Rotrics Manual
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  • Rotrics DexArm User Manual V1.2
  • ✨Getting Started
    • 🎮Hands-on Guide
    • 🎨Writing/Drawing
      • Generate G-code with third-party software
    • 🎇Laser Engraving
      • ❗Important - Safety Guideline
    • 🛸3D Printing
      • Generate 3D Printing G-code with Cura
    • 🦾Teach & Pneumatic
    • 📷Computer Vision
    • 🔄Rotary Module
    • Sliding Rail Kit
      • Sliding Rail Kit Installation Guide
    • Conveyor Belt Kit
      • Conveyor Belt Kit Installation Guide
  • 💻Product Overview
    • 🗺️Product Overview
    • 💾Software - Rotrics Studio
    • 🍴Accessories
      • Touchscreen
  • 🔧FAQ & Troubleshooting
    • ❓FAQs
      • Received an Error message in Rotrics Studio?
      • How to toggle developer tools on Rotrics Studio
      • How to re-calibrated DexArm or reset encoder values?
      • How to upgrade DexArm's firmware?
      • How to upgrade the touchscreen firmware?
      • How to send third-party G-code files with Rotrics Studio?
      • How to replace filament?
      • How to set Wi-Fi?
      • How to change touchscreen language?
      • How to execute SD card files?
      • Why can't I copy G-code files to the Touchscreen directly?
      • How to write/draw with different colors?
      • Why it misses part of the image when drawing?
      • How to level DexArm manually?
      • Why my 3D printing module is clogged?
    • 🔑Troubleshooting
      • “G-code sending task started...” Error
      • Laser module won't light
      • Rotrics Studio "Internal error occurred"
      • Failed to upgrade Rotrics DexArm's Firmware
      • Fix the clogged 3D printing nozzle
      • Replace the cracked case
      • How to Fix a Black Screen after upgrading the firmware?
      • DexArm couldn't connect to my computer
      • DexArm beyond limits/stuck problem
      • DexArm movement accuracy problem
      • The pen doesn't write with ink
      • 3D printing module won't heat up
      • The Arm doesn't move, only filament comes out
      • Software connect problem after safety enclosure installed
      • Safety enclosure wiring changes
  • ⌨API(G-code)
    • Introduction
    • Marlin Original Commands
      • [Marlin] G000-G001 - Linear Move
      • [Marlin] G002-G003 - Arc or Circle Move
      • [Marlin] G004 - Dwell
      • [Marlin] G020 - Inch Units
      • [Marlin] G021 - Millimeter Units
      • [Marlin] G028 - Home and StallGuard
      • [Marlin] G029 - Bed Leveling Manual
      • [Marlin] G090 - Absolute Positioning
      • [Marlin] G091- Relative Positioning
      • [Marlin] G092 - Set Position
      • [Marlin] M003 - Laser On
      • [Marlin] M005 - Laser Off
      • [Marlin] M082 - E Absolute
      • [Marlin] M083 - E Relative
      • [Marlin] M092 - Set Axis Steps-per-unit
      • [Marlin] M104 - Set Hotend Temperature
      • [Marlin] M105 - Report Temperatures
      • [Marlin] M106 - Set Fan Speed
      • [Marlin] M107 - Fan Off
      • [Marlin] M108 - Break and Continue
      • [Marlin] M109 - Wait for Hotend Temperature
      • [Marlin] M114 - Get Current Position
      • [Marlin] M200 - Set Filament Diameter
      • [Marlin] M201 - Set Print Max Acceleration
      • [Marlin] M203 - Set Max Feedrate
      • [Marlin] M204 - Set Starting Acceleration
      • [Marlin] M205 - Set Advanced Settings
      • [Marlin] M400 - Finish Moves
      • [Marlin] M410 - Quickstop
      • [Marlin] M420 - Bed Leveling State
      • [Marlin] M500 - Save Settings
      • [Marlin] M501 - Restore Settings
      • [Marlin] M502 - Factory Reset
      • [Marlin] M503 - Report Settings
      • [Marlin] M504 - Validate EEPROM contents
      • [Marlin] M906 - TMC Motor Current
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On this page
  • Table of Contents
  • 1. First use set-up
  • 1.1 Part List
  • 1.2 Rotary Air Pick Module
  • 1.3 Rotary Soft Gripper Module
  • 2. Control Rotary Module with Rorics Studio
  • 2.1 Rotary Air Picker
  • 2.2 Rotary Soft Gripper
  • 3. Start picking and placing
  • 3.1 With Teach & Play
  • 3.2 With Scratch
  • 4. Integrate Rotary Module into your projects
  • 4.1 Initialize
  • 4.2 Read position
  • 4.3 Relative rotating
  • 4.4 Absolute rotating
  • 4.5 Continuous rotating

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  1. ✨Getting Started

🔄Rotary Module

Previous📷Computer VisionNextSliding Rail Kit

Last updated 3 years ago

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📅Update: 2021/06/08

Tips: Upgrade DexArm's firmware to V2.2.2 and above before using the rotary module.

The rotary module allows you to turn your DexArm into a 4-DOF robot arm. It's designed for makers and DIYers with many great features. The built-in 12V coreless motor and reducers design brings up to 500g payload capacity.

The universal adapter design makes it easy to switch between soft gripper, suction cup module. The 360-degree air connector design allows you to pick and rotate items without twisting the air tube.

We are still working on upgrading the Rotrics Studio software to control the rotary module. Before that, it's recommended to use G-code commands to control the rotary module.

Table of Contents

Tips: You can also click the TOP RIGHT table of contents to read the corresponding section​ 👉

1. First use set-up

1.1 Part List

1.2 Rotary Air Pick Module

1.2.1 Assemble Rotary Air Pick Module

1.2.1 Connect with Air Pump Box

1.3 Rotary Soft Gripper Module

1.3.1 Assemble Rotary Soft Gripper Module

1.3.2 Assemble pressure-limiting value

Use two short air tubes in the OLD pneumatic kit to connect the T-shaped air connector.

1.3.3 Connect with Air Pump Box

2. Control Rotary Module with Rorics Studio

Go to Basic -> Control Panel -> Front End.

2.1 Rotary Air Picker

2.1.1 Select the Rotary Air Picker module

2.1.2 Control Air Picker function with pick / release / off button.

2.1.3 Control Rotary Function

A. Relative mode

B. Absolute mode

In absolute mode, the rotary module will rotate to the target degree in the shortest way. The degree range is 0 - 360 degrees.

C. Continous mode

In continuous mode, the rotary module will keep rotating at a specific speed. The speed range is 0 - 100. Set speed to 0 and it will stop.

2.2 Rotary Soft Gripper

2.2.1 Select the Rotray Soft Gripper Module

2.2.2 Control Soft Gripper function with grip / release / neutral / off buttons.

2.2.3 Control Rotary Function

A. Relative mode

B. Absolute mode

In absolute mode, the rotary module will rotate to the target degree in the shortest way. The degree range is 0 - 360 degrees.

C. Continous mode

In continuous mode, the rotary module will keep rotating at a specific speed. The speed range is 0 - 100. Set speed to 0 and it will stop.

3. Start picking and placing

3.1 With Teach & Play

3.1.1 Enter Teach & Play mode and select module

3.1.2 Drag DexArm to the target position

3.1.3 Control the rotary and pneumatic functions

3.1.4 Record the movement

3.1.5 Replay the movements

3.2 With Scratch

3.2.1 Set front end module

Use the "select module __" block to select the right module.

3.2.2 Move DexArm to target position

3.2.3 Control Air Picker and Soft Gripper functions

3.2.4 Control Rotary function

4. Integrate Rotary Module into your projects

Basically, the rotary module is a high-level servo motor. We've released the 5-pin end effector port for you to DIY your own rotary module for your projects.

G-code commands for Rotary Module

4.1 Initialize

  • M888 P6 - Set the current end effector as a rotary module and initialize it

  • M2100 - Initialize the rotary module every time DexArm restarts

  • M2103 - Read the current rotary firmware version. The factory version is V1.1.2.

4.2 Read position

  • M2101 - Read the current rotary position

4.3 Relative rotating

  • M2101 R< n >

Rotate n degrees in the clockwise direction

  • M2101 R< -n >

Rotate n degrees in the counterclockwise direction

n is a floating number and it could be more than 360. Such as M2101 R1080 stand for rotating 3 turns in the clockwise direction.

4.4 Absolute rotating

  • M2101 P< n >

Rotate to position n degree.

n is a floating number between 0 and 360.

4.5 Continuous rotating

  • M2101 S< n >

Continuously rotating in the clockwise direction at speed n.

  • M2101 S< -n >

Continuously rotating in the counterclockwise direction at speed n.

n is a number between 0 and 100. 0 for stopping and 100 for the highest speed.

​Tips: Make sure you've updated Rotrics Studio to V1.0.1 and above. You can download it on our Download Center -

In relative mode, the rotary module with mode relatively. We can control the rotated degrees and the direction. Click the to rotate in clockwise direction and click to rotate in counter-clockwise direction.

In relative mode, the rotary module with mode relatively. We can control the rotated degrees and the direction. Click the to rotate in clockwise direction and click to rotate in counter-clockwise direction.

Tips: Make sure you've moved DexArm to HOME position first.

Welcome to share your projects with the community! For any questions, please submit a post on or email us at .

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https://www.rotrics.com/pages/downloads
community.rotrics.com
support@rotrics.com
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How to upgrade DexArm's firmware?
1) First use set-up
2) G-code commands for Rotary Module
3) Start picking and placing
4) Integrate Rotary Module into your projects