# Touchscreen

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**📅Update: 2020/05/17**
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Rotrics 3.5-inch touchscreen can control robot arm motion and module functions. You can also download G-code files into SD card, and use touchscreen to control offline. 

## User Interface

### Homepage

<div align="left"><img src="/files/-LyCOzx1XG33nrWxzA3c" alt=""></div>

**Wi-Fi Connection**

Wi-Fi connection status icon, press to check Wi-Fi connection status,

**Return**

The return button, press to return to the previous menu,

**HOME**

The homepage button, press to return to homepage,&#x20;

**Emergency Stop**&#x20;

The emergency stop botton, press to stop robot arm, use only in emergencies,

**Basic**

The basic control interface, to control robot arm movement in X, Y, Z axis, or reset robot arm to origin position,&#x20;

**Laser**

The laser control interface, to control robot arm movement in X, Y, Z axis and power on/off laser, mainly used for adjusting laser focus length,&#x20;

**Draw**

The drawing interface, to select built-in stick figure to draw. It is mainly used to teach children.

**3D Printing**

The 3D printing control interface, to change filaments,

**Air Pick**

The air pump box control interface, to control action of suction cup and softgripper,

**Voice**

The voice recognition function interface, press to start recognize your voice,

**Teach\&Play**

The teaching-playback function interface, to teach robot arm to record and repeat your movement,&#x20;

**SD Card**

The SD card management interface, to choose relevant G-code file and start writing/drawing, laser engraving, 3D printing or picking/placing offline,

**Setting**&#x20;

The setting interface, to choose language, set leveling, adjust pen height, or reset the touchscreen.

### Basic Control

<div align="left"><img src="/files/-M5a8Si1Nr4sjdVTVSYL" alt=""></div>

**X±/Y±/Z±**

Control the movement in X, Y, Z axis, click to control movement in relevant direction,

**Home**

Working HOME position button, click to return robot arm to the HOME position,

**Reset**

Robot Arm calibration button, click to re-calibrate the robot arm.

**Motor Disable**

Motor disable button, click to disable the motor, drag the robot arm to the corresponding position.&#x20;

### Laser

<div align="left"><img src="/files/-LyCWS-Cdv8u4c8z2AHw" alt=""></div>

Laser ON/OFF

Laser on/off button, click to turn on or turn off the laser. The default setting is to turn on/off laser under the max power. **Wear the Safety Goggles before you set up the laser engraver and throughout the laser engraving process.**

### Draw

<div align="left"><img src="/files/-LyCXZeBkQ1ID0x5jhKL" alt=""></div>

<div align="left"><img src="/files/-LyCY1x0VSaeQELkviW1" alt=""></div>

Click the left and right triangle buttons to switch pictures, click "Choose" to select the relevant picture.

**Start / Pause / Stop**

Click the corresponding button to start, pause, stop the current working.

### 3D Printing

<div align="left"><img src="/files/-LyCYhXy5Z8Nw6_8mOL_" alt=""></div>

**Target Temp**

Target temperature of 3D printing nozzle,

**Current Temp**

Current temperature of 3D pinting nozzle,&#x20;

**Change PLA**

PLA filament change button, click to preheat nozzle to 200℃, after temperature reaches 200℃, you can change the filament,

**Change ABS**

ABS filament change button, click to preheat nozzle to 240℃, after temperature reaches 240℃, you can change the filament,

### Picking/Placing

<div align="left"><img src="/files/-LyC_1hxtt3yVmj_sZBE" alt=""></div>

**Pick/Place**

Pick and place button, click to control suction cup or softgripper to pick/place items,

**Stop**&#x20;

Click to stop air pump box,

### Voice

<div align="left"><img src="/files/-LyCbb0RO4BDzwz9Y3-z" alt=""></div>

Voice recognition button, Wi-Fi connection required, support multi-language. Click to recognize voice content, and then command robot arm to complete relevant tasks. Currently, only the built-in picture drawing functions are available.&#x20;

### Teach\&Play

<div align="left"><img src="/files/-LyCcDA3XbxoPjMcu0WK" alt=""></div>

### SD Card

<div align="left"><img src="/files/-LyCeK_rqYfn3W1aKQUJ" alt=""></div>

The G-code excution interface, click to choose relevant G-code and start working.

### Setting

<div align="left"><img src="/files/-M5_6TLp5pBe_LYGfIih" alt=""></div>

Setting interface of the touchscreen, click to adjust pen height, set 3D printing leveling, connect to Wi-Fi, change language, reset the touchscreen.

## Connect with DexArm

Use dual Type-C cable to connect robot arm and the touchscreen.

Click the following link to learn how to use touchscreen to adjust laser focal length, change 3D printing filament, leveling:

* adjust laser focal length
* 3D printing work origin position setting
* leveling
* 3D printing filament change
* control pneumatic module
* control teach\&play

## Control DexArm's Movement

1\. connect touchscreen to the robot arm

2\. Click `Basic`

3\. Click `Home`to move robot arm to HOME position

4\. Click X, Y, Z button to control robot arm movement.&#x20;

## Use SD card to work offline

1\. Copy the G-code file into SD card

2\. Set paremeters before run the G-code file

* For laser engraving, maker sure you have adjusted the focal length and set the origin position
* For writing/drawing, make sure you have set the start height value
* For 3D printing, make sure you have set the start height

3\. Click SD card

4\. Choose your G-code file

5\. Click `Start`to work offline

## Touchscreen Recalibration

Touchscreen recalibration is added in Touchscreen firmware V1.1.0 or above. Please confirm your touchscreen firmware version before recalibration.

Method 1: Touchscreen > Setting > Factory Reset > Touchscreen Recalibration&#x20;

Method 2： Add an empty file named "touchscreen\_recalibration.conf" to the directory: sdcard\firmware. If the Touchscreen reads this file during startup, it will enter the recalibration.

## SetWorkOrigin & SetWorkHeight Difference

For G-code generated by Rotrics Studio, the working start point is X0 Y300. So when 3D printing with the touchscreen, you need to set G92 Z0 E0 (Set WorkHeight).&#x20;

<div align="left"><img src="/files/-MKhsN4FrAPdpYdcyyQM" alt=""></div>

For G-code generated by third-party software, like Cura, the working start point is X0 Y0. So when 3D printing with the touchscreen, you need to set G92 X0 Y0 Z0 E0 (Set WorkOrigin/ Set Origin).

<div align="left"><img src="/files/-MKhsCSEgM-JGF0QxIpE" alt=""></div>

Note: if you set the working start point wrongly, the Arm movement will beyond limits, or when you click start to start printing, only the filament squeezes out, the Arm won't move.&#x20;


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