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| * Necessary | | * Necessary |
| ** <s>Build a smooth solid table surrounding the arm.</s> | | ** <s>Build a smooth solid table surrounding the arm.</s> |
| *** <s>Install final top section. (Jon to do this next week)</s>
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| *** <s>Build square frames to support the rear sections of the table top.</s>
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| *** Drill frame and screw tops down.
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| *** Round the two corners so they don't hurt when you bump in to them.
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| *** Round over the entire edge all the way round with a router.
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| *** Sand, Varnish (2 coats) & Polish the surface.
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| *** <s>Drill large hole in rear sections to robot install cable.</s>
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| ** <s>Move 3-phase mains socket to below table top, by locker.</s>
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| ** Install flashing light
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| ** Install two emergency stop buttons on frame at front and wire in to controller.
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| ** Fit batten to long wall and build frames to support 3m long worktop. Fit long work surface
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| ** Mount CS7 controller, off floor, on wooden frame ? to allow airflow from below.
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| ** Write the [[Equipment/Staubli/g-code_interpreter|G-code interpreter]] for CNCing and 3d printing.
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| ** Integrate the armpi with the controller better (power it from the 3 phase socket)
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| ** Design and make the electronics for the controller to talk to the arm base (heated bed, calibration probe etc) and the end effector (spindle, extruder)
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| ** <s>Check and top up oil all the joints as per manual instructions 1st 5 axes:http://www.alexoil.co.uk/lumach-ep-gear-oil-iso-68--1l_p115.aspx
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| ** Wrist:http://www.alexoil.co.uk/lumach-ep-gear-oils-iso-150--1l_p125.aspx</s>
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| ** <s>Replace the battery 6v 8AH lead acid battery - this one: http://uk.rs-online.com/web/p/lead-acid-rechargeable-batteries/2651975/</s>
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| ** <s>Install it in it's dedicated area</s>
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| ** <s>Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller</s> Done 24/8/13 Padski
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| ** <s>Make the cable for 3 phase power to controller.</s>
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| ** <s>Make a mobile but stable platform for the robot and the controller (volunteers welcome)</s>Thanks cepmender!!
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| ** <s>Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.</s>
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| * Nice to have | | * Nice to have |
| ** <s>Get/print the housings for the robot arm cable</s> (using new cable) | | ** <s>Document .</s> |
| ** Hook up the arm to ROS
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| *** Rewrite the ROS Industrial libraries to use a serial stream instead of IP+port combo
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| *** <s>Write the ros serial server to run on the controller </s>
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| == Docs/Links == | | == Docs/Links == |
