Difference between revisions of "Nachi"

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(Documentation)
(Helpfull links=)
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* Some pieces of threaded rod, to put robot in callibration position.
 
* Some pieces of threaded rod, to put robot in callibration position.
  
=Helpfull links==
+
=Helpfull links=
 
* http://hal.thibaultschwartz.com/about/ open source robot simulation (check if the Nachi can be supported). Requires Rhino3D?
 
* http://hal.thibaultschwartz.com/about/ open source robot simulation (check if the Nachi can be supported). Requires Rhino3D?
 
* http://www.coppeliarobotics.com/ Open source robot simulation. Nachi not supported out of the box
 
* http://www.coppeliarobotics.com/ Open source robot simulation. Nachi not supported out of the box

Revision as of 10:05, 7 April 2014

Nachi SC06F-02


Nachi robot.jpg

Documentation

March 26 2014

Been to Filip Jonkers' workplace today, pictures can be found 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.

Actions today

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

March 28 2014

Filip opened the battery hatch in the base of the robot and found 6 more lithium cells. These batteries seem to be good replacements. Batterijen.jpg


Next time we should bring :

  • Soldering material & Multimeter
  • 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 already ordered by Filip
  • Some pieces of threaded rod, to put robot in callibration position.

Helpfull links