diff --git a/FujiCAM_Installation.md b/FujiCAM_Installation.md new file mode 100644 index 0000000..54ba4dd --- /dev/null +++ b/FujiCAM_Installation.md @@ -0,0 +1,44 @@ +# Servo Robot FujiCAM Installation + +Alt Text + +## Disconnect Water Cooling Connection +Unplug the connector attached to the robot arm. +Alt Text + +## Disconnect Pipe + +Unplug the pipe on attached to the robot arm. +Alt Text + + +## Disconnect Torch Magnetic Connection + +Bend the torch to disconnect the magnetic connection, then unscrew. +Alt Text + +**BE SURE TO PUT A BARRIER BETWEEN MAGNETIC PLATE AND TORCH** + Alt Text + + +## Unscrew Pipe Lockers + +Unscrew the flathead pipe locker. +Alt Text + +## Pull Pipe +Pull the pipe all the way. +Alt Text +Alt Text + +## Unscrew the Mounting Piece +Alt Text + +## Install the FujiCAM Mounting Piece +Alt Text + +## Put Everything Back + +Use zipties to secure the FujiCAM cable along the robot arm. +Alt Text + diff --git a/Motosim.md b/Motosim.md new file mode 100644 index 0000000..68b5e4a --- /dev/null +++ b/Motosim.md @@ -0,0 +1,49 @@ +# MOTOSIM Instructions + +Yaskawa Motosim Simulation Environment + +## License Setup +* Individual +Simply plugin the USB key into the Motosim computer + +* Educational Network License +Plug the USB license key to server, and make sure the Motosim computer is on the same network as license server (make sure to ping). +On Motosim computer, navigate to and go to {Configuration} -> {Access to Remote License Managers} +Enable {Allow Access to Remote Licenses}. +Enable {Aggressive Search for Remote Licenses}. +Enter the IP address or hostname into the {Remote License Search Parameters} box (RPI license server IP is `128.113.26.60`). +Click ‘Submit’. + + +## Setup +### From Backup File +On a physical controller, go to {MAIN MENU} -> {EX. MEMORY} and create a {SYSTEM BACKUP(CMOS.BIN)} file to the USB drive. Copy it over to the Motosim computer. + +![](images/new_controller_motosim.jpg) +Open Motosim, create a new cell and go to {Controller} -> {New} -> VRC Controller (using file) and select the CMOS.bin backup from created before. + +### From a Virtual Cell +Motosim cell environment is self-contained, and its default direction is `C:\Users\Public\Documents\MOTOMAN\MotoSimEG-VRC\Cells`. Simply zip/unzip the cell directory here should work. + +## CAD Tree +CAD models are managed under {Home} -> {CadTree}. +* Model Insersion: Click {Add} at the upper left corner. +* Position: Right click your model, {Set Position}. +* Scale: Right click your mode, {Property}. +* Export CAD: Right click on your model under {Cad Tree} -> {Export CAD File}. + +## Program +### Load Program +Just like a physical controller, a virtual controller has its own memory unaccessible. In order to load an INFORM program, you need to drop the program into `//Storage Card/`. Treat it like the USB driver on a physical controller, and you can load the program as {MAIN MENU} -> {EX. MEMORY} -> {LOAD}. + +### Run Program +On the virtual teachpendant, under Play Mode, and click {START}. + +### Delete Program +Just like a physical controller, {JOB} -> {SELECT JOB} -> {JOB} -> {DELETE JOB}. + +## Tips +* Teachpendant Display: {Controller} -> {Show}. +* Teachpendant Buttons: upper right corner of the display. +* Joint Pulse Recording: {Simulation} -> {Pulse Record}. + diff --git a/README.md b/README.md new file mode 100644 index 0000000..6087ba1 --- /dev/null +++ b/README.md @@ -0,0 +1,12 @@ +# WAAM Cell Instruction Directory + +* Motion Primitive Command Control: https://github.com/rpiRobotics/dx200_motion_progam_exec +* MotoSim License: https://github.com/rpiRobotics/dx200_motion_progam_exec/blob/main/Motosim.md +* YCP21 CF Card: https://github.com/rpiRobotics/dx200_motion_progam_exec/blob/main/YCP21_CF_setup.md +* FujiCAM Installation: +* MotoPlus Streaming with RR: + + +* Modified Fronius RR Driver on Pi: https://github.com/hehonglu123/fronius_robotraconteur_driver +* FLIR RR Driver: https://github.com/robotraconteur-contrib/flir_thermal_camera_robotraconteur_driver +* MTI RR Driver: https://github.com/robotraconteur-contrib/MTI_RR_Interface diff --git a/Robot_Calibration.md b/Robot_Calibration.md new file mode 100644 index 0000000..72442c2 --- /dev/null +++ b/Robot_Calibration.md @@ -0,0 +1,40 @@ + +# Robot Calibration (On Teach Pandant) +## Check robot calibration data from teach pandant +* Click [ROBOT] on left menu, and select [ROBOT CALIB] + +Alt Text + +* Click [DISPLAY] and select [COORDINATE DATA] + +Alt Text + +Alt Text + +* The data shown on the screen will be robot calibrated configuration: + +Alt Text + +## Robot calibration +* Use [select] on teach pandant and select the robot group to calibrate: + +Alt Text + +Alt Text + +* Use `5 points rule` for calibration: +Point the TCP of robot#1 to a reference point on robot#2, and keep them pointing each other for all 5 points: + +Alt Text + +Alt Text + +Jog C1, C2, C3 with fixing 2nd axis of robot#2. +Jog C3, C4, C5 with fixing 1st axis of robot#2. +Use [MODIFY] + [ENTER] to adjust C1 - C5. + +Alt Text + +Click [COMPLETE] to finish robot calibration, if errors happen, follow the error instruction to re-adjust C1 - C5. + +Alt Text diff --git a/YCP21_CF_setup.md b/YCP21_CF_setup.md new file mode 100644 index 0000000..0d59a04 --- /dev/null +++ b/YCP21_CF_setup.md @@ -0,0 +1,25 @@ +# YCP21 Compact Flash Setup +Alt Text + +Plug in the VGA cable with a display for debugging. + +The main computer (YCP21) has its system on CF card as shown below. + +Alt Text + +# Image Setup +Our WAAM cell uses Software Version DN3.17.00A(US)-00, and this info can be found under `SYSTEM.SYS` file. RPI box includes the image flash tool from Yaskawa, and `vcredist_x86.exe` is required to be installed and included in the folder. `mk_vx_cf.exe` is the tool to burn the CF card, need to check `Set boot loader` and `Delete file` as shown below. + +Alt Text + +# Load Backup to CF Image +DX200 only recognizes the CF card it has always been using. Swapping CF card from other controllers or a brand new burnt CF card will result in **Total Checksum Error** due to different configurations. In order to load backup file `CMOS.bin` onto the CF card, the controller needs to be in **One Time Management Mode**, which requires a password depending on the system and CF card serial ID. + +CF card serial ID could be looked up under {SYSTEM} -> {VERSION} -> {UTILITY} -> {CF Serial ID}. Copy this and zip `CMOS.bin` and send to `techsupport@motoman.com` to acquire the one time passcode. + +Alt Text + +Once in the **One Time Management Mode**, make sure the `CMOS.bin` is included in the teachpendant USB. Load the backup by {EX. MEMORY} -> {LOAD} ->{CMOS}. Loading process takes 2~5 minutes, and perform a FSU Reset under {FILE} -> {INITIALIZE} -> {Functional Safety Board FLASH Reset} after the flashing finished. + +## Compatability +CF card with 256MB size from other brands also work, directly from *.img* clone of the vendor's CF card. 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