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Communication

The Reach Alpha communicates via a serial RS232 or RS485 interface. The serial connection should be
configured via the Reach Control software suite or manually using the following specification.

When using an RS232 device, the connection is full duplex whilst when using RS485 it is half duplex. The
Reach Alpha will respond to demands on either RS232 or 485 without needing to be configured. Data
being transmitted from the R5M will be done via both COM ports. For more information on the serial
protocol please refer to the Serial Protocol Document at

https://github.com/blueprint-lab.

Figure 10. IMPULSE IE55 FEMALE Whip - Female Face View

Serial Specifications

Baud

115200 bits/s

Word Length

8 bits (including parity)

Parity

None

Stop Bits

1

«
...
8
9
10
11
12
...
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Содержание REACH ALPHA RS1-1100

Страница 1: ...REACH ALPHA INTEGRATION MANUAL www blueprintlab com tel 61 2 9519 7651 email info blueprintlab com ...

Страница 2: ...ol Panel 18 5 2 Human Machine Interface HMI 20 5 2 1 Manual Mode 20 5 2 2 Controller Mapping in Manual Mode 21 5 2 3 Kinematics Mode Global Coordinates Pro Only 21 5 2 4 Controller Mapping in Kinematics Global Mode Pro Only 22 5 2 5 Kinematics Mode End Effector Coordinates Pro Only 23 5 2 6 Controller Mapping in Kinematics End Effector Mode Pro Only 24 5 3 HMI Advanced Setup 24 5 3 1 Gamepad Advan...

Страница 3: ...6 7 1 Monitor Panel 36 7 2 Measure Tool 36 7 3 Data Logger 37 7 3 1 First Time Setup or Editing of Data Logger Settings 37 7 3 2 After First Time Setup 38 7 4 Camera 39 7 5 Light 40 8 MAINTENANCE 40 8 1 Reach Control Software Update 41 8 2 Firmware Online Update 42 8 3 Firmware Local Update 44 8 4 Configuration File Upload 45 8 5 Module Replacement 47 ...

Страница 4: ...n Interchangeable end effectors allow for quick mission specific fit outs The Reach Alpha is capable of operating at depths of 300m for extended periods of time Each unit undergoes rigorous testing prior to shipping to ensure seal and structural integrity when operating in harsh environments Our products have been validated by customers around the world and have logged over 1000 hours at depth Pos...

Страница 5: ... Product Codes 2 1 Specifications Specification RS1 1100 RS1 1400 RS1 1300 RS1 2140 RS1 2130 Weight Air 200g 320g 220g 360g 360g Weight Water 100g 220g 130g 220g 250g Dimensions 98xΦ40mm 140xΦ40mm 103xΦ40mm 165xΦ40mm 117xΦ40mm Torque Force 0 6Nm 10Nm 600N 10Nm 1Nm 0 6Nm 600N Rate 90 20 s 60 s 2 5mm s 60 s 60 s 2 5mm s Travel 360 Cont 360 Cont 22mm 330 x 360 Cont 330 x 22mm Specification RS1 1100 R...

Страница 6: ...gle axis unit The standard connector interface for RS1 range is a 5 PIN HUMG SeaCon Connector The mating connector is a 5 Pin HUMG CCP It is important that the serial device and the RS1 Actuator share a common ground Failing to do so could damage the device When using a RS485 version Pin 4 is A and Pin5 is B 2 2 Interfacing Figure 1 Mounting Flange Dimensions Figure 2 Mounting Kit Dimensions Optio...

Страница 7: ...7 3 1 Dimensions and Coordinates Figure 4 Joints and Origin Figure 5 Joint Limits Figure 6 Zero Point Travel Direction Zero Point Figure 7 Axis Length 3 Reach Alpha 5 ...

Страница 8: ...evel Temperature 10 c to 45 C Shock 200Gs 1ms Housing Material Hard Anodised 6061 Aluminium Voltage Range 18 30V DC Lower voltage is allowed but will limit speed Power max 35W Communication Full Duplex RS232 or Half Duplex RS485 Connector Teledyne 6 Pin IE W 55 Impulse Kinematic Dynamic and Other Properties The Blueprint Lab Github repository contains documents regarding the Kinematic and Dynamic ...

Страница 9: ...d interface for the Reach Alpha is a Teledyne 6 Pin IE W 55 Impulse Connector The mating connector is a Teledyne 6 Pin IE W 55 Impulse CCP Connector It is important that the serial device and the Reach Alpha share a common ground Failing to do so could damage the device NOTE If your whip has a Brown cable this is a legacy configuration Please contact Blueprint Lab for the interface information Fig...

Страница 10: ...x whilst when using RS485 it is half duplex The Reach Alpha will respond to demands on either RS232 or 485 without needing to be configured Data being transmitted from the R5M will be done via both COM ports For more information on the serial protocol please refer to the Serial Protocol Document at https github com blueprint lab Figure 10 IMPULSE IE55 FEMALE Whip Female Face View Serial Specificat...

Страница 11: ...eak out board with USB cable or alternative serial connection RS232 or RS485 An installation of Reach Control Lite included with purchase or Reach Control Pro Reach Alpha Mounting Kit Step 1 Remove the manipulator and stand from the transport case and place on the bench Loosen the mount locking nut rotate the manipulator 90 degrees to the upright position align the pins and re tighten Step 2 Ensur...

Страница 12: ...while running Reach Control and move the controller and buttons around The arrows will light up and the 2D animation will portray a simulated response see Figure 11 NOTE If using the Master Arm controller you can set that device up now following the steps in the Master Arm Operator s Manual Figure 11 Space Mouse Simulation Left Gamepad Controller Simulation Right Kinematics icon will only show in ...

Страница 13: ...e Figure 13 3 Set a connection name by typing into the Name textbox 4 Set a connection method by clicking on the orange arrow on the Method Button This will bring up a list of the serial COM ports and the option to set UDP or TCP IPv4 connections Click on the COM port name or the UDP TCP options to set those connection methods 5 TIP One way to quickly determine the COM port number for a device is ...

Страница 14: ...n is active and connected You can toggle the connection on and off by clicking the power icon 9 Close the CONNECTIONS panel after configuration Step 7 Vehicle Setup This step configures the vehicle system or bench setup according to the manipulators controllers and any other devices in use To access the VEHICLE SETUP tool see Figure 14 For example If you have one Alpha 5 and one Master Arm click o...

Страница 15: ... the indicator will be orange On screen controls can be used if the master arm is paused The indicator will turn white if on screen controls are being used turning orange again if the master arm is resumed 7 If you are using a 7 function Master Arm and you are controlling an Alpha 5 in either the grabber or probe configurations you can configure the Master Arm s control axis by clicking on the Pro...

Страница 16: ...wer adaptor In the case of a bench top power supply connect the ground lead from the Alpha 5 to the GND of the power supply If you have made your own cable ensure the Ground GND on the serial connector is connected to the ground on the power supply Connect the positive PWR of the Alpha 5 to the positive terminal of the power supply and turn on the power supply Figure 16 3D Manipulator Model Positi...

Страница 17: ... communicating with Reach Control Figure 17 Monitor Panel Step 11 Control Check The final step in the bench test is to ensure that all joints are active receiving commands and responding in the expected manner Using a control method of your choice as detailed in Section 4 we recommend the software control panel actuate each joint of the manipulator and ensure that the joint responds and moves corr...

Страница 18: ...anipulator different control arrows will appear around the 3D model of the manipulator On opening of the CONTROL panel arrows will appear around each joint where clicking and or holding on them will perform the selected action see Figure 19 For rotate joints clicking on the arrows will rotate the joint in the direction of the arrow Similarly clicking on the jaw arrows will either open or close the...

Страница 19: ...re described below 1 Position Increment Buttons Pressing the control arrows while in POSITION mode will increment the position by the value of the selected Position Increment button in degrees 2 Indexed Position Buttons Pressing the control arrows while in JOG mode will increment the indexed position value by the value of the selected Indexed Position button in degrees This will only work if the m...

Страница 20: ...ed slower control When the Kinematics Icon Reach Control Pro feature is white the controller is being used in Manual Mode 5 2 1 Manual Mode Figure 20 3D Mouse Panel Figure 21 Gamepad Input Reach Control can take controller demands from a 3D Mouse or Gamepad For Master Arm users please see Section 4 4 When connecting either a 3D Mouse Figure 20 or a Gamepad Figure 21 the appropriate window will app...

Страница 21: ... frame in accordance with the orientation of the base given in Figure 23 This mode is useful when trying to track a straight line with respect to the base where manually combining joint movements may prove difficult When the Kinematics Icon is orange the controller is being used in Kinematics Mode 5 2 3 Kinematics Mode Global Coordinates Pro Only ...

Страница 22: ...22 blueprintlab com Figure 23 Kinematics Coordinate Reference Frame Global Mode 5 2 4 Controller Mapping in Kinematics Global Mode Pro Only ...

Страница 23: ...nipulator moves in the frame of the end effector Figure 24 This is useful when following lines that are not at right angles with the base Set the end effector probe orthogonal to the object you are trying to follow and then control in end effector kinematics mode 5 2 5 Kinematics Mode End Effector Coordinates Pro Only ...

Страница 24: ... 5 3 1 Gamepad Advanced Setup The user can set custom mappings for Gamepads e g Xbox Controller There are multiple axes that can be edited allowing for multiple commands To access the Gamepad customisation menu see Figure 25 Reach Control provides a way of setting custom mappings for the Gamepad and 3D Mouse ...

Страница 25: ...wn menu to select the product you want to associate the control axis with ID The joint axis to associate with a manual control axis or the kinematics direction if the mode was set to kinematics Alt Toggles a dropdown list of custom options to edit such as sensitivity DBL Sets the axis control direction for the button The button on the left sets the direction of control DBR Alternative for setting ...

Страница 26: ... such as sensitivity DBL Sets the axis control direction for the button The button on the left sets the direction of control DBR Alternative for setting the axis control direction for the associated button The button on the left sets the direction of control For example if you want to have a button control a joint in the positive direction and another button for controlling in the negative directi...

Страница 27: ...ormation regarding control of Alpha 5 manipulators with the Master Arm control can be found in the Master Arm Operator s Manual available from Blueprint Lab info blueprintlab com Figure 27 Master Arm Control Mapping for the Alpha 5 ...

Страница 28: ...s may be available Please contact Blueprint Lab regarding your vehicle integration requirements for more information Step 1 Select whether the manipulator is to be mounted upright or inverted The mounting kit can rotate through 360 degrees to allow for attachment to surfaces at different orientations Step 2 Using the mounting kit hole dimensions see mounting kit diagram on Page 7 secure the rear m...

Страница 29: ...nect the manipulator cable by inserting the female Impulse connector and rotating the locking nut Connect the manipulator to the host PC running Reach Control using the same steps given in Section 3 per your specific communication and power setup Figure 32 Insert through O ring and Tighten Locking Nut Figure 33 Insert Connector and Rotate Nut ...

Страница 30: ...a Reach Control Step 1 Step 2 To access the INSTALLATION tool see Figure 34 Select the product to configure via the Product Selector dropdown See Figure 35 Figure 34 Installation panel and access Figure 35 Product selection device prefix product inversion and heartbeat requests editor ...

Страница 31: ...set of requested heartbeat packets as recommended by Blueprint Lab you can select them in the Requested Heartbeat Packets area see Figure 35 NOTE These should in normal operation not be modified 1 To toggle the default requested heartbeat packets VELOCITY POSITION CURRENT MODE KM_ END_POS click on the radio buttons on the left If the radio button is orange then the packet will be requested on the ...

Страница 32: ...ct the appropriate mounting orientation according to your setup This will affect both control input and workspace restrictions You can command the arm to go to its position preset via pressing and holding down on the GO button next the relevant position preset Releasing the GO button will stop the arm moving Step 7 Workspace restrictions provide a means of dictating keep out areas for the manipula...

Страница 33: ...Control 2 Ensure the installation tab has the Alpha 5 selected 3 Click on one of the Add buttons see Figure 38 Adding in list order is not required 4 If successfully added the obstacle will show in the 3D visualisation with the colour of the obstacle matching the View button colour Figure 37 Installation obstacles setup Figure 38 Editing of obstacles in the Installation panel ...

Страница 34: ...m is disconnected the obstacles will revert to their original states 7 Clicking on the highlighted Edit button will reset the view of the visualisation 8 Pressing the Delete button will remove the obstacle You can toggle wireframe mode for the obstacle in which the obstacle becomes nearly invisible by clicking on the View Button representing the obstacle colour coded If the View Button is white th...

Страница 35: ...nd communicating with Reach Control 2 Press the Refresh button to get the current probe parameters 3 Replace the measurements in the white boxes per your particular probe measurements NOTE The entered measurement must be in millimetres 4 Press the Save button when done 5 If successful the message box will state Saved for a short period of time before going blank Figure 40 PROBE INSTALLATION panel ...

Страница 36: ...rent axis toggles their display state from on to off 7 2 Measure Tool full version only The MEASURE TOOL provides a means of measuring the distance between one end effector position and another The distance is the straight line distance and is useful for determining the size of an object or measuring defects when conducting an inspection task To access the MEASURE TOOL see Figure 42 Figure 42 MEAS...

Страница 37: ... name you wish to log data as saved in the comma separated value csv format by typing the preferred name in the Filename textbox The output file name will be written in the format chosen_ file_name _ YYYYMMDD _ HHMMSS csv For example if the chosen name is ReachControlLog the date is 13 01 2020 and the time of clicking the ENABLE button is 12 22 26 pm then the saved file will be named ReachControlL...

Страница 38: ...ose a value outside this range it will default back to 5 Step 6 Step 7 To enable the data logger not record but prepare to record click on the ENABLE button The data logger is enabled when the ENABLE button is orange This will create the file using the chosen filename in the location that you have chosen The ENABLE button will not turn on if you have not chosen a filename and location If the ENABL...

Страница 39: ...ontrol tool see Figure 44 Figure 44 CAMERA TOOL Functionality To set up and control the Camera follow these steps 1 Set up the camera via the VEHICLE SETUP panel and its connection via the CONNECTIONS panel See Section 3 2 Once the camera is set up the Camera icon on Reach Control s main screen becomes available to click Click on the Camera icon to bring up the CAMERA panel 3 If the camera and its...

Страница 40: ...L tools are designed to update the firmware on the various manipulators including the Alpha 5 To set up and control the Reach Lights follow these steps 1 Set up the Reach Lights via the VEHICLE SETUP panel and its connection via the CONNECTIONS panel See Section 3 2 Once the lights are set up the Light icon on Reach Control s main screen become available to click Click on the Light icon to bring u...

Страница 41: ...ess the SOFTWARE UPDATE tool see Figure 47 Figure 46 CONFIGURATION panel tabs for software firmware updates General tab left and Reach Alpha tab right 1 Ensure that you have an internet connection and that Reach Control can download a file of approximately 75MB in size 2 Click the Update button NOTE The update button will only appear if your current Reach Control version is less than the online ve...

Страница 42: ...completes Reach Control will close and run the downloaded Reach Control installer 5 If the software update process completes with errors make sure you have an internet connection and restart the process beginning at Step 1 If errors persist please contact Blueprint Lab info blueprintlab com Figure 49 FIRMWARE ONLINE tool and access 1 Ensure you are connected to the internet 2 Ensure that the Alpha...

Страница 43: ...Reach Control will ask if you wish to power cycle or not Pressing CANCEL will stop the update 10 If you wish to power cycle Turn off the manipulator s power source click YES then power on the manipulator This will then start the update 11 If you choose NO the update will begin as it is Figure 50 Firmware update stages 1 and 2 Figure 51 Firmware update complete 12 The Update Status bar and the Mess...

Страница 44: ...ION panel see Section 3 3 Ensure that the Alpha 5 is connected and communicating with Reach Control see Section 3 4 In the Product dropdown select the Alpha 5 you wish to update 5 Click the Choose File button and select the firmware file The file name of the firmware file will then be displayed on the button see Figure 53 6 Click the Upload Update button NOTE The Upload Update button will only app...

Страница 45: ...essage text will display the update s progress See Figure 54 Figure 55 Firmware update complete 11 Once the update is complete if all the of the boxes at the bottom of the tool are green then the product is online See Figure 55 12 If the firmware update process completes with errors power cycle the Alpha 5 and restart the process beginning at Step 1 If errors persist please contact Blueprint Lab i...

Страница 46: ...to update 5 Click the Choose Folder button and select the folder containing your config files The folder path with your configuration files will then be displayed on the button See Figure 57 6 Click the Upload button NOTE The Upload button will only appear when the Alpha 5 is connected and the configuration folder has been selected 7 During the upload the grey box at the bottom of the CONFIG UPLOA...

Страница 47: ...ing nut at the base of the module you are replacing 4 Push the male module into the female 5 While pushing rotate 45 degrees At 45 degrees carefully pull to remove 6 Loosen nut securing connector 2 Insert the supplied spanner into one of the holes on the locking nut at the base of the module you are replacing 3 Rotate the spanner to loosen the nut 7 Remove connector plug by gently pulling on the c...

Страница 48: ...ten looking nut 10 Line up bayonet teeth with female Ensure the Red dots are offset by 45 degrees and not their direction Insert male module into female Ensure grease is applied to both surfaces For more information please contact Blueprint Lab info blueprintlab com 61 2 9519 7651 3 Applebee St St Peters NSW 2044 Australia CONTACT US ...

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