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🎨Writing/Drawing

📅Update: 2020/09/21
Table of Contents
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 Tips: You can also click the TOP RIGHT table of contents to read the corresponding section​ 👉
​1) Set up for First Use​
​2) Drawing & Writing Workflow​
​3) Fix the Paper​
​4) Set Work Height​
​5) Generate G-code​
​6) Start Drawing​
​7) Use Touchscreen to draw built-in stickers​
​8) Other resources​
1. Set up for First Use
Read the Quick Start Guide to check the items, assemble the module and set up DexArm for the first use. You can also watch the Video Tutorials on our website to learn how to use DexArm. 
2. Drawing & Writing workflow
​1) Fix the Paper​
​2) Set Work Height​
​3) Generate G-code​
​4) Start Drawing​
3. Fix the Paper
3.1 With taps 
3.1.1 Put the paper 15cm in front of the robot arm. 
3.1.2 Fix the four corners with taps. 
3.2 With magnets
Magnetic board and magnets are available from Amazon, such as: 
​Magnetic Dry Erase Board​
​Strong Neodymium Disc Magnets​
3.2.1 Place the magnetic board 15cm in front of the robot arm;
3.2.2 Fix paper on the board with magnets.
3.3 With clipboard
3.3.1 Put clipboard 15cm in front of the robot arm, 
3.3.2 Fix the paper with the clip,
4. Set Work Height First
4.1 With Rotrics Studio
4.1.1 Switch to "Write/Draw" panel and click Control
4.1.2 Set Work Height
A. Click Control and click HOME button on the right side to initialize the arm, click "Z-" button to lower pen height, keep adjusting until the nib touches the paper. 
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 Note: Remember HOME DexArm every time before working. 
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 Tips: When adjusting pen height, you can choose accuracy "20" at first, and when the nib is near the paper, adjust with accuracy "1", "0.2" and "0.1". Keep adjusting until the nib touches the paper (the pen holder module has spring inside, so it's okay that the nib slightly presses on the paper).  
B. Click Set Work Height to set this point as the work height. 
4.2 With Touchscreen
4.2.1 Click Basic > HOME to initialize DexArm.
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4.2.2 Click 3D print > Set Work Origin. 
Select Accuracy and click - (Minus )to adjust pen height, keep adjusting until the nib touches the paper. 
Click Set Origin to set this point as Work Origin. 
5. Generate G-code
We provided several sample files for you to try with DexArm drawing function, click the following link to download.
Rotrics Drawing Samples.zip
217KB
Binary
Rotrics Drawing Sample Files V1.0
5.1 Import prepared file.
Click G-code, choose preset stickers, or enter texts or upload SVG images
​
 STICKER: preset stickers, click to load into canvas.
​
 SVG: upload SVG files to draw images.
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 TEXT: enter texts, suitable for writing letters or greeting cards.
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 Note: Rotrics Studio only supports SVG files in this version, if you only have JPG/PNG files, please transfer them into SVG files with free online tools. 
5.2 Adjust the image size and position.
Drag the image to the target position, but it's recommended to keep it on X0 Y300 and move the paper/drawing board to get the biggest work area.
We can also adjust the image size by changing the Width and Height value. 
5.3 Set working parameters.
5.3.1 Set work speed and jog speed and pen offset. 
Jog Speed: this is the speed of DexArm travel without drawing, the suggested jog speed for write/draw is 4000 mm/min.
Work Speed: this is the working speed of DexArm, the suggested speed for write/draw is 4000 mm/min.
Pen offset: this is the height that DexArm moves up during travel, the suggested pen height is 10mm.
5.4 Generate G-code
 Click Generate G-code button to generate G-code.
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Tips: You can download the G-code and copy it to the SD card for touchscreen control. 
6. Start Drawing
6.1 Start Drawing with Rotrics Studio
Click Start Send to start Drawing.
6.2 Use Touchscreen to start writing/drawing
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 Note: Make sure you've set Work Origin in Step 4. 
6.2.1 Copy the G-code file into theg-codefolder of the SD card.
6.2.2 Connect the Arm and touchscreen with a Dual Type-c cable.
6.2.3 ClickSD Card, choose your G-code and clickStart to start writing/drawing. 
You can Pause or Stop the Arm during working.
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 Note: You can only return to the previous step or home page only when the working is completed or stopped.  
7. Use Touchscreen to draw built-in stickers
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 Tips: To use touchscreen to draw build-in stickers, you need to set writing/drawing start height first. 
7.1 Connect the Robot Arm to Touchscreen with a Type-C to Type-C cable.
7.2 Click Basic -> HOMEto initialize DexArm.
7.3 Click Setting ->Pen Position, and adjust the pen position.
Choose movement accuracy, clickDownto lower the pen height. Keep adjusting until the nib touches the paper. ClickSaveto record the writing/drawing start height. 
6) Start Drawing
Return to the homepage, clickDrawand choose a stick, then clickChoose -> Startto start. 
You can Pause or Stop the Arm during working.
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 Note: You can only return to the previous step or home page only when the working is completed or stopped. 
Other Resources
Generate G-code with third-party software
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