industrialrobotarm
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industrialrobotarm [2022-10-16 21:21] – [Manuals / Product pages] MirZa | industrialrobotarm [2024-03-27 12:31] – simon | ||
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- | ====== Industrial Robot arm - Motoman SV3 (Proboably) | + | ====== Industrial Robot arm ====== |
+ | |||
+ | Motoman SV3 with Motoman XRC (mini) controller | ||
{{: | {{: | ||
- | Originally was used by Strathclyde for moving plates with samples \\ | + | Originally was used by Strathclyde |
Fairly heavy, maybe 30-40kg \\ | Fairly heavy, maybe 30-40kg \\ | ||
- | It needs quite a bit of work to get it up and running. \\ | + | |
- | \\ | + | |
- | It has 2 boxes, one seems to be a power supply box and the other seems to be the controller, which connects to a computer with RS232 \\ | + | It has 2 boxes, one houses the servopack motor controllers |
- | Controller: Motoman XRC (XRC mini?) \\ | + | Controller: Motoman XRC (mini) \\ |
Accessories: | Accessories: | ||
- | \\ | + | |
- | The power supply "is apparently originally 3phase, but by the look of it it then immediately goes back to a rectifier and a switching power supply." | + | === Pledges === |
+ | ^ Person | ||
+ | | Dylan | £80 | Yes | | ||
+ | | Martin | ||
==== Ideas for what the robot could do ==== | ==== Ideas for what the robot could do ==== | ||
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* Neat demo / robot programming exercise: Make it spell words using wooden alphabet blocks (like Alphabot at National Museum of Scotland https:// | * Neat demo / robot programming exercise: Make it spell words using wooden alphabet blocks (like Alphabot at National Museum of Scotland https:// | ||
* bartender robot | * bartender robot | ||
+ | * Play Checkers | ||
In all these applications, | In all these applications, | ||
+ | Good example of that in the checkers game below | ||
+ | |||
+ | ==== Videos of the other robot of the same model doing stuff ==== | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[http:// | ||
+ | * (Different model) [[https:// | ||
==== Safety ==== | ==== Safety ==== | ||
Line 29: | Line 44: | ||
==== Current tasks (actionable items): ==== | ==== Current tasks (actionable items): ==== | ||
- | * Making more space \\ Ideas for making more space: | + | Todo: |
- | * We clear space from underneath | + | * Grease it with Harmonic Grease 4B No2 |
- | * We should, probably, a reshuffle of the lathes stock. We may not need 3 various lathes and could move Emco lathe away, put CNC lathe in place and have only 2 various lathes 8-)? It depends on Costa, Jerome | + | * Outriggers |
+ | * Calibrate / set home position (outriggers / grease before this) | ||
+ | * this will allow programs to be run | ||
+ | * replace electrolytic capacitor on speed control board | ||
+ | * Extend | ||
+ | * E.g.: The [[https:// | ||
+ | * use inputs: 2010 external start, 2014 remote, 2015 play, 2016 teach, EXESP External estop, EXSVON External Servo On, EXHOLD External Hold | ||
+ | * put a socket in the unused hole in the panel. CAT5 cable has 8 cores, enough for 7 buttons | ||
+ | * Get a RS232 adapter for computer connection | ||
+ | * Communicate with robot | ||
+ | * (before moving the arm with this, extend the control panel, to put it into remote mode without entering the robot work area) | ||
+ | * Try MotomanSDK first | ||
+ | * Check if the ERC serial communication software written by Sudoroom [[https:// | ||
+ | * compare | ||
+ | * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC | ||
+ | * compile | ||
+ | * (lastly) make it look cool, e.g. with a red trim/accent like [[https:// | ||
- | | + | Done Tasks: |
- | {{:robotarmtrolley2.jpg? | + | |
+ | * kitchen area is just big enough to have the trolley | ||
+ | * Trolley frame built | ||
+ | * VFD fitted | ||
+ | * Speed control board replaced | ||
+ | * Power cable made | ||
+ | * Calibration data entered | ||
+ | * External EStop connection bridged | ||
+ | * the control cabinet had was wired to be connected to some external peripheral with EStop inputs, | ||
+ | * Changed out of Arc Welding mode | ||
+ | * Encoder batteries | ||
+ | |||
+ | |||
+ | |||
+ | ==== Some Notes ==== | ||
+ | * Password for switching to management mode is ...... (6 periods) | ||
+ | * yaskawa mode: [[private: | ||
+ | * Gripper (DC motor with a simple on-off controller) controls: | ||
+ | |||
+ | | Digital Output 12 | Close Gripper | ||
+ | | Digital Output 13 | Open Gripper | | ||
+ | | Digital Input 12 | Fully Closed hall effect sensor | | ||
+ | | Digital Input 13 | Fully Open hall effect sensor | ||
- | * Contact manufacturer for manuals and software | ||
- | * VFD is missing. We have one from Costa, but first find out what the original model and settings for it are and see if the current replacement is suitable | ||
- | * find out how to connect PC (software / cable & adapter) | ||
- | * Also search the web for any documentation for each circuit board / module. | ||
- | * Get and wire a BLUE 220/250 VOLT plug | ||
- | * find if it can be plugged in to the wall anywhere or at a special point | ||
- | * Get a compatible RS232 adapter for computer connection | ||
- | ==== TODO (in general) ==== | ||
- | * make space in lab for arm | ||
- | * build trolley | ||
- | * get documentation | ||
- | * install missing VFD | ||
- | * work out how and where to plug it into the wall | ||
- | * calibration \\ "it may have lost the charge in the encoder' | ||
- | * compile training / documentation on wiki | ||
- | * (lastly) make it look cool, e.g. with a red trim/accent like [[https:// | ||
- | ==== Videos of the other robot of the same model doing stuff ==== | ||
- | * [[https:// | ||
- | * [[https:// | ||
- | * [[https:// | ||
- | * [[https:// | ||
- | * (Different model) [[https:// | ||
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+ | ==== Remote mode ==== | ||
+ | * Select " | ||
+ | * Not specified: read-only | ||
+ | * I/O mode: partial write access? | ||
+ | * Command and I/O mode: full write access | ||
+ | * The " | ||
+ | * The " | ||
+ | === Configuration === | ||
+ | * Set parameter RS005: | ||
+ | * 0: read/write allowed | ||
+ | * 1: read-only | ||
+ | * Set " | ||
+ | * #8214 INHIBIT IO | ||
+ | * 0: remote access disabled | ||
+ | * 1: remote access enabled | ||
+ | * #8215 CMD REMOTE SEL | ||
+ | * 0: disable command mode | ||
+ | * 1: enable command mode | ||
+ | * #8216 INHIBIT PP/PANEL | ||
+ | * 0: pendant is allowed to move the robot while in remote command mode | ||
+ | * 1: pendant is not allowed to move the robot while in remote command mode | ||
+ | * e-stop is always available |
industrialrobotarm.txt · Last modified: 2024-03-27 12:33 by simon