Basic -> Front End
to choose relevant modules.Pick / Place
under Air Pick orGrip / Release / Neutral
under Soft Gripper to control pneumatic functions.X±、Y±、Z±
buttons inControl
section to control DexArm's movement. Pneumatic
to select the module.HOME
to move DexArm to the HOME position first.X±、Y±、Z±
buttons to move DexArm to the item position.Pick
to pick up the item. Stop
to turn OFF Air Pump Box after finished. Basic -> Teach & Play -> On
to enter Teach&Play mode. Record
to record this position and module statusRecord
to record this position and module statusRelease
before Grip
item, lower the module to relevant position and then Grip
.Record
to record this position and module status. Record
to record this position and module status. Record
to record this position and module status. Off
button beside Teach & Play Mode to complete teaching. Set Delay
to add waiting time between every action. Basic -> Reset -> Home
to move DexArm to HOME position.Teach -> Air Pick / Soft Gripper
.DISABLE
to start Teach&Play,PICK
to pick the item up.RECORD
to record this position and the module statusPLACE
to place item downRECORD
to record this position and the module statusREPLAY
to play the whole process.M893
obtain the magnetic encoder position; M894
move to the magnetic encoder position;M895
inversely obtains the front end module position via the magnetic encoder value and the module off-set value. M896
moves to a specified position under Fast, Line, Jump moving mode.G0
or M2001
,G1
or M2000
, added over-limit detection of interpolation points during line mode, M895
X:0.00 Y:320.00 Z:0.00
M896 P2 F5000 H20
, Move to the target position, M896 X0 Y320 Z0
Function Updated-In the previous version, the target position is not exceeding the limit, but the interpolation point goes beyond the limits during line mode. In the new version, the over-limit detection of the interpolation point is added during Line Mode under G1
and M2000
.
-After the M17 three-axis motor is enabled, the current position value can be obtained and set through the magnetic encoder value, and the front-end module offset value by inverse solution, no need to send M1112
to return to HOME..gcode
file, open it with the notepad or a third-party text editor, enter the robot arm motion control commands, and send it to the robot arm through Rotrics Studio software to start picking and placing.G0 X300 Y20 Z0
-move to position (300, 20, 0)G0 F3000
-move speed 3000mm/minM2000
- straight line modeM2001
- fast modeM888 P2
-identify the end effector as pneumatic moduleM1000
-air pump box to pump in M1001
- air pump box to pump outM1002
- air pump box to release air,M1003
- stop air pump box,M1000
to pump in and pick up items.M1002
to release air, relieve the internal pressure of the air pump and place the item down.M1003
to close all air values. M1001
to make the air pump box to pump out, the soft gripper will grasp, and pick up the item.M1000
to make the air pump box to pump in, the soft gripper will release and place the item down.M1002
to release air and relieve internal press of the air pump box. M1003
to close all air values.