UFactory uArm Swift Pro, Developer'S Manual

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Page 2: ...inate 6 4 Mounting 8 5 Buttons indicator lights 10 6 Extension description 11 SPECIFICATIONS 13 APPLICATION INFORMATION 16 1 Send command over usb cable 16 2 Send command over bluetooth 19 3 The 2nd U...

Page 3: ...3 1 Introduction 28 2 Example 28 3 Commands tbd 28 UARM COMMUNITY 40 RELEASE NOTE 40...

Page 4: ...ral information for the robot arm and it s good to know before developing 1 Source file Source code of Firmware for Swift Pro https github com uArm Developer SwiftProForArduino Source code of ROS for...

Page 5: ...5 2 Reference Frame...

Page 6: ...6 3 Coordinate The picture in the right also shows the dynamic payload range of uArm Test condition G2202 F1000 Red point is the Tool Center Point Detail size of each arm and base...

Page 7: ...for different usages Currently we offer 4 kinds of mode M2400 S0 Normal mode end effector tools suction M2400 S1 Laser mode end effector tools laser M2400 S2 3D printing mode end effector tools Hot E...

Page 8: ...8 4 Mounting...

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Page 10: ...10 5 Buttons Indicator Lights Caution By default the user defined button is for switching between Bluetooth and USB mode Please ensure the button is UP while communicating with uArm via USB...

Page 11: ...11 6 Extension Description...

Page 12: ...12 Details of 30P Base Extension...

Page 13: ...35 30 RH 80 RH noncondensing Storage Temperature Humidity 20 60 30 RH 80 RH noncondensing Hardware Joint Type Customized Gearbox Stepper Position Feedback 12 bit Encoder Reducer Customized ultra thin...

Page 14: ...rsal Holder Weight 36g Dimension L W H 62mm 25mm 15mm Material Aluminum Holder Diameter 14mm Metallic Gripper Weight 58g Dimension L W H 92mm 50mm 18mm Material Aluminum Max Force 750 800g Max Size of...

Page 15: ...ype E3D v6 Hot End Dimension L W H 37mm 31mm 76mm Extruder Dimension L W H 61mm 52 66mm Consumption 35W Nozzle Diameter 0 4mm Max Temp 270 Material PLA Max Printing Speed 20mm s File Format Gcode Prin...

Page 16: ...Command over USB Cable Power on the uArm and open the Arduino IDE And setting the board like the picture below Please make sure the port you are choosing is the correct port of uArm Open the serial m...

Page 17: ...17 Set the parameter of serial monitor in the right bottom If the setting is correct you would receive the detail information from uArm like the picture below...

Page 18: ...18 Now you are able to send the command to the uArm Let s send G0 X250 Y0 Z130 F10000...

Page 19: ...s the movement it replies ok Please check the chapter of Protocol Page 20 in this guide to test more commands 2 Send Command over Bluetooth Plug in the Bluetooth stick and press down the button beside...

Page 20: ...rs in both stick and uArm become solid Open the Arduino IDE And setting the COM port like the picture below Please make sure the port you are choosing is the correct port of Bluetooth stick Driver of...

Page 21: ...21 Set the parameter of serial monitor in the right bottom like the picture below...

Page 22: ...22 Now you are able to send the command to the uArm Let s send G0 X250 Y0 Z130 F10000 If uArm finishes the movement it replies ok...

Page 23: ...is important for our project for example you want another Arduino to communicate with uArm During the design we have had it in mind There is the 2nd UART in the 30P base extension All the pins of exte...

Page 24: ...to 2nd UART communication Connect uArm Swift Pro to PC Open XLoader xloader russemotto com load uArmSwiftPro_2ndUART hex https github com TonyLeheng Vision Pick and Place Click Upload to upload the c...

Page 25: ...ftProForArduino How to compile and upload the file 1 Download the code and extract it to your Arduino libraries folder normally it s in C Users ufactory documents Arduino libraries 2 Find the file nam...

Page 26: ...26 4 Select the correct port and type of Arduino board like the picture below 5 Click the upload button to finish the uploading...

Page 27: ...emo And also the demo of OpenMV https github com uArm Developer OpenMV Examples You could find the details steps in quick start guide 7 Recover from the Wrong Code Sometimes you might want to go back...

Page 28: ...ample Sending command from PC 25 G0 X180 Y0 Z150 F5000 move to 180 0 150 with the speed 5000mm min Reply from uArm 25 ok 3 Commands TBD Command can be divided into two parts Command with underline it...

Page 29: ...Move to XYZ mm F is speed mm min n ok n or n Ex n refer to Err output n G1 X100 Y100 Z100 F1000 n After entering the laser mode M2400 S1 command G1 means laser on G0 means off n ok n or n Ex n refer t...

Page 30: ...he joint motors n ok n n M2120 V0 2 n Set time cycle of feedback return Cartesian coordinates V is time seconds 3 X154 71 Y194 91 Z10 21 n n M2122 V1 n Report 9 V0 when stop V1 Enable V0 Disable n ok...

Page 31: ...100 Z100 n Convert coordinates to angle of joints n ok B50 L50 R50 n B joint 0 L joint 1 R joints 2 0 180 n M2221 B0 L50 R50 n Convert angle of joints to coordinates n ok X100 Y100 Z100 n n M2222 X100...

Page 32: ...dules below n M2307 P0 V1 n Please check the Grove modules below n M2400 S0 n Set the mode of arm 0 Normal 1 Laser 2 3D printing 3 Universal holder n ok n n M2401 n Set the current position into the r...

Page 33: ...H80 n n P2231 n Get the status of pump n ok V1 n 0 stop 1 working 2 grabbing things n P2232 n Get the status of gripper n ok V1 n 0 stop 1 working 2 grabbing things n P2233 n Get the status of limite...

Page 34: ...n V 1 Click 2 Long Press 5 V1 n Report event of power connection 6 N0 V1 n Report event of limit switch in end effector 7 temp error Temperature error in 3D printing 9 V0 n Stop movement Err Output E2...

Page 35: ...V0 n Click 11 P3 N2 V1 n Long pressed 11 P3 N2 V2 n 3 Slide Potentiome ter n M2304 P1 n Deinit 1 2 n ok n n M2305 P1 N3 n Init Module 3 in Port1 1 2 n ok n n M2306 P1 V1000 n Set report interval ms 1...

Page 36: ...00 n Set report interval ms 1 2 13 11 P1 N8 V583 n 9 6 Axis Accelerome ter Compass n M2304 P0 n Deinit 0 n ok n n M2305 P0 N9 n Init Module 9 in Port 0 0 n ok n n M2306 P0 V1000 n Set report interval...

Page 37: ...n ok n n M2305 P3 N12 n Init Module 12 in Port 3 4 8 9 n ok n n M2306 P3 V1000 n Set report interval ms 4 8 9 11 P3 N12 V4 n Value in cm 13 Fan n M2304 P4 n Deinit 4 8 9 n ok n n M2305 P4 N13 n Init...

Page 38: ...Motion detected 0 no motion detected 17 1602 LCD n M2304 P0 n Deinit 0 n ok n n M2305 P0 N17 n Init Module 17 in Port 0 0 n ok n n M2307 P0 R128 G120 B10 n Set backlight color 0 n ok n n M2307 P0 T0...

Page 39: ...r uArm Swift Pro Since different types of the end effectors have different length and height so we designed the command M2400 which could help us to fit the uArm into different situations easily With...

Page 40: ...ony 1 0 2 Add the mounting and detail size of each part Add detail steps of Arduino upload Tony 1 0 3 Add the relationship of left right motor with the upper and lower arm Tony 1 0 4 Modify several co...