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--- industrialrobotarm [2024-05-30 08:01] – 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 81: / 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
+==== Adjust collision sensitivity ====
+Switch to management mode and then set the sensitivity between 1 (scares itself) and 500 (killer robot). The default is 100.
+  - 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.