#robotics Logs

Apr 28 2018

11:30 AM rue_: zhanx, ?
12:07 PM rue_shop4: I'm pretty sure if a peice of glass is tempered, I shouldn't be able to score it like that
12:08 PM rue_shop4: erp, thats NOT tempered...
06:27 PM Spirit532: Hey, anyone working with KUKA robots here?
06:31 PM Spirit532: Or for that matter, CRS robots.
06:51 PM rue_shop4: just devilibis, sorry
06:51 PM Spirit532: I do not know who that is
07:04 PM rue_shop4: you have never heard of devilibis?
07:04 PM rue_shop4: what is your question, maybe we will know
07:05 PM Spirit532: I'm looking for a broken teaching pendant or interface documents for a specific robot controller, OR people with experience troubleshooting(or hacking) the proprietary safety interface
07:06 PM Spirit532: So I'm afraid only people with KUKA/CRS robot experience can help :(
07:36 PM rue_shop4: you have a broken controller or you dont have one?
07:36 PM Spirit532: I have a functioning(assumed) controller and a functional robot but a missing pendant
07:36 PM Spirit532: And I've been told it can't run headless, despite it booting and all, it gives me a safety circuit error(which is a CANBus ring with the master in the pendant)
09:14 PM rue_: by controller I meant pendant
09:22 PM Spirit532: ah, no
09:22 PM Spirit532: I don't have one at all
09:22 PM Spirit532: if it was broken I could repair it, probably.
09:54 PM rue_: is it specific about the error?
09:54 PM Spirit532: something along the lines of "F#CK YOU, EVERYTHING YOU DID IS WRONG AND I WILL NOT START AND REFUSE TO DIAGNOSE"
09:54 PM Spirit532: so in other words, no
09:55 PM rue_: hmm
09:55 PM Spirit532: but I've been told it's just a requirement to have a pendant
09:55 PM Spirit532: can't run headless
09:55 PM rue_: did you shunt the external e-stop jumper?
09:55 PM Spirit532: all 8 of them
09:55 PM rue_: hmm
09:56 PM Spirit532: it's a "safetycircuit" error and "safetycircuit" is the internal CANBus safety ring thing.
09:56 PM Spirit532: and the master is the pendant, which is missing
09:56 PM rue_: did you whisper quietly into the axis 3 motor that there are no humans in its workspace?
09:56 PM Spirit532: yes, and it screamed back "axis 4 brake defective"
09:57 PM Spirit532: little did the robot know, axis 4 has never had brakes on this robot.
09:57 PM rue_: hmmm
09:57 PM Spirit532: that went away
09:57 PM Spirit532: now I just have unsolvable errors.
09:57 PM rue_: unsolvable under the current controller
09:58 PM Spirit532: are you suggesting I design my own 6-axis robot controller with inverse kinematics and 6 servo drives that have to fit into a credit card size, *each*?
09:58 PM Spirit532: I'm not saying that I'm not doing that already, but it's going to take a year or two to complete and I'd rather not
09:58 PM rue_: why the hell would you replace the drives?
09:58 PM rue_: no
09:58 PM Spirit532: well you see
09:59 PM Spirit532: the drives are from 2000, and there is no documentation.
09:59 PM Spirit532: none.
09:59 PM Spirit532: zip.
09:59 PM Spirit532: they're proprietarish.
09:59 PM rue_: do they use fpga or proprietory chips?
09:59 PM rue_: monolithic power drivers?
09:59 PM Spirit532: FPGA + DSP + FPGA + FPGA + ... probably an FPGA under there too
10:00 PM Spirit532: it's two drive boards, each controls 3 servo motors(brushless synchronous AC with encoders)
10:00 PM Spirit532: in about 110x50x10mm of space
10:01 PM rue_: ... how big is the robot?
10:01 PM rue_: its not 8' is it?
10:02 PM Spirit532: 52kg
10:02 PM Spirit532: 6 axis
10:02 PM Spirit532: all harmonic drives
10:02 PM rue_: pff, its just a toy!
10:02 PM Spirit532: it's a KUKA KR3/CRS F3
10:02 PM rue_: an expensive one
10:02 PM Spirit532: well, harmonic drives makes it not a toy
10:02 PM Spirit532: factory new it does 0.05mm precision over the entire 680mm envelope