Fixing Joints on the V5 Workcell

This article will help you bring your Workcell joint values into a passing range:

WARNING: to avoid damaging the Workcell, do NOT use the ‘TARGET’ option in the ‘Arm Install’ project once the arm is attached to the base of the Workcell. Doing so can cause permanent damage to the Workcell structure.

Do not use the Target option


Fixing Joint 1

If Joint 1 is failing, follow these steps to fix it:

Check 3 wire cables

  1. Check that the 3-wire cables are fully inserted into the Brain.

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  1. Check that each Potentiometer is inserted into the correct 3-Wire Port.

Check all 3-wire extension cables

  1. Check that all 3-wire extension cables are fully connected and plugged in so they both have the same color orientation.

Check smart cable attatched to motor

  1. Check that the Smart Cable that is attached to each motor is fully inserted into the Brain into the correct Smart Port.

Run the Arm Install example project

  1. Run the ‘Arm Install’ example project, and select ‘COAST.’ This will allow you to view the potentiometer values without locking or moving the motors. DO NOT SELECT TARGET, as this could damage your Workcell.

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  1. View underneath the turntable on the arm of the Workcell to locate the shaft collar attached above the Joint 1 potentiometer. Loosen this shaft collar.

  1. Move the shaft down until it is no longer inside the center lock beam, but still keep it inserted into the potentiometer.

  1. Rotate the shaft as you view the potentiometer values for Joint 1 on the Brain’s screen. Continue to rotate the shaft until the Joint 1 potentiometer value is approximately 1800.

    Note: because the center lock beam has a square insert, you will need to rotate the shaft in 90 degree increments. You will see ‘PASS’ for any values between 1600 and 2000.

  1. Reinsert the shaft into the center lock beam. Ensure the potentiometer value is still within passing range on the Brain’s screen as you insert the shaft into the center lock beam.

Arm_Pot_Callout.png

  1. Once the shaft is reinserted securely into the center lock beam, reattach and tighten the shaft collar attached above the Joint 1 potentiometer underneath the turntable on the arm of the Workcell.

Fixing Joints 2 through 4

If one or more of Joints 2 through 4 are failing, follow these steps to fix it:

Check 3 wire cables

  1. Ensure the cables are inserted correctly. Check that the 3-wire cables are fully inserted into the Brain.

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  1. Check that each Potentiometer is inserted into the correct 3-Wire Port.

Check all 3-wire extension cables

  1. Check that all 3-wire extension cables are fully connected and plugged in so they both have the same color orientation.

Check smart cable attatched to motor

  1. Check that the Smart Cable that is attached to each motor is fully inserted into the Brain into the correct Smart Port.

power off the brain

  1. Power off the Brain.

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  1. Remove the mastering jig, and then detach the arm from the base and turntable.

power off the brain

  1. Power on the Brain.

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  1. Run the ‘Arm Install’ project and select ‘TARGET.’ This will move the motors so that the potentiometers are within their passing range.

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  1. The Brain’s display will now show that all of the joints are passing and within range ‘Y.’

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  1. Once all of the joints are now in passing range, select ‘HOLD’ to hold the motors in place.

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  1. Reattach the arm to the base while the motors are in the ‘HOLD’ position. Keep the mastering jig in the arm to help you reattach the arm to the base.

If none of the above troubleshooting steps work, please contact VEX support at support@vex.com.