Differences

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--- industrialrobotarm [2022-10-16 21:21] – [Manuals / Product pages] MirZa
+++ industrialrobotarm [2024-05-30 08:01] (current) – MirZa
@@ Line 1: / Line 1: @@
-====== Industrial Robot arm - Motoman SV3 (Proboably)  ======
+====== Industrial Robot arm ======
+Motoman SV3 with Motoman XRC (mini) controller
 {{:motomanrobotarm.png?direct&300|}}
-Originally was used by Strathclyde for moving plates with samples \\
+Originally was used by Strathclyde University for moving plates with samples \\
 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 and the other has IO modules and a controller which connects to a computer with RS232 \\
-Controller: Motoman XRC (XRC mini?) \\
+Controller: Motoman XRC (mini) \\
 Accessories: Teaching pendant with all the controls and an Estop button \\
-\\
-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." \\
 ==== Ideas for what the robot could do ====
@@ Line 17: / Line 17: @@
   * Neat demo / robot programming exercise: Make it spell words using wooden alphabet blocks (like Alphabot at National Museum of Scotland https://www.youtube.com/watch?v=wTejhrC1Rvw)
   * bartender robot
+  * Play Checkers
 In all these applications, humans can only interact with the robot by passing materials through a hatch in an enclosure that separates the robot work area from the human area. No direct contact while the robot is on.
+Good example of that in the checkers game below
+==== Videos of the other robot of the same model doing stuff ====
+  * [[https://youtu.be/-ot_FLglFCQ?t=78 | automatic checker game vs human]]
+  * [[https://www.youtube.com/watch?v=V8_q8iEzwcU | rubics cube solver]], [[https://www.youtube.com/watch?v=7p7RdnGZMDU | another rubics cube solver]]
+  * [[https://www.youtube.com/watch?v=AqFb-yqtGMY | 5-Axis Robotic Machining foam]]
+  * [[https://www.youtube.com/watch?v=lq_SNWuYYJs | Spray Painting production line]]
+  * [[http://larochelle.sdsmt.edu/research/motomaker.php | Lattice structure 3D printing]]
+  * (Different model) [[https://www.youtube.com/watch?v=Wj17z5iSzEQ | automatic belt sanding]]
 ==== Safety ====
@@ Line 29: / Line 39: @@
 ==== Current tasks (actionable items): ====
-  * Making more space \\ Ideas for making more space:
+Todo:
-      * We clear space from underneath the CNC router and put the CNC router electronics there. We may or may not then cut out that portion of the desk where the mitre saw is placed on at the moment.
+  * extend the Sudoroom library - written for ERC controller, we have an XRC controller, but it mostly works [[https://github.com/treeherder/yasnac]]
-      * 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 and Robert finishing the training for the big lathe though.
+  * replace electrolytic capacitor on speed control board
+  * Add an external control panel for start/hold/servo on/play/teach/remote buttons, so that it is not in the working area of the robot, which is much safer
+      * E.g.: The [[https://www.motoman.com/getmedia/c6a8b343-6cbd-4e9d-8b1b-579a429eefcc/YRC1000-Pendant.png.aspx | YRC1000 programming pendant]] has start, hold, play/teach/remote buttons integrated
+      * use inputs: 2010 external start, 2014 remote, 2015 play, 2016 teach, EXESP External estop, EXSVON External Servo On, EXHOLD External Hold
+      * In progress: a box with buttons has been made with a DB25 connector. DB25 socket needs wired into the cabinet. Miron has documentation on wiring
+  * Communicate with robot
-  * Build a trolley for the arm: \\ A trolley with a worktop for the arm and space for electronics at the bottom. Use the aluminium profiles we have from the CNC router table and add locking wheels. See the photos:
-{{:robotarmtrolley2.jpg?direct&300|}}{{:robotarmtrolley1.jpg?direct&300|}}
-  * Contact manufacturer for manuals and software
+  * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC
-    * 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's battery, so may or may not need a recalibration (which is usually a very difficult procedure but I don't think it is impossible)"
   * compile training / documentation on wiki
   * (lastly) make it look cool, e.g. with a red trim/accent like [[https://www.eurobots.net/media/robot/det_20_Motoman_SV3X_4.JPG | this]] or [[https://www.artstation.com/artwork/XnoRa0 | this]]
+Done Tasks:
+  * Grease it with Harmonic Grease 4B No2
+  * Outriggers made
+  * Calibrate / set home position (outriggers / grease before this)
+      * this will allow programs to be run
+  * Get a RS232 adapter for computer connection
+  * 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, we are not using the external peripheral. The pendant EStop is enough in teach mode
+  * Changed out of Arc Welding mode
+  * Encoder batteries and other backup batteries replaced
+==== Some Notes ====
+  * Password for switching to management mode is ...... (6 periods)
+  * yaskawa mode: [[private:industrialrobotarm|password]]
+  * 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 |
-==== Videos of the other robot of the same model doing stuff ====
-  * [[https://www.youtube.com/watch?v=AqFb-yqtGMY | 5-Axis Robotic Machining foam]]
-  * [[https://www.youtube.com/watch?v=lq_SNWuYYJs | Spray Painting production line]]
-  * [[https://youtu.be/-ot_FLglFCQ?t=78 | automatic checker game vs human]]
-  * [[https://www.youtube.com/watch?v=V8_q8iEzwcU | rubics cube solver]], [[https://www.youtube.com/watch?v=7p7RdnGZMDU | another rubics cube solver]]
-  * (Different model) [[https://www.youtube.com/watch?v=Wj17z5iSzEQ | automatic belt sanding]]
@@ Line 74: / Line 97: @@
+==== Remote mode ====
+  * Select "In/out" -> "Remote" to view current status:
+    * Not specified: read-only
+    * I/O mode: partial write access?
+    * Command and I/O mode: full write access
+  * The "remote" light must be on for remote access
+  * The "play" light must also be on for full write access
+=== Configuration ===
+  * Set parameter RS005:
+    * 0: remote mode read/write allowed
+    * 1: remote mode is read-only
+  * Set "In/out" -> "pseudo input signal" as follows, pressing Interlock and Select together to toggle an option:
+    * #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