industrialrobotarm
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| industrialrobotarm [2022-06-29 02:48] – add list of applications MirZa | industrialrobotarm [2024-03-27 12:33] (current) – 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 seems to be a power supply box and the other seems to be the controller, which connects to a computer with RS232 \\ | + | It has 2 boxes, one houses the servopack motor controllers |
| - | Controller: Motoman XRC (XRC mini?) \\ | + | Controller: Motoman XRC (mini) \\ |
| Accessories: | Accessories: | ||
| - | \\ | + | |
| - | 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." | + | === Pledges === |
| + | ^ Person | ||
| + | | Dylan | £80 | Yes | | ||
| + | | Martin | ||
| ==== Ideas for what the robot could do ==== | ==== Ideas for what the robot could do ==== | ||
| Line 17: | Line 22: | ||
| * 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 29: | Line 44: | ||
| ==== Current tasks (actionable items): ==== | ==== Current tasks (actionable items): ==== | ||
| - | * Making more space \\ Ideas for making more space: | + | Todo: |
| - | * We clear space from underneath | + | * Grease it with Harmonic Grease 4B No2 |
| - | * 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 | + | * Outriggers |
| + | * Calibrate / set home position (outriggers / grease before this) | ||
| + | * this will allow programs to be run | ||
| + | * replace electrolytic capacitor on speed control board | ||
| + | * Extend | ||
| + | * 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 | ||
| + | * put a socket in the unused hole in the panel. CAT5 cable has 8 cores, enough for 7 buttons | ||
| + | * 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:// | ||
| + | * compare | ||
| + | * PCMCIA adapter + CF card to allow to save calibration settings and load programs written on a PC | ||
| + | * compile | ||
| + | * (lastly) make it look cool, e.g. with a red trim/accent like [[https:// | ||
| - | | + | Done Tasks: |
| - | {{:robotarmtrolley2.jpg? | + | |
| + | * kitchen area is just big enough to have the trolley | ||
| + | * 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, | ||
| + | * Changed out of Arc Welding mode | ||
| + | * Encoder batteries | ||
| + | |||
| + | |||
| + | |||
| + | ==== Some Notes ==== | ||
| + | * Password for switching to management mode is ...... (6 periods) | ||
| + | * yaskawa mode: [[private: | ||
| + | * 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 | ||
| - | * 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' | ||
| - | * compile training / documentation on wiki | ||
| - | * (lastly) make it look cool, e.g. with a red trim/accent like [[https:// | ||
| - | ==== Videos of the other robot of the same model doing stuff ==== | ||
| - | * [[https:// | ||
| - | * [[https:// | ||
| - | * [[https:// | ||
| - | * [[https:// | ||
| - | * (Different model) [[https:// | ||
| Line 68: | Line 99: | ||
| * Robot and controller manual: https:// | * Robot and controller manual: https:// | ||
| * controller product page: https:// | * controller product page: https:// | ||
| + | * MOTOMAN XRC controller instructions: | ||
| Line 73: | Line 105: | ||
| + | ==== 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.1656470928.txt.gz · Last modified: 2022-06-29 02:48 by MirZa