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Fixing Joints to Master the V5 Workcell

VEX V5 Workcell STEM Labs have been archived and are no longer being updated. As a result, they may not reflect current accessibility standards.

This video will walk you through fixing joints on the V5 Workcell in order to master it. 

This video is from VEX Professional Development Plus. Learn more about PD+.

Steps from the video are found below:

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.

VEX V5 Workcell with an attached arm shown next to a V5 Brain screenshot showing the Arm Install screen with joint status values and TARGET button highlighted as a warning not to use.

Fixing Joint 1

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

Close-up of V5 Brain showing 3-wire cable inserted into port with correct orientation.

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

Table showing mapping of joints to potentiometer 3-wire ports. In this example, joints numbered 1 to 4 correspond to 3-wire ports labeled A to D respectively.

  1. Check that each Potentiometer is inserted into the 3-Wire Port defined in your code.

Diagram showing correct and incorrect 3-wire extension cable connections with matching color orientation indicated by checkmark and mismatch marked with X.

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

Table showing mapping of joints to motor smart ports. In this example, joints numbered 1 to 4 correspond to smart ports 1 to 4.

  1. Check that the Smart Cable that is attached to each motor is fully inserted into the Brain into the Smart Port defined in your code.

V5 Brain screen showing joint mastering results with one joint failing and others passing.

  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.

Close-up underside of Workcell turntable showing shaft collar above Joint 1 potentiometer highlighted for adjustment.

  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 as shown in this animation.

  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 as shown in this animation. 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.

Close-up underside of Workcell turntable showing shaft collar above Joint 1 potentiometer highlighted for adjustment.

  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:

Close-up of V5 Brain showing 3-wire cable inserted into port with correct orientation.

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

Table showing mapping of joints to potentiometer 3-wire ports. In this example, joints numbered 1 to 4 correspond to 3-wire ports labeled A to D respectively.

  1. Check that each Potentiometer is inserted into the 3-Wire Port defined in your code.

Diagram showing correct and incorrect 3-wire extension cable connections with matching color orientation indicated by checkmark and mismatch marked with X.

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

Table showing mapping of joints to motor smart ports. In this example, joints numbered 1 to 4 correspond to smart ports 1 to 4.

  1. Check that the Smart Cable that is attached to each motor is fully inserted into the Brain into the Smart Port defined in your code.

V5 Brain is shown with its Power button highlighted.

  1. Power off the Brain.

VEX V5 Workcell showing robotic arm detached from base and turntable after removing mastering jig.

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

V5 Brain is shown with its Power button highlighted.

  1. Power on the Brain.

V5 Brain screen showing joint mastering results with one joint failing and others passing.

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

V5 Brain screen showing joint mastering results with all joints passing.

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

V5 Brain screen showing joint mastering results with all joints passing and the HOLD button being pressed.

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

VEX V5 Workcell showing robotic arm reattached to base while in HOLD position with mastering jig still installed.

  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.

For more information, help, and tips, check out the many resources at VEX Professional Development Plus

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