🦾Teach & Pneumatic
**📅Update: 2020/08/31**# Introduction
📅Update: 2020/08/17
Table of Contents
5) Use Pneumatic Functions with G-code
1. Teach & Pneumatic Workflow
Step 1: Set up Pneumatic Kit and Air Pump Box
Step 2: Start Teach & Play with Rotrics Studio / Touchscreen
2. Set Up for First Use
Read the Quick Start Guide to check the items, assemble the pneumatic module, connect with Air Pump Box and set up DexArm for the first use.
3. Use Basic Functions
Pneumatic Module Status
1) Air pump box working status
The air pump box has 3 working status:
Pump in
Pump out
Release air
Close all pumps
2) Suction cup working status
The suction cup has 2 working status:
Pick (pump in)
Place (pump out)
So you only need to control Air Pump Box to pump in or pump out for a picking/placing task.
3) Soft gripper working status
The soft gripper has 3 working status:
Pick (pump out)
Place (pump in)
Neutral (release air)
Except for pump in and pump out, you need to return soft gripper to neutral status after each action is done.
With Rotrics Studio software
1) ClickBasic -> Front End
to choose relevant modules.
Basic -> Front End
to choose relevant modules.2) ClickPick / Place
under Air Pick orGrip / Release / Neutral
under Soft Gripper to control pneumatic functions.
Pick / Place
under Air Pick orGrip / Release / Neutral
under Soft Gripper to control pneumatic functions.3) After picking items up, clickX±、Y±、Z±
buttons inControl
section to control DexArm's movement.
X±、Y±、Z±
buttons inControl
section to control DexArm's movement. With Touchscreen
1) Connect the touchscreen with the robot arm, clickPneumatic
to select the module.
Pneumatic
to select the module.Here, we are using Air Pick as an example.
2) Click HOME
to move DexArm to the HOME position first.
HOME
to move DexArm to the HOME position first.3) Click X±、Y±、Z±
buttons to move DexArm to the item position.
X±、Y±、Z±
buttons to move DexArm to the item position.4. Click Pick
to pick up the item.
Pick
to pick up the item. 5. Click X±、Y±、Z± buttons to move the item to the destination
6. Click Place to place the item.
7. Repeat Step 3-6 to move all the items.
8. Click Stop
to turn OFF Air Pump Box after finished.
Stop
to turn OFF Air Pump Box after finished. 4. Teach & Playback
Rotrics Studio software can control the picking/placing functions and record robot arm movements, you can also control robot arm movement with G-code programming.
With Rotrics Studio software
1) ClickBasic -> Teach & Play -> On
to enter Teach&Play mode.
Basic -> Teach & Play -> On
to enter Teach&Play mode. After turn on the teach&playback function, select the right module and click OK.
There will be a new record in the Record List
7) Click Off
button beside Teach & Play Mode to complete teaching.
Off
button beside Teach & Play Mode to complete teaching. 8) Scroll Record List, and check all recorded action. Clic Set Delay
to add waiting time between every action.
Set Delay
to add waiting time between every action. With Touchscreen
1) Connect the touchscreen with the robot arm, clickBasic -> Reset -> Home
to move DexArm to HOME position.
Basic -> Reset -> Home
to move DexArm to HOME position.2) Click Teach -> Air Pick / Soft Gripper
.
Teach -> Air Pick / Soft Gripper
.Here we use Air Pick as an example.
3) Click DISABLE
to start Teach&Play,
DISABLE
to start Teach&Play,4) Drag the Rotrics Arm and move it to the target position.
5) Tap PICK
to pick the item up.
PICK
to pick the item up.6) Click RECORD
to record this position and the module status
RECORD
to record this position and the module status 8) Click RECORD
to record this position and the module status
RECORD
to record this position and the module status9) Repeat Step 4-8 to record every action and position.
10) Click REPLAY
to play the whole process.
REPLAY
to play the whole process.Function Update
Old Version
M893
obtain the magnetic encoder position;M894
move to the magnetic encoder position;The above commands remain in the new version.
New Version (for firmware V2.2.0 and above)
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.
P0-2, corresponding to the three moving modes of Fast, Line, and Jump respectively. The default is Fast mode.
Fast mode corresponds to
G0
orM2001
,Line mode corresponds to
G1
orM2000
, added over-limit detection of interpolation points during line mode,Jump mode is divided into three steps, from the current position to raise the height of H, move horizontally to the target position, and move vertically to the target position.
F corresponds to the moving speed, H corresponds to Jump height, the F default value is 3000unit/min, the H default value is 50mm.
SampleObtain the current position
Send:
M895
recv:
X:0.00 Y:320.00 Z:0.00
Set to tech&play and setup JUMP height, 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.
5. Use Pneumatic Functions with G-code Programming
To use G-code for pneumatic work, you need to create a new .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.
1) G-code commands instructions
Motion control commands:
G0 X300 Y20 Z0
-move to position (300, 20, 0)G0 F3000
-move speed 3000mm/minM2000
- straight line modeM2001
- fast mode
Air pump box control commands:
M888 P2
-identify the end effector as pneumatic moduleM1000
-air pump box to pump inM1001
- air pump box to pump outM1002
- air pump box to release air,M1003
- stop air pump box,
2) Pneumatic G-code workflow:
A. Use command M888 P2 to identify the end effector as pneumatic module.
B. Use command M2000 or M2001 to set robot arm motion mode.
C. Use command G0 to control robot arm movement.
D. Use command M1000-M1003 to control air pump box.
Workflow for the suction cup:
Use command
M1000
to pump in and pick up items.Use command
M1002
to release air, relieve the internal pressure of the air pump and place the item down.Use command
M1003
to close all air values.
Workflow for the soft gripper:
Use command
M1001
to make the air pump box to pump out, the soft gripper will grasp, and pick up the item.Use command
M1000
to make the air pump box to pump in, the soft gripper will release and place the item down.Every time the soft gripper stops, use command
M1002
to release air and relieve internal press of the air pump box.Then use command
M1003
to close all air values.
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