Difference between revisions of "Nachi"


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* Format floppy (?)
* Format floppy (?)
* Select constant file optie 5 (SC06-F02)
* Select constant file optie 5 (SC06-F02)
=Helpfull links==
* http://hal.thibaultschwartz.com/about/ open source robot simulation (check if the Nachi can be supported)

Revision as of 00:14, 28 March 2014

Nachi SC06F-02

Nachi robot.jpg


March 26 2014

Been to Filip Jonkers' workplace today, pictures can be found[[1][here]], and got the first signals of life from the Nachi robot. It started up complaining about a constant file missing, and by placing a 1.44" disk and choosing "format", we were able to initialize the system.

edit: was this formatting the floppy? I don't think so; formatting the floppy from the Teacher Panel took very long, this took quite a short time. The manual says that there's a RAM that stores the setup (backed up by battery), maybe that had to be formatted.

We got a lot of complaints about batteries that were dead, and found one battery in the main cabinet (looked like normal AA, but was in fact 3.6V Lithium cell). Somehow the handheld trainer device still nags about an emergency stop, although all 3 stops are in extended position.

After reading some material at home, we can try the following things:

  • Using the brake release switches at the top of the control cabinet
  • Replace battery, and batteries (type? Also Lithium?) in the base of the robot to take care of backup of system
  • Figure out emergency stops. All signals should be normally closed. The Safety plug feature should only limit speed of operation, not operation itself.

Next time we should bring :

  • Serial cable with 25 female to connect to controller.
  • Computer with 3"5 floppy drive and 1.44 Mb floppys (to store programs?)
    • alternative there is a CF Card slot inside the machine, probaly also to store programs.
  • Batteries, Lithium type
  • Some pieces of threaded rod, to put robot in callibration position.

Actions today

  • Floppy1, msdos? 1.44
  • Format floppy (?)
  • Select constant file optie 5 (SC06-F02)

Helpfull links=