Differences

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--- industrialrobotarm [2023-01-30 02:29] – MirZa
+++ industrialrobotarm [2024-03-27 12:33] (current) – simon
@@ Line 22: / Line 22: @@
   * 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 70: / Line 80: @@
 ==== 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 82: / Line 93: @@
-==== Videos of the other robot of the same model doing stuff ====
-  * [[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]]
-  * [[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]]
-  * (Different model) [[https://www.youtube.com/watch?v=Wj17z5iSzEQ | automatic belt sanding]]
@@ Line 99: / Line 105: @@
+==== 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