UFactory uArm Swift Pro Quick Starter Manual
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UFactory uArm Swift Pro Quick Starter Manual

Standard 4 degrees of freedom metal robotic arm
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Summary of Contents for UFactory uArm Swift Pro

  • Page 2: Table Of Contents

    Contents SAFETY INSTRUCTIONS ..................3 PRODUCT OVERVIEW .................... 4 1.Reference frame………………………………………………………………………….4 2.Buttons & indicator lights …………………………………………………………….5 3.Extension description …………………………………………………………………..6 HARDWARE INSTALLATION ................... 7 1. Suction cup (default) ................... 7 2. Laser ........................8 3. 3D Printing ......................11 4. Swift Gripper ..................... 15 6.

  • Page 3: Safety Instructions

    Safety Instructions 1. Please don’t put your hands between the arms when uArm is moving. 2. Please use the official power supply for safety reasons. 3. Please clear a space for uArm, in case of knocking down anything.

  • Page 4: Product Overview

    Product Overview 1. Reference Frame...

  • Page 5: Buttons & Indicator Lights

    2. 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 6: Extension Description

    3. Extension Description...

  • Page 7: Hardware Installation

    Hardware Installation 1. Suction Cup (Default) Preparation Step 1: Install the suction to the end-effector and lock the nut tightly. Note: Similarly, if you want to uninstall suction cup, unlock the nut. Step 2: Plug the wire of 4th axis motor, suction tube and limited switch...

  • Page 8: Laser

    2. Laser Preparation (Required Parts: Laser head, Thumb nut)
  • Page 9 Step 1: Install the laser head and lock the nuts tightly Step 2: Plug in the board of laser to the end-effector (Please pay attention to the direction)
  • Page 10 Caution: If the laser could not engrave the paper, please open the uArm studio and start the laser engraving, then focus adjust the lens of laser slowly. Please do not touch the light of laser during the engraving.

  • Page 11: D Printing

    3. 3D Printing Step 1: Install the 3D printing extruder and locked the nut tightly Step 2: Install the 3D printing feeding system...
  • Page 12 Caution: Please ensure the connection is correct. Or the computer won’t recognize the uArm Swift Pro (Connect the motor with the extension board with the 4-color cable). （Feed the PLA material we offered into the feeding system）...
  • Page 13 Step 3 Install the PTFE tube Feeding the filament and Installing the tube Step 4: Keep feeding the material until it’s 60mm out of the other side of PTFE tube.
  • Page 14 Caution: Sometimes the filament can’t be extruded, that might be caused by the top of filament. If the tip is deformed during the cutting off, the filament won’t go through the heat end successfully. Step 5: Install the tube to the extruder Step 6: Stick the masking tape on the table Caution: someone might get trouble with the not horizontal, please try to calibrate the arm following this link .

  • Page 15: Swift Gripper

    4. Swift Grippe Preparation Step 1: Unscrew suction cup with the hex bar wrench. Step 2: Fix the gripper and lock the nut tightly Step 3: Plug the 4th axis motor and gripper...
  • Page 16 5. Swift Universal Holder Preparation Step 1: Unscrew suction cup with the hex bar wrench. Step 2: Fix the gripper and lock the nut tightly...
  • Page 17 Step 3: Plug in the 4th axis motor...

  • Page 18: Seeed Grove Modules

    6. Seeed Grove Modules Seeed Grove modules is a series of different sensors which helps us to extend the function of uArm to a completely new level. We are offering two parts to help you to connect the uArm with Grove much more easily. Caution: Grove extension for the uArm end-effector is just designed for(Step 1,2) ...
  • Page 19 Step 2: Wiring Step 3: For the IIC modules...

  • Page 20: Openmv Module

    7. OpenMV Module (the firmware should be 3.1.9 or later) Preparation Step 1: Download the latest OpenMV IDE...
  • Page 21 (Download the latest OpenMV IDE from: https://openmv.io/pages/download and plug in the OpenMV camera to the computer，click the “Connect” button on the left bottom of picture) Step 2: Upgrade the latest firmware to OpenMV by OpenMV IDE Step 3: Run the “helloworld.py” (By clicking the “play” button as image below) and focus the lens in the right window...
  • Page 22 Note: After IDE get the video, then rotate the lens to finish focusing (to see the objects 20cm away) then tight the screw. Step 4: Get the tracking.py code and save it to the OpenMV Download “tracking.py” from: https://github.com/uArm-Developer/OpenMV-Examples Click “File” ——"Open File” to export tracking.py...
  • Page 23 Click “tool”——“Save open script to OpenMV Cam”，after the code has been stored, restart the Open MV module(remove the USB cable form Open MV and then plug the USB cable to Open MV). If the code stored successfully, the LED on Open MV will be solid blue. Step 5: Remove the USB cable from OpenMV module and wiring the OpenMV to uArm...
  • Page 24 Caution: Please ensure the connection is correct. otherwise the computer will not recognize the uArm. Step 6: Install the camera module to the end-effector...
  • Page 25 Step 7: Keep the table clean and non-reflective and get something with a lot of details like a PCB with resistors. Step 8 : Put the object in front of uArm Swift Pro about 25cm away，OpenMV will recognize the object.
  • Page 26 Step 9: Connect the USB port and power port of uArm, press the power button of uArm. Open the Arduino IDE (Download Arduino IDE https://www.arduino.cc/en/Main/Software), Choosing the right port: COM (Arduino/Genuino Mega or Mega 2560) Step 10: Click the serial monitor button to open a serial monitor.
  • Page 27 Step 11: Adjust the settings (newline & 115200 baud) and then send the M2500 command to switch the main UART port of uArm from USB to the port of OpenMV.
  • Page 28 Step 12: Move the object slowly, and the arm will follow it.

  • Page 29: Offline Learning Mode

    Offline Learning Mode Use buttons on the base to “teach” uArm by hand TEACH: 1. Start learning mode. Press the once, and the status indicator turns green. 2. Teach the robot manually. Press the once to turn on the end-effector, again to turn off. (If is down end-effector is gripper, or it is pump.

  • Page 30: Software: Uarm Studio (Win/Mac)

    Software: uArm Studio (Win/Mac) 1. Download uArm Studio from: http://www.ufactory.cc/#/en/support/ * Windows (Win7/8 or before) users will be reminded to install driver. Simply follow the instructions to install. 2. Device Connection 1）Plug in the power cable. 2）Press down the power button.

  • Page 31: Drawing/Laser Engraving

    3. Drawing/Laser Engraving Design a pattern: Insert text/shape Insert image (“Outline” or “Black & White”) Click the play button to continue. Adjust Zero Point...
  • Page 32 IMPORTANT Please adjust zero point before drawing/engraving. Ensure the pen/laser is TOUCHING the platform. For laser engraving, you can also adjust the speed of engraving. Start drawing/engraving!

  • Page 33: D Printing

    Enter the 3D Printing section in Studio, and CuraForuArm window will pop up automatically. If not, click the “Open Cura” button. CuraForuArm Interface Import an .stl file, edit the size/position of the model. Select “uArm Swift Pro” as the printer, and choose the related profile. It is recommended to keep the default settings unchanged.
  • Page 34 When setting the parameters of printer please choose the print setup option (orange rectangle), if you choose the printer monitor option (the right button) you can hardly find the printer. Open Printer Monitor. IMPORTANT: Please adjust zero point before printing. the platform.
  • Page 35 What is Teach & Play? Teach uArm by hand, and then replay the recording anytime. How? Make a recording • Click the “New Recording” button to start “teaching”, OR, • Use the buttons on the base (usage of the buttons is the same as that under “Offline Learning Mode”). Save your recording Replay the recording in different speed and times...
  • Page 36 What makes “Teach & Play” different from “Offline Learning Mode”? No time limit while “teaching” with uArm Studio. You may save, export your recordings and import recordings made by others. You may apply your recording in Blockly (visual programming interface, which is explained up next).

  • Page 37: Blockly: Visual Programming

    6.Blockly: Visual Programming What is Blockly? Blockly in uArm Studio is a visual programming interface specially designed for controlling uArm. Getting Started Three “missions” are prepared to get you through Blockly quickly. Please try them out! What can you do with Blockly? Control uArm’s basic movements Change events (i.e.
  • Page 38 Dig deeper into programming (functions, variables, etc.)

  • Page 39: Uarm Community

    Community UFACTORY Official Forum uArm User Facebook Group uArm Technical Support Release Note Version Note 1.0.7 Modify several steps of 3D printing and fix the misunderstanding Tony Add the laser mode command G1 1.0.8 Add more details about OpenMV...

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