🔄Rotary Module

📅Update: 2021/06/08
​🧙♂
 Tips: Upgrade DexArm's firmware to V2.2.2 and above before using the rotary module.
How to upgrade DexArm's firmware?
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
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 Tips: You can also click the TOP RIGHT table of contents to read the corresponding section​ 👉
​1) First use set-up​
​2) G-code commands for Rotary Module​
​3) Start picking and placing​
​4) Integrate Rotary Module into your projects​
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
​🧙♂
 ​Tips: Make sure you've updated Rotrics Studio to V1.0.1 and above. You can download it on our Download Center - https://www.rotrics.com/pages/downloads​
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
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. 
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
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. 
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
​🧙♂
 Tips: Make sure you've moved DexArm to HOME position first.
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.
Welcome to share your projects with the community! For any questions, please submit a post on community.rotrics.com or email us at [email protected].

Last modified 1yr ago