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--- industrialrobotarm [2023-01-30 02:29] – MirZa
+++ industrialrobotarm [2024-08-11 08:36] (current) – [Adjust collision sensitivity] simon
@@ Line 3: / Line 3: @@
 Motoman SV3 with Motoman XRC (mini) controller
-{{:motomanrobotarm.png?direct&300|}}
+{{:motomanrobotarm.png?direct&300|}}{{:pxl_20240806_230709647.jpg?direct&269|}}
 Originally was used by Strathclyde University for moving plates with samples \\
@@ Line 12: / Line 12: @@
 Controller: Motoman XRC (mini) \\
 Accessories: Teaching pendant with all the controls and an Estop button \\
-=== Pledges ===
-^ Person      ^ Amount ^ Paid ^
-| Dylan       | £80    | Yes  |
-| Martin      | £60    | £8   |
 ==== Ideas for what the robot could do ====
@@ Line 22: / 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 35: / Line 40: @@
 ==== Current tasks (actionable items): ====
 Todo:
-  * Grease it with Harmonic Grease 4B No2
+  * extend the Sudoroom library - written for ERC controller, we have an XRC controller, but it mostly works [[https://github.com/treeherder/yasnac]]
-  * Outriggers
-  * Calibrate / set home position (outriggers / grease before this)
-      * this will allow programs to be run
   * replace electrolytic capacitor on speed control board
-  * Extend the control panel on the cabinet so that it is not in the working area of the robot
+  * 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
+      * 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
-      * put a socket in the unused hole in the panel. CAT5 cable has 8 cores, enough for 7 buttons
+      * 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
-  * 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://github.com/treeherder/yasnac]] is compatible with the XRC controller by first downloading the MotomanSDK and monitoring the serial communications sent by it
-      * compare  with XRC "Data Transmission function manual" to verify it is compatible, then try it
   * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC
   * compile training / documentation on wiki
@@ Line 55: / Line 54: @@
 Done Tasks:
-  * make space in lab for arm
+  * Grease it with Harmonic Grease 4B No2
-      * kitchen area is just big enough to have the trolley in the centre with a clear 1m radius circle (the reach of the arm) around it
+  * 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
@@ Line 70: / Line 72: @@
 ==== Some Notes ====
-  * Password for switching security modes is 000000
+  * Password for switching to management mode is ...... (6 periods)
+  * yaskawa mode: [[private:industrialrobotarm|password]]
   * Gripper (DC motor with a simple on-off controller) controls:
@@ Line 78: / Line 81: @@
 | Digital Input 13  | Fully Open hall effect sensor |
+  * [[industrialrobotarm_job|Job editing]]
+==== Manually open/close gripper ====
+The robot must be in teach mode to use this, but the servo doesn't need to be on. If the gripper is obstructed it will continuously attempt to finish opening/closing (but the desired state can still be changed).
+  - In/Out
+  - Universal Output
+  - Menu: Edit, Search Signal No.
+  - "13", Enter
+  - Use arrows to select the circle symbol on "OUT#013" "GripOpen"
+  - Hold Interlock and press Select
-==== Videos of the other robot of the same model doing stuff ====
-  * [[https://www.youtube.com/watch?v=AqFb-yqtGMY | 5-Axis Robotic Machining foam]]
+==== Adjust collision sensitivity ====
-  * [[https://www.youtube.com/watch?v=lq_SNWuYYJs | Spray Painting production line]]
-  * [[https://youtu.be/-ot_FLglFCQ?t=78 | automatic checker game vs human]]
+Switch to management mode and then set the sensitivity between 1 (scares itself) and 500 (killer robot). The default is 100.
-  * [[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]]
+  - Robot
+  - Shock Sens Level
+  - Select "Cond. No." value 8 (play) or 9 (teach)
+  - Set "Detection Lvl" to the desired value using arrows, Select and Enter
+  - 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 99: / Line 117: @@
+==== 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