industrialrobotarm
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| industrialrobotarm [2023-01-29 22:16] – MirZa | industrialrobotarm [2024-08-11 08:36] (current) – [Adjust collision sensitivity] 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 houses the servopack motor controllers and the other has IO modules and a 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 (mini) \\ | Controller: Motoman XRC (mini) \\ | ||
| Accessories: | Accessories: | ||
| - | |||
| - | === Pledges === | ||
| - | ^ Person | ||
| - | | Dylan | 80 | Yes | | ||
| - | | Martin | ||
| ==== Ideas for what the robot could do ==== | ==== Ideas for what the robot could do ==== | ||
| Line 20: | Line 17: | ||
| * 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 32: | Line 39: | ||
| ==== Current tasks (actionable items): ==== | ==== Current tasks (actionable items): ==== | ||
| - | < | + | 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. | + | |
| - | * 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 | + | * replace electrolytic capacitor on speed control board |
| + | * Add an external control panel for start/ | ||
| + | * 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 | ||
| + | * 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 | ||
| - | < | ||
| - | {{: | ||
| - | < | + | |
| - | | + | * compile training |
| - | * find out how to connect PC (software | + | * (lastly) make it look cool, e.g. with a red trim/accent like [[https://www.eurobots.net/ |
| - | * Also search the web for any documentation for each circuit board / module. | + | |
| - | * Get and wire a BLUE 220/250 VOLT plug | + | Done Tasks: |
| - | * find if it can be plugged in to the wall anywhere or at a special point</ | + | * Grease it with Harmonic Grease 4B No2 |
| + | * Outriggers made | ||
| + | * Calibrate | ||
| + | * this will allow programs | ||
| * Get a RS232 adapter for computer connection | * 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 | ||
| - | ==== TODO (in general) ==== | ||
| - | < | ||
| - | * build trolley | ||
| - | * get documentation | ||
| - | * install missing VFD | ||
| - | * work out how and where to plug it into the wall</ | ||
| - | * calibration \\ < | ||
| - | * compile training / documentation on wiki | + | ==== Some Notes ==== |
| - | * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC | + | * Password for switching |
| - | * Build outriggers | + | * yaskawa mode: [[private:industrialrobotarm|password]] |
| - | * Grease it with Harmonic Grease 4B No2 | + | * Gripper (DC motor with a simple on-off controller) controls: |
| - | * check if the ERC serial communication software written by Sudoroom | + | |
| - | * (lastly) make it look cool, e.g. with a red trim/accent like [[https:// | + | |
| + | | 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 | | ||
| + | * [[industrialrobotarm_job|Job editing]] | ||
| - | ==== Videos of the other robot of the same model doing stuff ==== | + | ==== Manually open/close gripper |
| - | * [[https://www.youtube.com/watch? | + | |
| - | | + | The robot must be in teach mode to use this, but the servo doesn' |
| - | | + | |
| - | | + | - In/Out |
| - | | + | |
| + | | ||
| + | - " | ||
| + | | ||
| + | - Hold Interlock and press Select | ||
| + | |||
| + | |||
| + | ==== Adjust collision sensitivity ==== | ||
| + | |||
| + | Switch to management mode and then set the sensitivity between 1 (scares itself) and 500 (killer robot). The default is 100. | ||
| + | |||
| + | | ||
| + | - Shock Sens Level | ||
| + | - Select "Cond. No." value 8 (play) or 9 (teach) | ||
| + | - Set " | ||
| + | - Menu: Data, Clear Max Value (to observe what the actual disturbance is) | ||
| + | |||
| + | Conditions 1 to 7 can be used explicitly in play/remote mode instead of the default 8. Program these remotely to get known custom levels. | ||
| Line 82: | Line 117: | ||
| + | ==== 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: remote mode read/write allowed | ||
| + | * 1: remote mode is 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.1675030597.txt.gz · Last modified: 2023-01-29 22:16 by MirZa