Edinburgh Hacklab

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====== Industrial Robot arm ======

Motoman SV3 with Motoman XRC (mini) controller

{{:motomanrobotarm.png?direct&300|}}{{:pxl_20240806_230709647.jpg?direct&269|}}

Originally was used by Strathclyde University for moving plates with samples \\
Fairly heavy, maybe 30-40kg \\


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) \\
Accessories: Teaching pendant with all the controls and an Estop button \\

==== 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
  * 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 ====
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): ====
Todo:
  * extend the Sudoroom library - written for ERC controller, we have an XRC controller, but it mostly works [[https://github.com/treeherder/yasnac]]
  * 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


  * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC
  * 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 |

  * [[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.


==== Manuals / Product pages ====
  * Robot and controller manual: https://downloads.intelitek.com/Manuals/Robotics/Discontinued%20Machines/100355-a%20MotomanSV3X-mrs52050.pdf 
  * controller product page: https://www.robots.com/controllers/motoman-xrc-controller
  * MOTOMAN XRC controller instructions: https://icdn.tradew.com/file/201606/1569362/pdf/7055804.pdf





==== 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