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industrialrobotarm

Industrial Robot arm - Motoman SV3 (Proboably)

Originally was used by Strathclyde 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
Controller: Motoman XRC (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

  • make it work as a 3d printer (add an extruder and make it work off GCode)
  • 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

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.

Safety

https://blog.rockfordsystems.com/playing-it-safe-with-robotics/

With a 200 degree per second maximum rotation speed and that weight, this could be our most dangerous item and needs very careful consideration of space and also what guards need to be in place. In addition to speed, even low speed operations could exert substantial torque and break bones if you otherwise get trapped. TODO: investigate safety mechanism for limiting speed and torque. However, these are still controlled by software and can be accidentally overridden, so other precautions need to be taken

Current tasks (actionable items):

  • Making more space
    Ideas for making more space:
    • 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.
    • 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.
  • 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:

  • 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'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 this or this

Videos of the other robot of the same model doing stuff

Manuals / Product pages

industrialrobotarm.txt · Last modified: 2022-06-29 02:48 by MirZa