Edit: I edited this to include a video made by Chris that helps with some of the RIOS set up.
When configuring my AL5D’s using the RIOS software and the proper dimensions from the tutorial, I have found that the simulator and the arm are not in sync. Even though the arm is parallel, after I save the config in the “home” position, the sim graphic is never the same as the actual robot. This is always true in at least two axis.
When the Set all = 1.5mS is used, it is in the proper position, Shoulder 90 degrees and elbow at 30, so I know the servos are positioned correctly.
I have also noticed that x y and z moves are not linear, but have an arc to them, and the gripper does not stay parallel to the work surface through it’s full range of motion as well.
Am I doing something incorrectly? Thanks in advance!
The performance of the program and arm combination relies on a good calibration. This is how the program knows what the physical properties of the arm are and how to apply the math to accurately position the arm.
The SSC-32 configuration form allows you to calibrate the software to the arm. In other words the RIOS program needs to know what servo pulse values equate to what angles for the two extreme limits of rotation for the servos.
For the base it’s pretty straight forward, move the slider till the base is centered. The position value should be around 500, the angle should be around 0°. It is not necessary to set this in the program.
Now move the slider down to move the base so it’s 90° (CCW) to the left of center, the Max Pos value should be around 950 and the Max Deg angle will be exactly 90°. Right click on the slider to set this as the Max Position. Now the servo will not go past this value,and the program now knows this value is exactly 90° from centered.
Now move the slider up to move the base so it’s -90° (CW) to the right of center, the Min Pos value should be around 50 and the Min Deg angle will be exactly -90°. Right click on the slider to set this as the Min position. Now the servo will not move past this point and the program now knows this is exactly -90° from center.
You do not need to set the center position value. It is calculated for you.
Because the shoulder and elbow servos are digital and only have a range of about 150° vs. analog servos with a range of 180° you will not be able to reach the full 90° (back) and -90° (fore) positions. Note: you can adjust the servos with the expensive digital servo programmer, but it’s not necessary. So you have to get a protractor and adjust for 75° and -75°. As with the base servo you will move and set the min and max positions, but you will also change the Min and Max Deg to 70° and -75°. Now the program will know how to accurately position the shoulder. Carry this on to the elbow, wrist, gripper and wrist rotate to complete this step.
I’ve left out some of the details covered in the RIOS manual. Let me know if you have questions.
