I'm in progress printing 3D part of AR3 and read through the user guide. I notice 1 section mentioned
Please note this assembly manual does not show wiring of the enable circuit. The enable circuit will likely not be used by most and is used to disable the motor drivers. The enable circuit disables each of the motor drives when 5vdc is applied to the enable terminals on the driver.
I thinking is it possible during assembly process i prepare enable/disable switch for all joint, so we can hand hold 'train' and record robot arm movement?
i'd tried assemble the AR structure (only), stepper motor off seems allow all joint (1-6) move by hand. I know it still have far way to go (especially software and route planing), but at least it tell me AR3 is possible to train by hand. However, i notice backlash at some joint. hope it not effect my research.
Thanks reply, I'm still installing the aluminium structure and printing the 3D part. Due to cable and encoder still at China (On the way). I will try to install most of the joint without wiring, then observe what can be done (I'm only assemble till joint 2). The installation process I will prepare video and share at BUILD group.
Hello, the enable circuit is used to enable and disable the drives, this would typically be used as an auto stop or an emergency stop. In the schematic I use the Estop button to cut power to the drives but alternatively you could use the enable circuit to do the same thing. The software is not really setup to be able to disable a drive and then manually move a joint to a position to teach. Also on some of the joints it would not be good to try on force the mechanics to move specifically J5 would not change position easily by hand movement.