ACMEPuma < Imager

Tags: view all tags
---+Reloading and Recalibrating the PUMA Robot


If the PUMA robot controller has been power-cycled, then it will need to be recalibrated. The PUMA will *not* need recalibration if =kiewa= has been rebooted.

   * Turn on, or power cycle, the controller power (using the big
   toggle switch on the front of the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEPumaPower.jpg">controller</a>).

   * Toggle the small "run/halt" switch in the small top-facing panel
   at the upper right corner of the controller front.

   * Now open a window on kiewa and run
   <verbatim>
   % load260
   </verbatim>
   This should take maybe half a minute; it will print some messages.
   When it is done, you will hear the puma teach pendant beep twice.

   * Now free the puma260 and put it in it's nest. To do this, run
   <verbatim>
   % free
   </verbatim>
   If robot arm power is not on, you will be prompted to turn it on
   by hitting the black button on the little black power box. The
   white toggle button will need to be switched to the left in order
   for this to work (switching the white toggle to the right turns
   off the power).
   <verbatim>
   </verbatim>
   Once the program is running, enter =free all= after the =FREE>=
   prompt. This will free all the robot's joints, after you confirm
   the command by hitting either =Return= or the "free" button on the
   robot's teach pendant. *Important*: Make sure some one is holding the robot
   when you do this or it will fall.
   <verbatim>
   </verbatim>
   Put the robot back in the nest (this is a bit tricky, I will show
   you how to do this).
   <verbatim>
   </verbatim>
   When moving the robot around using the free program, you might get
   a velocity error exception. If so, just ignore the problem and try
   again.
   <verbatim>
   </verbatim>
   One the robot is in the nest, type
   <verbatim>
   % pumacal
   </verbatim>
   This will drive the robot out of the nest, move the joints around
   a little, and then move the robot into the "park" position.

   * Now disable automatic power-off on the robot (so that
   puma power won't die if the server dies)
   <verbatim>
   % talk260
   </verbatim>
   This connects you to the controller console line.
   <verbatim>
   </verbatim>    
   Enter 'D'
   <verbatim>
   </verbatim>
   You should get a message "Power off disabled"
   <verbatim>
   </verbatim>
   To exit the program, type =~=, then when you get the =termlink=
   prompt, type =quit=.

   * Move the puma to a good starting location, like =rcclpark=
   <verbatim>
   % move to rcclpark
   </verbatim>

---+++Moving the PUMA Robot

The Puma robot can be moved using the =move= command described in
ACMECommandLine.

The Puma can also be moved manually by putting it into a limp
mode using the command

<verbatim>
    % zerograv
</verbatim>

This will limp the Puma's joints, but with gravity compenssation
so that it won't fall, allowing you to move it around like a luxo
lamp.


---+++Controlling Motor Power to the Robots

There are two boxes that control motor power to the robots: one
big one for the gantry and stages, and a small black one for the
puma.

Robot motor power should be turned off at the end of the day.

To turn the gantry on, hit the yellow button on the big power box.
When you do this, the pan-tilt unit will swivel about for a few
seconds while it calibrates. Be sure that the gantry head is in a
free space to allow this motion.

Hitting the red button on the big power box turns the gantry off.

To turn on the Puma, you hit the black momentary button on the
little black power box. For this to work, the white toggle "off"
switch needs to be positioned so that it's lever is facing left.

To turn the Puma power off, flip the white toggle switch so that
it's lever is facing to the right.


-- Main.WolfgangHeidrich - 24 Nov 2005
Raw edit | More topic actions
Topic revision: r2 - 2005-11-29 - WolfgangHeidrich