ROBOT ARMS

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The Makery has acquired several industrial robot arms. This is the attempt to bring them back to working status.

Small Robot Arm.jpg

Contents

Arms

There are currently 7 Arms at the Makery. One Large size and several smaller.

1 has been deemed the dev arm, and has started to be taken apart.


Controller Info

Panasonic

Panadac-361

Model no. NM-1375

Serial no. 10408?M?24V

Electric Source: AC 120V 50/60Hz

Matsushita Electric Industiral Co. Ltd

Made in Japan


The controllers are broken up into a few major parts:

Transformer

Has a number of windings: (these are marked in the notebook, need verified)

Wire Colors for motors

Driver Boards

Logic Boards

Multi-voltage Supply

Runs on a few of the 14v lines and makes PC-type voltages for the logic (+/- 5, 12, etc). These are all marked on the supply itself, they just need transcribed here.

High Current

Encoders

National E6C-CWZ1C-M

ROTARY ENCODER(INCREMENTAL)

Resolution: 1000 P/R

Red: 5VDC

Black: 0V/COMMON

White: OUT A

Green: OUTB

Yellow: OUTZ

Shield: GND

To use the encoders the controller will need to power them with 5v on red/black, then monitor white and green for the quadrature output. The Z output is an index pulse, and occurs once per revolution. It isn't strictly necessary, but might be useful.

The outputs are open collector, a 10k or so pull-up works well.

The 1000 p/r is somewhat misleading, as there are actually 4000 p/r that we can measure to get even more precision, if that is needed.

Small Arms

We have 7 of these

General Dimensions (approximate)

Small Robot Arm Work Area.png
Base footprint: 8" x 14" (including connectors near the base at the rear)
Height: 36"
Working Area: 40" x 32"
Mass: 51kg

Shoulder

Big servos

Panasonic DC SERVOMOTOR
TYPE TS 3250 N12 E12
200W 42V
SER.NO A1799 DATE 1995.1
MATSUSHITA ELECTRIC INDUSTRIAL CO.LTD
MANUFACTURING EQUIPMENT DIVISION

Radius

Approximately 12"

Elbow

Servo

TYPE TX 3252 N6 E6
60W 25V

Radius

Approximately 7.5"

Servo

TYPE TS 3251 N9 E8
100W 32V

Wrist

Servo

TYPE TS 3253 N4 E5
30W 25V

Mounted in the base of the arm, its control is thru belts.


Z axis

Servo

Nation DC Servomotor
Type TS 3252 N 6 E 6
60W 25 V
SERNO: A661

Brake

The leadscrew is equipped with an electronic brake that is on when no power is supplied and open with power. The only marking on it is 24V, but it may open at 12v, depending on the arm (one worked at 12v, another didn't).

Endstops

There are 5 (what seem to be) magnetic endstops. (insert pic here) 2 on the bottom and 3 on top. Each have 3 wires, red black and white.

Encoder

Same model as above. It has 12.5 revolutions for like 5"ish of travel. At 1000 p/r we get 12500 pulses. It runs thru the full length in about 1/2 sec. Which is about 25000 p/sec. and at the full 4000 p/r we can get, thats 100000 p/sec

Needless to say, this is way too fast for an arduino to handle properly.

Maybe we can get it to count them, and spit out the number, if someone is good at c, and thats the only task we use it for.

I found some Mega8 code for a 3 axis quadrature divider that is supposed to work at 133kHz. There is also a single axis Tiny13 version, but it sounds untested. We programmed an Arduino with the 3axis quadrature divider code using the default 16x divide table and found that it works quite well.

Gripper Tool

RoboHand.jpg

Two of the arms are equipped with a double-acting pneumatic gripper. One of these grippers has been removed for detailed examination. The way it's set up, there are two fixed jaws on the outside and a movable jaw between them that pushes back and forth. It seems like there are facilities for a second moving jaw, as all 3 just bolt on, but thats not how this particular tool is set up. One side of the jaws ("bottom" in the photo) has a small tooth inside, which initially seemed to be a cutter of some sort, but it really doesn't close far enough for that... Maybe it's for gripping round, soft stock of some sort?

(Robohand is now Destaco, but the RP-100 seems discontinued)

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