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WLKATA Mirobot Manipulator User Manual

options and Coordinate control options

. Double click the Quick command and the code will be

inserted into the command line.

The list of Quick command and description is as below:

Quick

commands

group

Quick command

Description

Action options

Homing

api.home_simultaneous()

Perform the homing routine on
all axis at the same time.

Unlock

api.unlock_shaft()

Unlock the shaft enabling
movement.

Go to zero

api.go_to_zero()

Send each axis to its 0 position.

Suction cup on

api.suction_cup_on()

Switch on the suction cup.

Suction cup off

api.suction_cup_off()

Switch off the suction cup.

Slider move to

api.slider_move_to(x, speed)

Move the slide rail to the
specified position.

Conveyor

Move to

api.conveyor_move_to(ConveyorMode.relative,
0, 1500)

Move the slide rail to the
specified position

Set Delay Time

api.set_delay_time(1)

Delay the next action after the
specified time

Angle control

options

Go to axis

api.go_to_axis(0,0,0,0,0,0,1500)

Mirobot

moves

from

the

current position to the specified
position in the angle mode.

Increment of

each axis

api.increment_axis(0,0,0,0,0,0,1500)

Mirobot

moves

from

the

current position to the specified
position

Move axis

api.move_to_axis(MirobotJoint.Joint1,
RevolveDirection.cw, 0, 1500)

Rotate specify axis the specified
value in the specified direction

Coordinate

control options

Go to Cartesian

position

api.go_to_cartesian_lin(202,0,181,0,0,0,1500)

Mirobot

moves

from

the

current position to the specified
position in the coordinate
mode.

The increment

in Cartesian

space

api.increment_cartesian_lin(0,0,0,0,0,0,1500)

Mirobot

moves

specified

number of coordinates in
specified direction.

Directional
movement

api.direction_mobility(MoveDirection.forward,
0, 1500)

Mirobot

moves

specified

coordinates independently from
the current position in the
specified direction

Jump move

api.jump_move(ConveyorMode.relative, 0, 0, 0,
1500)

Jump move to the specified
position.

Arc move

api.set_arc_move(MoveMode.relative,
RevolveDirection.cw, 0, 0, 0, 60, 1500)

move in an arc path

Содержание Mirobot

Страница 1: ...WLKATA Mirobot manipulator User Manual WLKATA Mirobot User Manual Version 1 3 Date Sep 30th 2020 WLKATA Robotics Beijing Tsinew Technologies Co Ltd 北京勤牛创智科技有限公司 www wlkata com ...

Страница 2: ...ntal incidental or indirect damages caused by the use of this manual or the use of our devices Before using this device please read this user manual and relevant technical documents published on the Internet in detail and understand relevant information to ensure the manipulator is used on the premise of fully understanding the manipulator and its related knowledge Tsinew Technology recommends tha...

Страница 3: ...ipulator Readers This manual applies to Educational Engineer Sales Engineer Installation and commissioning engineer Technical support engineer Revised records Date Version Modification record Dec 20th 2019 V1 0 The First time Release Mar 30th 2020 V1 1 Updates the teach pendant section Updates the trouble shooting section May 30th 2020 V1 2 Updates the Pneumatic Set section Sep 30th 2020 V1 3 Upda...

Страница 4: ...ain Indicates a high potential hazard which if not avoided could result in personnel death or severe injury Indicates a moderate or low potential hazard if not avoided may cause slight personal injury manipulator damage This indicates that there is a potential risk which may lead to arm damage data loss or unpredictable results Representation is the additional information of the text and the empha...

Страница 5: ...ATA Mirobot 17 3 3 Installing the driver and WLKATA Studio 18 System environment requirements 18 Downloading WLKATA Studio and the driver packages 18 Installing and verification the driver 18 Installing and verification of WLKATA Studio 20 3 4 Brief Introduction of WLKATA Studio Control Software 23 Chinese and English switch 23 Joint Coord Mode switch 24 Introduction to SETTING interface 24 3 5 St...

Страница 6: ...58 Connection and use of sliding rail 58 Connection and use of conveyor belt 61 Cautions and Disclaimers 63 Disclaimers 64 4 Working principle and specification 65 4 1 Working space 65 Coordinate system 65 Sports function 66 4 2 Technical specifications 67 Technical parameters 68 Technical parameters 70 5 Interface description 70 5 1 Interface board of the manipulator 70 5 2 Interface board of the...

Страница 7: ...ions such as drawing handling stacking painting writing and machine vision Users can easily control Mirobot by remote controller graphical programming teaching and play It has a rich I O extension interface which allowed it to connect to diverse end effectors For advanced operation users could adopt Python C and more for subsequent development Structure of WLKATA Mirobot WLKATA Mirobot is mainly c...

Страница 8: ...WLKATA Mirobot Manipulator User Manual Document version 1 0 User Manual Copyright Beijing Tsinew Technologies Co Ltd The Six Joint Frame Of WLKATA Mirobot Reference Frame of WLKATA Mirobot ...

Страница 9: ... 10 items in the standard set package including the Mirobot manipulator User Manual paper based simplified version Bluetooth Box Extender Box IDC Cable Gripper Module Pen Holding Power Supply USB Cable and Hex Screwdrivers Items in the WLKATA Mirobot standard set Add ons and accessories A rich range of add ons are available for the WLKATA Mirobot Please refers to the following table to check the n...

Страница 10: ...This chapter introduces the safety precautions when using this device Please read this manual carefully before using the manipulator for the first time This device should be used in an environment that meets the below requirements Do not modify the device without authorization Otherwise it may cause device failure even personal injury electric shock fire etc The installation operation teaching pro...

Страница 11: ...ect operation and maintenance methods before operating and maintaining the manipulator It is not suggested to repair the faulty parts or dismantle the manipulator without professional training If the devices fail please contact the WLKATA Mirobot technical support engineer for advices The high corrosive cleaning is not suitable for the cleaning of the manipulator and the anodized parts are not sui...

Страница 12: ...y observed The safety precautions described in the manual are only as a supplement to local safety regulations Before operating the manipulator please refer to this WLKATA Mirobot User Manual which is downloadable in the WLKATA official website Precautions I Lifting and Handling Mirobot Correctly Always remember to lift and handling Mirobot by holding the Lower Arm with one hand and holding the Ba...

Страница 13: ...place your fingers in the gap between the upper and lower arms or the cap between the lower arm and base to prevent pinching III DO NOT Twisting the Joints by Hand DO NOT twist the Joint 1 or Joint 3 by hand in any case since this would lead to a fetal damage to these joints due to the high reduction gear ratio of these motors It is only allowed to adjust the joints by using WLKATA studio or prope...

Страница 14: ...T touch the surface of joint 6 motor or the chip by hand as those parts could be very hot during working VI Press the RESET Bottom for a Hardware Emergency Stop In any case of illegal or abnormal operation of the Mirobot one should press the RESET button immediately on the top of the Mirobot base for an emergency stop Then before any further operation remember to execute the HOMING action ...

Страница 15: ...ore any further operation Please refer to 3 4 2 for detailed instruction VII Unplugging All External Components When Powered Off When power off the manipulator please disconnect and unplug all external components from the manipulator such as Bluetooth box extender box color sensor sliding rail conveyor belt etc Otherwise the manipulator and the external components may be damaged VIII Avoid Using T...

Страница 16: ... quickly understand and use the manipulator The overall process of operation is shown in Figure below The quick start flow chart of using WLKATA Mirobot manipulator Power adapter and USB cable connection 1 Use the supplied USB data cable to connect the WLKATA Mirobot and your computer Connecting the manipulator to the computer Start Power Adapter and USB Cable Connection Install WLKATA Studio Soft...

Страница 17: ...bot DO NOT Twisting the Joint 1 or Joint 3 by Hand No Matter the Manipulator Is Powered On or Off Since this would lead to a fetal damage to the gears of these joints See the 2 2 Precautions in this manual Power on Ensure to connect the manipulator with supplied power adapter Press the ON OFF power button on the top of the manipulator base to power on the device The green power indicator on the ON...

Страница 18: ...hing Play Blockly control and Drawing etc System environment requirements WLKATA Studio control software supports the following operating systems Windows 7 64 bit Windows 8 64 bit Windows 10 64 bit Downloading WLKATA Studio and the driver packages Download WLKATA Studio software package and the CH340 driver package from http www wlkata com site download html Installing and verification the driver ...

Страница 19: ...nipulator to the computer by using the supplied USB data cable 2 Open the Device Manager in your PC windows system Ensure to tick the Show hidden devices option in the View menu If the USB serial ch340 COM4 can be found in the port COM and LPT it means the driver is installed successfully The port number following the COM may be different depends on the default driver installation of your system ...

Страница 20: ...drive information of the WLKATA Mirobot manipulator Installing and verification of WLKATA Studio 1 Installing WLKATA Studio Log in to the official website www wlkata com Click Support Download Center Choose Wlkata Studio Win v1 015 zip Alpha version to download WLKATA Studio software package can be directly decompressed and used ...

Страница 21: ...ATA Studio software package to a local root directory such as D or E to avoid potential foreign language character disturb Double click Wlkata Studio exe in the directory to open the software user interface Note The parent directory file of the software can only be English name WLKATA Studio interface 2 Verifying WLKATA Studio Software ...

Страница 22: ...lly search and connect to the manipulator after a few seconds When successfully connects to the manipulator the upper left corner of the WLKATA Studio interface should display the CONNECTED blue icon WLKATA Studio can search and connect to the manipulator automatically 2 If the software did not connect to the manipulator automatically please manually connect the manipulator by click SETTING to set...

Страница 23: ...WLKATA Studio Control Software WLKATA Studio is a control software for Mirobot It includes command control joint coord control teaching graphical programming python programming writing and drawing firmware upgrade and other functions Chinese and English switch After opening the software click SETTING to set the language select English or Chinese confirm and restart It can also be set by clicking E...

Страница 24: ...r Manual Copyright Beijing Tsinew Technologies Co Ltd Joint Coord Mode switch In the Commond mode select JOINT MODE or COORD MODE at the top of the user interface and the selected mode will be displayed as a white background status Introduction to SETTING interface ...

Страница 25: ...3 Calibration used to calibrate the robotic arm 4 Reset reset all data of the robotic arm recalibration is required after reset 5 Language Set language and font After language setting click OK to automatically restart the software to take effect After font setting click OK to manually restart the software to take effect Or click the EN button in the upper right corner of the interface to switch be...

Страница 26: ... Installing the driver and WLKATA Studio software The manipulator has been correctly connected to the computer and the power supply of the manipulator has been turned on Please refer to 3 3 Powering on and off WLKATA Mirobot for detailed operation Preparing operation steps 1 Connecting WLKATA studio with the manipulator Double click the Wlkata Studio exe in the directory and the Mirobot Studio int...

Страница 27: ... process and the correct position of the manipulator after a successful HOMING action Note If the HOMING action is failed or interrupted please reapply the power of manipulator and repeat the HOMING action again The manipulator must be HOMING again on each time reapplying power from a power failure or an emergency stop or re opened the WLKATA Studio One should wait for the HOMING action to be full...

Страница 28: ...ly in the Mirobot Studio to trigger a software emergency stop operation After the emergency stop operation press the RESET button on the top of the manipulator base to recover the device from the emergency status After press the RESET button please HOMING the manipulator in the software again before continuing using the manipulator After a software emergency stop press RESET on top of the base and...

Страница 29: ...Tsinew Technologies Co Ltd Pressing RESET button on the base of the manipulator after a software emergency stop Using the ROBOT JOINT MODE control function STEP 1 Click the COMMAND tab in the software interface STEP 2 Switch to the ROBOT JOINT MODE in the upper control modes selection panel ...

Страница 30: ...trol buttons on the right panel to control the motion of each of the six joints of the manipulator separately The speed can be adjusted by input Speed value and the step can be adjusted by input Step value The ROBOT JOINT MODE control panel Using the COORDINATE MODE control function STEP 1 Click the COMMAND tab STEP 2 Switch to COORDINATE MODE in the control modes selection panel ...

Страница 31: ...ontrol button on the right panel of the WLKATA Studio to control the spatial position and attitude XYZ coordinate and RX RY RZ angle of the End effector of the manipulator The speed can be adjusted by input Speed value and the step can be adjusted by input Step value The COORDINATE MODE control panel Using the TEACHING function STEP 1 Click TEACHING to enter the interface ...

Страница 32: ...e the Coord Mode here DO NOT Change the control mode during the same TEACHING PLAY file task or the point data after switching the mode would be discordant and cause illegal motions STEP 3 Add teaching point Click the control buttons on the right panel of WLKATA Studio to move the joints under the ROBOT JOINT MODE or the position and attitude of the End effector under the COORDINATE MODE to the wa...

Страница 33: ...aching points Editing the teaching point in line double left click on the top of the cell you want to edit input the desired value single left click in blank area or press Enter to confirm your edit Editing the teaching point in line Editing the teaching point by the right panel single right click on the top of the line you want to edit choose Edit in the pop up manu adjust the value in the right ...

Страница 34: ...r Save save the task in chosen directory Delete delete a teaching point line Down and Up change the order of a teaching point line Undo and Redo undo or redo the previous operation Copy and Paste copy the line and paste to the selected teaching point STEP 6 Run and step run of the record Click Run button in the panel to realize the whole recurrence of the recorded teaching points in the list Click...

Страница 35: ...mming Panel 2 to program The Code Panel 3 would show the python codes of the Blockly module on the Programming Panel Drag the dividing axis to adjust the size of the work area or hide the code area The Blockly graphic programming funtion Basic functions New create new folder Open open a local file Save save the file which is saved to the data directory by default Save As save the modified file Exp...

Страница 36: ...peed move the specified coordinate number from the current position in the specified direction Suction cup on off control the opening or closing of suction cup Gripper open close control the opening or closing of the end tools Slider move to speed control the slide rail to move to the specified position Conveyor move relative position absolute position speed control the conveyor belt to move to th...

Страница 37: ...otic arm moves from point A to point B at a speed of 1500mm min The coordinate is X202Y0Z200 and the end posture remains unchanged The robotic arm returns to the zero position from point B at a speed of 1500mm min The first axis rotates to the absolute position 20 at a speed of 1500 min The first axis rotates to the absolute position 20 at a speed of 1500 min The robotic arm returns to zero positi...

Страница 38: ...hex screwdriver 3 Before plug the gripper wire connector into the Extender Box unit trim off the fix protrusions on the wire connector to allow re plug in Otherwise the wire connector will be hardly unplugged from the socket Trimming off the fix protrusions on the wire connector to allow re plug in 4 Plug the gripper wire connector into the upper second socket position GRIPPER on the Extender Box ...

Страница 39: ...r status open and close The gripper can be controlled under the COMMAND TEACHING and BLOCKLY functions in the WLKATA Studio In the COMMAND page control the gripper by click the End effect on and End effector off buttons on the right panel Controlling the gripper in the COMMAND function In the TEACHING page control the gripper by editing the Trigger cell and Value cell of the teaching point line ...

Страница 40: ...ion panel Controlling the gripper in the BLOCKLY function 6 When finish using the gripper power off the manipulator and unplug the IDC cable from the back of manipulator Using the DRAWING function The overall process Installing the pen 1 Install the pen holder module and the pen Fix the pen holder to the end of the robotic arm Tighten the jackscrew with M1 5 hex key and fix the pen holder on the e...

Страница 41: ...face force of friction or prepare a thin soft cushion and place it under the paper to provide additional buffering during drawing Recommending to draw on smooth White board or placing a thin soft cushion under the paper to provide buffering Set the pen height We need to set the height of the pen first before drawing Please follow the below instruction Connect the power supply and USB cable of Miro...

Страница 42: ...Z button to adjust the height of the pen tip until it just touches the paper When the pen is closer to the paper you can set the Step to 1 The value of Z axis shall between around 10 and 35 Be careful not to over adjust the Z axis position lower than it need to be or the pen tip would hit the desktop too hard interrupt the pen from moving and even cause damages to the joints When the pen tip is ju...

Страница 43: ... can either choose an example from the Examples in the upper right Pattern Selection panel sector or insert a graph by click Insert button The graph you have chosen should be shown in the center canvas To add a text graph typing in the lower right panel and click Add button and the text you have typed should be placed in the center canvas To add a mouse drawing graph click the Edit Draw button to ...

Страница 44: ... appear around the graph Adjust the corners to resize the graph and drag the inner frame to change the position of the graph To delete the unwanted graph on the canvas ensure the Edit Draw button is in the Edit mode choose the unwanted graph on the canvas click Delete button To start over from a blank canvas click New button to clear the canvas To start the drawing click Run button and the manipul...

Страница 45: ...r Extender Box 1 Power off the manipulator 2 Install the wanted pneumatic tool by screwing it on the tip of the end effector with supplied hex screwdriver 3 Before plugging the gripper wire connector into the Extender Box unit trim off the fix protrusions on the wire connector to allow re plug in Otherwise the wire connector will be hardly unplugged from the socket 4 Plug one end of the wire conne...

Страница 46: ...CKLY functions in the WLKATA Studio In the COMMAND page control the pneumatic tool by click the End effect on and End effector off buttons on the right panel In the TEACHING page control the pneumatic tool by editing the Trigger cell and Value cell of the teaching point line Controlling the pneumatic tool in the TEACHING function In the BLOCKLY page control the pneumatic tool by drag and edit the ...

Страница 47: ...paration 1 Switch to Python function in the WLKATA Studio by click the PYTHON tab in the software interface 2 Please DO NOT change the first 8 lines of code in the python window Please DO NOT change or delete the first 8 lines of code in the python window or the manipulator may run discordant and cause illegal motions DO NOT change or delete the first 8 lines of code in the python window Quick com...

Страница 48: ... after the specified time Angle control options Go to axis api go_to_axis 0 0 0 0 0 0 1500 Mirobot moves from the current position to the specified position in the angle mode Increment of each axis api increment_axis 0 0 0 0 0 0 1500 Mirobot moves from the current position to the specified position Move axis api move_to_axis MirobotJoint Joint1 RevolveDirection cw 0 1500 Rotate specify axis the sp...

Страница 49: ...0 0 0 0 0 1500 The first axis rotates from the zero position to the absolute position 30 at 1500 min api go_to_zero Back to zero Using the teach pendant Bluetooth controller Product description Mirobot Bluetooth teach pendant is a Bluetooth controller for wirelessly controlling Mirobot desktop robotic arm It supports each axis control mode Cartesian control mode and teaching record mode After the ...

Страница 50: ... Teach Pendant Product Size Long 145 2mm Width 113 2mm Height 31 2mm Weight 170g Power 1000mAh Voltage 3 7V Operating Temperature 10 C 45 C Appearance of Mirobot teach pendant 3 6 2 2 Teach pendant control page composition and main function description The Mirobot teach pendant is mainly composed of angle mode coord mode record and setting function pages 1 Angle Mode page The angle mode page is ma...

Страница 51: ...f angle mode page and button 2 Coord Mode page Coord mode page is mainly responsible for the movement control of the manipulator in Cartesian mode Coord mode page and button function description 3 Record page The record page is mainly responsible for the teaching and recurrence of the manipulator Record page and button function description ...

Страница 52: ...nipulator and Bluetooth connection Setting page and button function description Operation Guide 3 6 3 1 Power ON OFF Press and hold the power button on the Bluetooth teach pendant for three seconds to open the teach pendant Press the same button for three seconds to shut down Bluetooth teach pendant on and off button 3 6 3 2 The connection process of the Bluetooth teach pendant and Mirobot manipul...

Страница 53: ...e The connection between Bluetooth extension module and Mirobot manipulator 2 Turn on the power of the manipulator At this time the red LED on the Bluetooth extension module starts to flash indicating that it is waiting for the Bluetooth teach pendant to connect The location of the red LED is shown in Figure below LED light on Bluetooth expansion module 3 Switch the control page tab on the teach p...

Страница 54: ... will change to Searching wait a few seconds and then it will change to link Then click the link button to connect successfully After the connection is successful the red LED is always on and the green LED is on The link button 3 6 3 3 Example of using the teach pendant single axis angle mode to control the robotic arm 1 Switch the Bluetooth teach pendant interface to the angle mode interface ...

Страница 55: ...ator Press and hold the red button on the top right of the teach pendant for 3 seconds and the robotic arm will start to reset Wait for the successful reset of the robotic arm and then continue to operate Reset button 3 Press the 6 groups of buttons on the right side of the Bluetooth teach pendant to control the 6 corresponding rotating axes of the manipulator to move in the positive and negative ...

Страница 56: ...nt 1 Switch the teach pendant interface to the Coord Mode interface also can go to the Angle Mode interface Coor Mode interface of Bluetooth teach pendant 2 The robotic arm needs to be reset once Press and hold the red button on the upper right of the teach pendant for 3 seconds The robotic arm will start to reset Wait for the robotic arm to reset successfully before continuing the operation The r...

Страница 57: ...z and attitude a b c of the robot arm end respectively The 6 groups of buttons converted to control the end position and orientation 3 6 3 5 Teaching record and reproduction process 1 After the Mirobot teach pendant is connected to the robot arm select the Cartesian mode or angle mode Then press and hold the REC key until the outer circle of the recording point in the upper left corner of the scre...

Страница 58: ...ecord the current position or the current end fixture enable state 3 After the recording is completed press and hold the REC button and wait until the recording point in the upper left corner of the screen goes out to complete the teaching recording the outer circle of the recording point goes out 4 Enter the Record page and click Playback to play the first teaching file in the Record page by defa...

Страница 59: ...marked with BLUETOOTH BOX on the back or extender box marked with EXTENDER BOX on the back to the robotic arm with an IDC cable Connect one end of the sliding rail motor wire to the sliding rail motor and the other end to the STEPPER port of Bluetooth box or extender box Step 3 Turn on the power of the robotic arm Open Mirobot Studio and enter the SETTING interface to change the End Effector to Sl...

Страница 60: ...logies Co Ltd Step 4 Enter the BLOCKLY graphical programming interface and homing the robotic arm Step 5 Select the slider option in Motion and drag it to the programming page Step 6 Click mouse to set the sliding rail moving position to 100 and the moving speed to 1500 Then click Run to start performing ...

Страница 61: ...e Bluetooth box marked with BLUETOOTH BOX on the back or extender box marked with EXTENDER BOX on the back to the robotic arm with an IDC cable Connect one end of the conveyor belt motor wire to the conveyor belt motor and the other end to the STEPPER port of Bluetooth box or extender box Step 2 Turn on the power of the robotic arm Open Mirobot Studio and enter the SETTING interface to change the ...

Страница 62: ...ijing Tsinew Technologies Co Ltd Step 3 Enter the BLOCKLY graphical programming interface and homing the robotic arm Step 4 Select the conveyor option in Motion and drag it to the programming page Step 5 Click the mouse to select absolute or relative Set the conveyor moving position to ...

Страница 63: ...in the direction of the arrow Otherwise the machine may be damaged Please use the remote control within the specified environment Use beyond the conditions of the remote control will shorten the service life and even damage the equipment causing personal injury and property damage Do not place the Bluetooth remote control in a humid environment or immerse it in liquid The short circuit of the inte...

Страница 64: ...d technical documents published on the Internet and understand the relevant information to ensure that you can use the product on the premise of fully understanding the relevant knowledge Beijing Tsinew Technology Co Ltd recommends that you use this product under the guidance of professionals All safety information contained in this manual should not be regarded as a guarantee of the product Even ...

Страница 65: ...ple and specification This chapter describes the working space working principle size and key technical specifications of WLKATA Mirobot Working space The workspace of WLKATA Mirobot Coordinate system WLKATA Mirbot has a six joint coordinate system and a Cartesian space coordinate system Six joint coordinate system Of WLKATA Mirobot ...

Страница 66: ...an coordinate system The coordinate system is determined by reference to the base of the manipulator The origin of the coordinate system is the center of the base platform The x axis direction is perpendicular to the fixed base forward The y axis direction is perpendicular to the fixed base to the left Sports function The motion modes of Mirobot manipulator include Joint motion mode and Coordinate...

Страница 67: ...ion buttons to change the position and attitude of the end actuator Click x and X to control the manipulator to move along the positive and negative direction of the X axis Click Y and Y to control the manipulator to move along the positive and negative direction of the Y axis Click Z and Z to control the manipulator to move along the positive and negative direction of the Z axis Click PX and PX a...

Страница 68: ...USB WiFi Bluetooth Power supply voltage 100 V 240 V 50 60 Hz Power input 12 V 5A DC Power 60W Max Working environment 10 C 60 C Table 4 2 Axis motion parameters Axis motion parameters Shaft working range maximum speed Axis 1 100 to 100 31 31 s Axis 2 600 to 90 65 s Axis 3 180 to 50 28 s Axis 4 180 to 180 110 s Axis 5 180 to 40 33 s Axis 6 180 to 180 66 s Table 4 3 Physical characteristics physical...

Страница 69: ...60 Robot installation Desktop Package specification L w h 220mm 160mm 270mm The dimension of standard outer box L w h 300mm x 200mm x 400mm Table 4 4 Application software Application software Software WLKATA Studio grblcontroller3 6 SDK Mirobot communication protocol and Mirobot function library Expandable I O interface Step drive interface 1 I O 4 configurable as analog signal input AD or PWM out...

Страница 70: ...s The size parameters of WLKATA Mirobot are shown in Figure below The installation hole size of its end flange is shown in Figure below 5 Interface description Interface board of the manipulator The interface is located at the back of the base of the WLKATA Mirobot and the schematic diagram of the base interface is shown in Figure below ...

Страница 71: ...our interfaces of the external sliding rail stepping motor 15 13 11 9 7 5 3 1 2A 2B EX0 5V GND GND RX_3 RX_2 16 14 12 10 8 6 4 2 1A 1B EX1 TX_3 TX_2 PIN and Pin definition of back extension communication interface of substructure Interface board of the Extender Box The WLKATA Mirobot external communication interface needs to be connected with the external expansion interface board the Extender Box...

Страница 72: ...ATA Mirobot Manipulator User Manual Document version 1 0 User Manual Copyright Beijing Tsinew Technologies Co Ltd WLKATA Mirobot general external interface board Extender Box and the Pin definition diagram ...

Страница 73: ... homed to the pre designed homing position After the HOMING action if one or more of the joints is are not in the pre designed homing position one need to re calibrate the manipulator The Calibration procedure is explained as below Step 1 Turn on the power of the robotic arm Open the COMMAND interface of Mirobot Studio software enter M50 and click Send to unlock each axis Step 2 Enter the SETTING ...

Страница 74: ...each axis to the corresponding position by adjusting the J1 J6 on the right side of the interface Note The 4th axis must be adjusted through negative steps J4 There has No special requirements for other axes The 6th axis does not need Calibration Joint 1 homing position reference Joint 2 homing position reference Joint 3 homing position reference ...

Страница 75: ...tion reference Joint 5 homing position reference Pre designed homing position of the Joint 1 to Joint 5 Step 4 After each axis rotates to the corresponding position enter the STTING interface again and click Finish Step 5 After completing the calibration click HOMING The posture of the robot arm after homing is shown in the figure below ...

Страница 76: ...udio v1 014 and above supports firmware upgrade of control software The process of firmware upgrade Step 1 Use USB cable to connect the robotic arm and computer Turn on the power Connect Mirobot to Wlkata studio software 01 Open Wlkata studio Settings function 02 Enable the firmware update function of Wlkata studio 03 Click Upload in the pop up window to download the firmware 04 Wait for the promp...

Страница 77: ...al Document version 1 0 User Manual Copyright Beijing Tsinew Technologies Co Ltd Step 2 Open the WLKATA Studio software enter the Settings interface and click Update Firmware Step 3 Click Upload in the pop up window to update the firmware ...

Страница 78: ...robot 1 Upgrading to a newer version WLKATA Studio You could find and download the newest version of WLKATA Studio on www wlkata com Before installing a new version of WLKATA Studio remember to clear the local record of Wlkata Studio in the AppData directory 1 Go to the directory of C User User Name AppData Local delete the whole folder of Wlkata Studio in this file path 2 Find the old version of ...

Страница 79: ...detecting the magnet Follow the steps in below to solve this problem Firstly tighten this screw a little bit Secondly in the WLKATA studio do the next 8 steps 1 Enter 20 0 and 21 0 Remove software limit 2 Enter M50 to unlock the motor 3 Click J1 to turn the first axis to the position of the scale line to align 4 Click Homing to see if the reset is successful 5 Stop immediately if the magnet positi...

Страница 80: ...WLKATA Mirobot Manipulator User Manual Document version 1 0 User Manual Copyright Beijing Tsinew Technologies Co Ltd 8 Then you should be able to use it normally ...

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