# 🎨Writing/Drawing

{% hint style="success" %}
**📅Update: 2020/09/21**
{% endhint %}

## Table of Contents

{% hint style="info" %}
​​ :man\_mage: **Tips:** You can also click the TOP RIGHT **table of contents** to read the corresponding section​ 👉
{% endhint %}

[1) Set up for First Use](#1-set-up-for-first-use)

[2) Drawing & Writing Workflow](#2-drawing-and-writing-workflow)

[3) Fix the Paper](#3-fix-the-paper)

[4) Set Work Height](#4-set-work-height-first)

[5) Generate G-code](#5-generate-g-code)

[6) Start Drawing](#6-start-drawing)

[7) Use Touchscreen to draw built-in stickers](#7-use-touchscreen-to-draw-built-in-stickers)

[8) Other resources](#other-resources)

## 1. Set up for First Use

Read the [**Quick Start Guide**](https://cdn.shopifycdn.net/s/files/1/0255/0195/8216/files/Rotrics_DexArm_Quick_Start_Webview_V1.0.2.pdf?v=1594021017) to check the items, assemble the module and set up DexArm for the first use. You can also watch the [**Video Tutorials**](https://www.rotrics.com/pages/download) on our website to learn how to use DexArm. 

{% embed url="<https://youtu.be/8Cv3I_wRrsA>" %}

## 2. Drawing & Writing workflow

#### [1) Fix the Paper](#3-fix-the-paper)

#### [2) Set Work Height](#4-set-work-height-first)

#### [3) Generate G-code](#5-generate-g-code)

#### [4) Start Drawing](#6-start-drawing)

## 3. Fix the Paper

### 3.1 With taps&#x20;

#### 3.1.1 Put the paper 15cm in front of the robot arm.&#x20;

#### 3.1.2 Fix the four corners with taps.&#x20;

### 3.2 With magnets

Magnetic board and magnets are available from Amazon, such as:&#x20;

[Magnetic Dry Erase Board](https://www.amazon.com/Brands-Contempo-Magnetic-Erase-Inches/dp/B00PRYQA4E)

[Strong Neodymium Disc Magnets](https://www.amazon.com/Strong-Neodymium-Disc-Magnets-Pack/dp/B073WJMSCR/ref=sr_1_51)

#### 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,&#x20;

#### 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**

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MBxabzilxONP6WGNPw7%2F-MBxbysmfUqF4DyBqvWW%2Fimage.png?alt=media&#x26;token=2e104d81-32d5-460f-bb09-cf80627ca007" alt=""></div>

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MHkPa02mykw8qUYECHZ%2F-MHkW-nR_a51GNlcmn4h%2F66.png?alt=media\&token=8dc9efe6-d28b-46c1-9c4e-d459095fb6ce)

**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.&#x20;

{% hint style="warning" %}
:brain: **Note:** Remember **HOME** DexArm every time before working.&#x20;
{% endhint %}

{% hint style="info" %}
:man\_mage: **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). &#x20;
{% endhint %}

B. Click **Set Work Height** to set this point as the work height.&#x20;

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MHVwMcYFPHbYYHSNd-p%2F-MHVxrjYogal4WzN-YxR%2F22.png?alt=media\&token=53302048-be9b-4fb4-8961-ab6c01317579)

### 4.2 With Touchscreen

#### 4.2.1 Click **`Basic` > `HOME`** to initialize DexArm.

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M7MpGAUZHnJPOjBSZjQ%2F-M7My0IcWUwiQcP8mYuo%2Fimage.png?alt=media&#x26;token=6639d486-0c7c-460a-9a64-a4684d6d91fd" alt=""></div>

#### 4.2.2 Click **3D print > Set Work Origin**.&#x20;

Select **Accuracy** and click **-** (Minus )to adjust pen height, keep adjusting until the nib touches the paper.&#x20;

Click **Set Origin** to set this point as Work Origin.&#x20;

## **5. Generate G-code**

{% hint style="success" %}
We provided several sample files for you to try with DexArm drawing function, click the following link to download.
{% endhint %}

{% file src="<https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M7gsGAXxem08826vNLy%2F-M7gsoqhwDiqCsNqZdy1%2FRotrics%20Drawing%20Samples.zip?alt=media&token=bc0910db-6bfe-486c-95de-2c47fef321ed>" %}
Rotrics Drawing Sample Files V1.0
{% endfile %}

### 5.1 **Import prepared file.**

**Click G-code, choose preset stickers, or enter texts or upload SVG images**

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MBxabzilxONP6WGNPw7%2F-MBxcCGPZ922ByLpvVot%2Fimage.png?alt=media\&token=58a95412-25ab-4b72-9c01-9f4d31db1912)

<img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhQNgpdUr2EQ5q3WoS%2FSnipaste_2020-08-14_22-43-14.png?alt=media&#x26;token=5a12f378-37c2-48d0-b254-6076012cec57" alt="" data-size="original"> STICKER: preset stickers, click to load into canvas.

<img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhQSKHjUmmlQYeeLzo%2FSnipaste_2020-08-14_22-43-46.png?alt=media&#x26;token=5a3f3595-5f97-43c7-a981-01d21eb7d3a7" alt="" data-size="original"> SVG: upload SVG files to draw images.

<img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhQVogp5c1hUEc2oJj%2FSnipaste_2020-08-14_22-43-59.png?alt=media&#x26;token=31a9a0b8-2a40-48b5-820f-9c17e50eac8c" alt="" data-size="original"> TEXT: enter texts, suitable for writing letters or greeting cards.

{% hint style="warning" %}
:brain: **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.&#x20;
{% endhint %}

### **5.2 Adjust the image size and position.**

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MBxabzilxONP6WGNPw7%2F-MBxcf2OE4hkcqXGP8n4%2Fimage.png?alt=media\&token=3b0af27d-a23d-4a3e-9a6b-8931218c670b)

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.&#x20;

### **5.3 Set working parameters.**

#### 5.3.1 Set work speed and jog speed and pen offset.&#x20;

**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**

&#x20;Click **`Generate G-code`** button to generate G-code.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhRUA5mqjAZOeReKKJ%2FSnipaste_2020-08-14_22-48-35.png?alt=media\&token=55144ae7-dd40-4438-9ade-4e492d3d22d1)

{% hint style="info" %}
:man\_mage:**Tips:** You can download the G-code and copy it to the SD card for touchscreen control.&#x20;
{% endhint %}

## **6. Start Drawing**

### 6.1 Start Drawing with Rotrics Studio

Click **`Start Send`** to start Drawing.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhRxNAbQpaU_4WeEYj%2FSnipaste_2020-08-14_22-50-48.png?alt=media\&token=b7a03252-91cf-4140-8418-63e9e1261d46)

### 6.2 Use Touchscreen to start writing/drawing

{% hint style="warning" %}
:brain: **Note:** Make sure you've **set Work Origin** in [Step 4](#4-set-work-origin-first).&#x20;
{% endhint %}

#### 6.2.1 Copy the G-code file into th&#x65;**`g-code`**&#x66;older of the SD card.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhSfbxrPbRdHSPGHo9%2FSnipaste_2020-08-14_22-53-16.png?alt=media\&token=804cece6-b041-4f99-9f31-42cd0f3d53e8)

#### 6.2.2 Connect the Arm and touchscreen with a Dual Type-c cable.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhUWfiKmiotuY5edJD%2F%E8%9C%82%E8%9C%9C%E6%B5%8F%E8%A7%88%E5%99%A8_image%20\(1\).png?alt=media\&token=24a8726f-5a4b-4077-b42d-7a3c1964b47c)

#### 6.2.3 Clic&#x6B;**`SD Card`**, choose your G-code and clic&#x6B;**`Start`** to start writing/drawing.&#x20;

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M7MpGAUZHnJPOjBSZjQ%2F-M7MyPn358ftJ2yNsd87%2Fimage.png?alt=media&#x26;token=8d46c2f2-a56e-45fb-b50d-dc60dc2bd993" alt=""></div>

You can **Pause** or **Stop** the Arm during working.

{% hint style="warning" %}
:brain: **Note:** You can only return to the previous step or home page only when the working is completed or stopped. &#x20;
{% endhint %}

## 7. Use Touchscreen to draw built-in stickers

{% hint style="info" %}
:man\_mage: **Tips:** To use touchscreen to draw build-in stickers, you need to set writing/drawing start height first.&#x20;
{% endhint %}

### 7.1 Connect the Robot Arm to Touchscreen with a Type-C to Type-C cable.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhUWfiKmiotuY5edJD%2F%E8%9C%82%E8%9C%9C%E6%B5%8F%E8%A7%88%E5%99%A8_image%20\(1\).png?alt=media\&token=24a8726f-5a4b-4077-b42d-7a3c1964b47c)

### 7.2 Click **`Basic -> HOME`**&#x74;o initialize DexArm.

### 7.3 Click **`Setting`** ->**`Pen Position`**, and adjust the pen position.

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhXm-HxZZJ3NfJn06c%2FSettings%E7%AC%94%E9%AB%98%E5%BA%A6.png?alt=media&#x26;token=5c9f2ac0-2bb9-4584-b954-bf65a067b06a" alt=""></div>

Choose movement accuracy, clic&#x6B;**`Down`**&#x74;o lower the pen height. Keep adjusting until the nib touches the paper. Clic&#x6B;**`Save`**&#x74;o record the writing/drawing start height.&#x20;

### 6) Start Drawing

Return to the homepage, clic&#x6B;**`Draw`**&#x61;nd choose a stick, then clic&#x6B;**`Choose -> Start`**&#x74;o start.&#x20;

You can Pause or Stop the Arm during working.

{% hint style="warning" %}
:brain: **Note:** You can only return to the previous step or home page only when the working is completed or stopped.&#x20;
{% endhint %}

## Other Resources

{% content-ref url="drawing-and-writing/generate-writing-drawing-g-code-with-inkscape" %}
[generate-writing-drawing-g-code-with-inkscape](https://manual.rotrics.com/get-start/drawing-and-writing/generate-writing-drawing-g-code-with-inkscape)
{% endcontent-ref %}