern replacement for the motor controllers] (aka a much more readable PDF about these motor drivers) | |||
* [https://spaz.org/~jake/robot/CACR-SR-BB1.pdf an original PDF manual for the motor controllers] (but actually searchable thanks to OCR) | |||
= enabling relative job function and the communications option = | = enabling relative job function and the communications option = | ||
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= Getting the robot working if it has forgotten its purpose = | = 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 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 like this: | ||
<code> | |||
ERROR NO. ERROR STATUS | |||
SV1: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 01 0000_0001 | |||
SV2: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 05 0000_0010 | |||
SV3: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 00 0000_0000 | |||
SV4: 1 00 0000_0000 | |||
2 00 0000_0000 | |||
3 00 0000_0000 | |||
</code> | |||
This probably means the battery in the robot arm itself (behind the connectors) is dead. You might have to short Batt0 to RESET for 30 minutes or something before putting in a new battery and re-homing? | |||
https://www.robot-forum.com/robotforum/thread/20910-motoman-yasnac-erc-k6sb1-make-abs-data-error/ | |||
* Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed. You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position. As of 2022/12/7 the absolute encoder values for SLURBT are: 5771,30829,-25795,-792,66,-1047. IF the physical limit switch (for example on the S axis) is hit, you have to HOLD the "overrun" bypass button next to the serial port while booting up and CAREFULLY jogging S- or S+ to fix that problem, and then you can let go of the button. | * Homing https://pdfcoffee.com/erc-homing-pdf-free.html basically, pose the robot as shown above, press OP2, press 0 eight times, ENTER, and then you can tell it that it's presently homed. You can also home fewer than all axes by selecting which axes you want to home, before pressing the button for "Setting" which is how you tell it to save the present position. As of 2022/12/7 the absolute encoder values for SLURBT are: 5771,30829,-25795,-792,66,-1047. IF the physical limit switch (for example on the S axis) is hit, you have to HOLD the "overrun" bypass button next to the serial port while booting up and CAREFULLY jogging S- or S+ to fix that problem, and then you can let go of the button. | ||
* There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>] | * There is a switch inside the control cabinet on the edge of the CPU1 card which puts it into [https://spaz.org/~jake/pix/2022-05/20220531_205509.jpg <u>MAINT mode (switch up)</u>] or [https://spaz.org/~jake/pix/2022-05/20220531_213820.jpg <u>PARAM mode (switch down)</u>], normally the switch is in the middle. Hard-power cycling the robot is how you reboot it. [https://spaz.org/~jake/pix/2022-05/20220531_221354.jpg <u>picture of switch location</u>] [https://spaz.org/~jake/pix/2022-05/20220531_205222.jpg <u>close-up picture of switch</u>] | ||