U Arm Swift Pro Quick Start Guide
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Quick-Start Guide V1.0.12 July. 2017 1 / 48 Contents SAFETY INSTRUCTIONS ........................................................................................................................................................ 3 PRODUCT OVERVIEW ........................................................................................................................................................... 4 1.REFERENCE FRAME ...................................................................................................................................................................... 4 2. BUTTONS & INDICATOR LIGHTS ................................................................................................................................................ 5 3.EXTENSION DESCRIPTION ........................................................................................................................................................... 6 HARDWARE INSTALLATION................................................................................................................................................. 7 1. SUCTION CUP (DEFAULT)........................................................................................................................................................... 7 2. LASER ......................................................................................................................................................................................... 9 3. 3D PRINTING ............................................................................................................................................................................ 11 4. SWIFT GRIPPER......................................................................................................................................................................... 15 5. SWIFT UNIVERSAL HOLDER ..................................................................................................................................................... 17 6. SEEED GROVE MODULES......................................................................................................................................................... 19 7. OPENMV MODULE .................................................................................................................................................................22 OFFLINE LEARNING MODE ................................................................................................................................................ 28 SOFTWARE: UARM STUDIO (WIN/MAC) ......................................................................................................................... 30 1.DOWNLOAD UARM STUDIO .....................................................................................................................................................30 2.DEVICE CONNECTION ..............................................................................................................................................................30 3.DRAWING/LASER ENGRAVING ................................................................................................................................................. 31 4.3D PRINTING ............................................................................................................................................................................32 5.TEACH & PLAY: LEARNING MODE ...........................................................................................................................................35 6.BLOCKLY: VISUAL PROGRAMMING ...........................................................................................................................................37 FOR DEVELOPERS ................................................................................................................................................................ 39 1.COMMUNICATION PROTOCOL .................................................................................................................................................39 UARM COMMUNITY ............................................................................................................................................................ 47 RELEASE NOTE .....................................................................................................................................................................48 2 / 48 Safety Instructions 1. Please don’t put your hands between the arms when uArm is moving. 2. Please use the official power supply for safety reasons. 3. Please clear a space for uArm, in case of knocking down anything. Origin (0,0,0) 3 / 48 Product Overview 1.Reference Frame 4 / 48 2. Buttons & Indicator Lights Caution: By default, the user defined button is for switching between Bluetooth and USB mode. Please ensure the button is UP while communicating with uArm via USB. 5 / 48 3.Extension Description 6 / 48 Hardware Installation 1. Suction Cup (Default) Preparation Step 1: Install the suction to the end-effector and lock the nut tightly Note: Similarly, if you want to uninstall suction cup, unlock the nut. 7 / 48 Step 2: Plug the wire of 4th axis motor, suction tube and limited switch 8 / 48 2. Laser Preparation (Required Parts: Laser head, Thumb nut) Step 1: Install the laser head and lock the nuts tightly Step 2: Plug in the board of laser to the end-effector 9 / 48 (Please pay attention to the direction) Caution: If the laser could not engrave the paper, please open the uarm studio and start the laser engraving, then focus adjust the lens of laser slowly. Please do not touch the light of laser during the engraving. 10 / 48 3. 3D Printing Step 1: Install the 3D printing extruder and locked the nut tightly Step 2: Install the 3D printing feeding system Caution: Please ensure the connection is correct. Or the computer wont recognize the uarm. （Connect the motor with the extension board with the 4-color cable） 11 / 48 （Feed the PLA material we offered into the feeding system） Step 3: Install the PTFE tube Feeding the filament Installing the tube 12 / 48 Step 4: Keep feeding the material until it’s 60mm out of the other side of PTFE tube. Step 5: Install the tube to the extruder Step 6: Stick the masking tape on the table 13 / 48 14 / 48 4. Swift Gripper Preparation Step 1: Unscrew suction cup with the hex bar wrench. 15 / 48 Step 2: Fix the gripper and lock the nut tightly Step 3: Plug the 4th axis motor and gripper 16 / 48 5. Swift Universal Holder Preparation Step 1 : Unscrew suction cup with the hex bar wrench. 17 / 48 Step 2: Fix the gripper and lock the nut tightly Step 3: Plug in the 4th axis motor 18 / 48 6. Seeed Grove Modules Seeed Grove modules is a series of different sensors which helps us to extend the function of uArm to a completely new level. We are offering two parts to help you to connect the uArm with Grove much more easily. Grove Extension Grove mounting block Caution: Grove extension for the uArm end-effector is just designed for(Step 1,2) PIR Motion Sensor Mini Fan Module Electromagnet Module Ultrasonic Ranger Other Digital or Analog modules. For the IIC module like: (Step 3) Temperature Sensor LCD RGB Backlight Module Color Sensor Gesture Sensor Other Digital or Analog modules. 19 / 48 Step 1 : Plug in the Grove breakout and fix the grove module to the mounting block. Step 2 : Wiring. 20 / 48 Step 3 : For the IIC modules 21 / 48 7. OpenMV Module（the firmware should be 3.1.9 or later） Preparation Step 1 : Download the latest OpenMV IDE Click here (Download the latest OpenMV IDE from: https://openmv.io/pages/download and plug in the OpenMV camera to the computer and click Connect in the left of picture) 22 / 48 Step 2 : Upgrade the latest firmware to OpenMV by OpenMV IDE Click here Step 3 : Run the helloworld.py and focus the lens in the right window Click here Note: After IDE get the video, then rotate the lens to finish focusing(to see the objects 20cm away) then tight the screw. 23 / 48 Step 4 : Get the tracking.py code and save it to the OpenMV You could find the tracking.py from: https://github.com/uArm-Developer/OpenMV-Examples Note: The file system of OpenMV 2.4.1 is not very stable, and make sure the file has been stored into the module. Here is our steps: (1) Open the disk of OpenMV, and drag the tracking.py file into the disk and renamed it main.py; (2) If the code has been stored successfully, power on the module, the blue light turns on. Step 5 : Unplug the OpenMV module and wiring the module 24 / 48 Caution: Please ensure the connection is correct. Or the computer wont recognize the uarm. Step 6 : Install the camera module to the end-effector Note: Please pay attention to the assembling direction of OpenMV, or the arm will move to the opposite direction. And make sure the OpenMV is disconnected with you PC or the IDE will control the OpenMV. 25 / 48 Step 7 : Keep the table clean and non-reflective and get something with a lot of details like a pcb with resistors Step 8 : Put the object in front of uArm Swift Pro about 25cm away 26 / 48 Step 9 : Connect the USB port and power port of uArm, press the power button and open a serial monitor (for example Arduino IDE). Step 10 : Adjust the settings (newline & 115200 baud) and then send the M2500 command which will switch the main UART port from USB to the port of OpenMV. Step 11 : Move the object slowly, and the arm will follow it. 27 / 48 Offline Learning Mode Use buttons on the base to “teach” uArm by hand. ssssssss 28 / 48 Teach: 1. Start learning mode. Press the once, and the status indicator truns green. 2. Teach the robot manually. Press the effector, again to turn off. (If once to turn on the end- is down end-effector is gripper, or it is pump. Please remember to keep the button up after learning or it will turn on the Bluetooth. Page 5) 3. Finish the learning process. Press once, and the status indicator turns off. PLAY: 1. One-time playback: Press once, or Loop playback: press hold for 2 seconds. 2. The status indicator starts flashing green slowly. 3. Press once to stop playing. 29 / 48 & Software: uArm Studio (Win/Mac) 1.Download uArm Studio from: http://www.ufactory.cc/#/en/support/ * Windows(Win7/8 or before) users will be reminded to install driver. Simply follow the instructions to install. 2.Device Connection 1）Plug in the power cable. 2）Press down the power button. 3）Connect uArm to your computer via USB. Status of device connection is displayed on home page. More info is displayed in “Setting”. 30 / 48 3.Drawing/Laser Engraving 1) Design a pattern. Insert text/shape Insert an image (“outline” or “black & white”.) 2) Click the play button to continue. 3) Adjust Zero Point 31 / 48 ⚠️ IMPORTANT: Please adjust zero point before drawing/engraving. Ensure the pen/laser is TOUCHING the platform. For laser engraving, you can also adjust the speed of engraving. 4) Start drawing/engraving! 4.3D Printing Preparation 1) Download CuraForuArm 2) Double-click .dmg/.exe file to install. 3) Enter the 3D Printing section in Studio, and CuraForuArm window will pop up automatically. If not, click the “Open Cura” button. CuraForuArm Interface 32 / 48 1) Import an .stl file, edit the size/position of the model. 2) Select “uArm Swift Pro” as the printer, and choose the related profile. It is recommended to keep the default settings unchanged. 3) Open Printer Monitor. IMPORTANT: Please adjust zero point before printing. Ensure the hot end is JUST TOUCHING the platform. Then click “Save Zero”. (The zero point of each arm is not the same, please adjust the zero point following the step 3) before printing.) 33 / 48 4) Start printing! The 3D extruder will automatically heat up to 200℃ to print. uArm will remain still during the pre-heating section. Please don’t touch the metal part of the extruder for safety reason. 34 / 48 5.Teach & Play: Learning Mode What is Teach & Play? Teach uArm by hand, and then replay the recording anytime. How? 1) Make a recording • Click the “New Recording” button to start “teaching”, OR, • Use the buttons on the base (usage of the buttons is the same as that under “Offline Learning Mode”). 2) Save your recording 35 / 48 3) Replay the recording in different speed and times What makes “Teach & Play” different from “Offline Learning Mode”? 1) No time limit while “teaching” with uArm Studio. 2) You may save, export your recordings and import recordings made by others. 3) You may apply your recording in Blockly (visual programming interface, which is explained up next). 36 / 48 6.Blockly: Visual Programming What is Blockly? Blockly in uArm Studio is a visual programming interface specially designed for controlling uArm. Getting Started Three “missions” are prepared to get you through Blockly quickly. Please try them out! What can you do with Blockly? 1) Control uArm’s basic movements 2) Change events (i.e. how you trigger commands) 37 / 48 3) Apply recorded movements 4) Dig deeper into programming (functions, variables, etc.) 38 / 48 For Developers 1.Communication Protocol 1) Introduction: • uArm gCode is an important part of the uArm software. • Based on the standard gCode protocol, we add a new protocol head in front of the gCode so that it can be more easily to use and debug. • What’s more, it is designed to be compatible with the standard gCode. (We offer the code of decode the standard gCode) 2) Example: • Sending command from PC “#25 G0 X180 Y0 Z150 F5000” //move to [180,0,150] with the speed 5000mm/min • Reply from uArm “$25 ok” 3) Commands(TBD). Command can be divided into two parts: Command with underline: it’s the new added protocol head. • The command from PC starts with ‘#’, while the command from uArm starts with’$’. 39 / 48 • And the data following the symbol decided by the PC, and the reply from the uArm should have the same data which indicates it finish the command. (In the example above, PC sends the command with ‘#25’ and uArm replies the command with ’$25’) Command without the underline: it’s the standard gCode. Caution 1.There should be blank space between each parameter; 2.The letters in the command should be capitalized; 40 / 48 GCode Command (v1.2) Description Feedback 1. #n is used for the debug, if you don’t want to use it please remove it directly. (For Example: G2202 N0 V90\n) 2. ‘\n’ is the symbol of line feed. Moving Command (parameters are in underline) #n G0 X100 Y100 Z100 F1000\n Move to XYZ(mm), F is speed(mm/min) $n ok \n or $n Ex \n (refer to Err output) #n G1 X100 Y100 Z100 F1000\n After entering the laser mode $n ok \n or $n Ex \n (refer to Err (M2400 S1), command G1 output) means laser on, G0 means off. #n G2004 P1000\n Delay microsecond #n G2201 S100 R90 H80 F1000\n Polar coordinates, S is stretch(mm), R is rotation(degree),H is height(mm), F is speed(mm/min) $n ok \n or $n Ex \n (refer to Err output) #n G2202 N0 V90\n Move the motor to the position ,N is ID of joints(0~3),V is angle(0~180) $n ok \n or $n Ex \n (refer to Err output) #n G2203\n Stop moving $n ok \n or $n Ex \n (refer to Err output) #n G2204 X10 Y10 Z10 F1000\n Relative displacement $n ok \n or $n Ex \n (refer to Err output) #n G2205 S10 R10 H10 F1000\n Polar coordinates for relative displacement $n ok \n or $n Ex \n (refer to Err output) $n ok \n Setting Command (parameters are in underline) #n M17\n Attach all the joint motors $n ok \n #n M2019\n Detach all the joint motors $n ok \n #n M2120 V0.2\n Set time cycle of feedback, return Cartesian coordinates, V @3 X154.71 Y194.91 Z10.21\n is time(seconds) #n M2200\n Check if uArm is moving $n ok V1\n (1 moving,0 stop) #n M2201 N0\n attach motor, N is ID of joints(0~3) $n ok \n or $n Ex \n (refer to Err output) #n M2202 N0\n Detach motor, N is ID of joints(0~3) $n ok \n or $n Ex \n (refer to Err output) 41 / 48 #n M2203 N0\n Check if the motor is attached, N is ID of joints(0~3) $n ok V1\n (1 attached,0 detached) #n M2210 F1000 T200\n buzzer,F is frequency, T is time (ms) $n ok \n or $n Ex \n (refer to Err output) #n M2211 N0 A200 T1\n Read EEPROM N(0~2,0 is internal EEPROM,1 is USR_E2PROM, 2 is SYS_E2PROM), A is address, T is type (1 char,2 int,4 float) $n ok V10\n #n M2212 N0 A200 T1 V10\n Write EEPROM N(0~2,0 is internal EEPROM,1 is USR_E2PROM, 2 is SYS_E2PROM), A is address, T is type (1 char,2 int,4 float)V is the input data $n ok\n #n M2213 V0\n Default function of base buttons (0 false, 1 true) $n ok\n #n M2220 X100 Y100 Z100\n Convert coordinates to angle of joints #n M2221 B0 L50 R50\n Convert angle of joints to coordinates #n M2222 X100 Y100 Z100 P0\n $n ok B50 L50 R50\n (B joint 0,L joint 1,R joints 2, 0~180) $n ok X100 Y100 Z100\n Check if it can reach,P1 polar, $n ok V1\n (1 reachable, 0 P0 Cartesian coordinates unreachable) #n M2231 V1\n pump V1 working, V0 stop $n ok \n or $n Ex \n (refer to Err output) #n M2232 V1\n gripper V1 close, V0 open $n ok \n or $n Ex \n (refer to Err output) #n M2234 V1\n Enable/disable Bluetooth (1:enable, 0:disable) $n ok\n #n M2240 N1 V1\n Set the digital IO output $n ok \n or $n Ex \n (refer to Err output) M2245 Vbtname\n Set the name of Bluetooth, 11 letters limited (Do not add #n in ok \n this command) M2246\n Rewrite UUID #n M2300 N10\n Please check the Grove modules & OpenMV below ok\n 42 / 48 #n M2301 N10 V1000\n Please check the Grove modules & OpenMV below #n M2302 N10 V1\n Please check the Grove modules & OpenMV below #n M2303 N17 T0 V0\n Please check the Grove modules & OpenMV below #n M2400 S0\n Set the mode of arm (0:Normal 1:Laser 2:3D printing 3:Universal holder) $n ok \n #n M2401\n Set the current position into the reference position $n ok \n #n M2410\n Set the height zero point $n ok \n #n M2411 S100\n Set the offset of end-effector (mm) $n ok \n #n M2500\n Please check the Grove modules & OpenMV below Querying Command (parameters are in underline) #n P2200\n Get the current angle of joints $n ok B50 L50 R50\n #n P2201\n Get the device name $n ok V3.2\n #n P2202\n Get the hardware version $n ok V1.2\n #n P2203\n Get the software version $n ok V3.2\n #n P2204\n Get the API version $n ok V3.2\n #n P2205\n Get the UID $n ok V0123456789AB\n #n P2206 N0\n Get the angle of number 0 joint $n ok V80\n (0~2) #n P2220\n Get current coordinates $n ok X100 Y100 Z100\n #n P2221\n Get current polar coordinates $n ok S100 R90 H80\n #n P2231\n Get the status of pump $n ok V1\n (0 stop, 1 working, 2 grabbing things) #n P2232\n Get the status of gripper $n ok V1\n (0 stop, 1 working, 2 grabbing things) #n P2233\n Get the status of limited switch $n ok V1 (1 triggered, 0 untriggered) 43 / 48 #n P2234\n Get the status of power connection $n ok V1 (1 connected, 0 unconnected) #n P2240 N1\n Get the status of digital IO $n ok V1\n (1 High, 0 Low) #n P2241 N1\n Get the status of analog IO $n ok V295\n (return the data of ADC) #n P2242\n Get the default value of AS5600 in each joint $n ok B2401 L344 R1048\n #n P2400\n Check current status $n ok V1\n (0: normal; 1: laser; 2: 3D printing; 3: Universal holder;) Ticking feedback @1 Ready @3 Timed feedback , ”M2120” @4 N0 V1\n Report the button event. N: 0 = Menu button, 1 = Play button V: 1 = Click, 2 = Long Press @5 V1\n Report event of power connection @6 N0 V1\n Report event of limit switch in end-effector @7 temp error Temperature error in 3D printing Err Output E20 Command not exist E21 Parameter error E22 Address out of range E23 Command buffer ssssfull E24 Power unconnected E25 Operation failure Grove modules & OpenMV N is the ID of each grove modules: 10: Color sensor; 11: Gesture sensor; 12: Ultrasonic; 13: Fan; 14: Electromagnet; 15: Temperature & Humidity; 16: PIR Motion; 17: RGB LCD; #n M2300 N10\n Initialize the Grove modules, N is the ID of each module #n M2301 N10 V1000\n Auto report time for color 44 / 48 @10 N10 R20 G10 B255\n sensor, V is the time (microsecond) (RGB value) Auto report time for gesture sensor, V is the time (microsecond) @10 N11 V16\n Auto report time for ultrasonic, V is the time (microsecond) @10 N12 V27\n Auto report time for T&H, V is the time (microsecond) @10 N15 T32.12 H76.5\n Auto report time for PIR motion, V is the time (microsecond) @10 N16 V1\n #n M2301 N16 V1000\n #n M2302 N13 V128\n Fan setting, V is the duty cycle from 0-255 $n ok\n #n M2302 N14 V1\n Electromagnet setting, 0 is off, 1 is on $n ok\n #n M2303 N17 T0\n Turn off/on display (0 is off, 1 is $n ok\n on, 2 is clear) #n M2303 N17 R25 G25 B25\n Change the rgb value of backlight $n ok\n $n ok\n #n M2303 S1 VText\n S is the line (1 or 2), V is the text content For example: M2303 S1 Vufactory #n M2500\n Switch the uart0 to uart2 for external TTL uart communication $n ok \n (For example OpenMV) #n M2301 N11 V1000\n #n M2301 N12 V1000\n #n M2301 N15 V1000\n (1: right; 2: left; 4: up; 8: down; 16: forward; 32: backward; 64: CW; 128: CCW;) (The distance value in cm) (temperature in ℃, humidity in %) (1: motion; 0: no motion;) d. Different modes for uArm Swift Pro Since different types of the end-effectors have different length and height, so we designed the command M2400, which could help us to fit the uArm into different situations easily. With this command, there is no need to concern about how to adjust the parameters for different situations. Currently we offer 4 kinds of mode: M2400 V0 : Normal mode (end-effector tools: suction) M2400 V1 : Laser mode (end-effector tools: laser) M2400 V2 : 3D printing mode (end-effector tools: extruder) 45 / 48 M2400 V3 : Universal holder mode (end-effector tools: universal holder) For the gripper, there is no special mode since gripper has the fingers and can rotate horizontally. 46 / 48 uArm Community UFACTORY Official Forum uArm User Facebook Group Ask for Help 47 / 48 Release Note Version 1.0.7 1.0.8 1.0.9 1.0.10 1.0.11 1.0.12 Note Modify several steps of 3D printing and fix the misunderstanding Add the laser mode command G1 Add more details about OpenMV Add the note of laser focusing Add the caution of installing base extension Add the caution of user defined button Modify the steps of laser focusing and grove installing Add more details to OpenMV tutorial Add details to offline learning modess Add M2500 command in command list Modify the OpenMV instructions Add more Gcode commands Add the details of installing the tube in 3D printing mode 48 / 48 Tony Tony Tony Tony Tony Tony
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