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rozum robotics Pulse Operator's Manual

Robotic arm
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  • Page 2: Table Of Contents

    ABOUT THE PULSE ROBOTIC ARM................5 Design and components ....................5 States and modes of the PULSE robot ................. 7 1.2.1 Normal states and modes of the PULSE robotic arm ..........7 1.2.2 Emergency state ......................8 1.2.3 Untwisting mode ....................... 9 Safe operation requirements ..................
  • Page 3 SANDBOX ........................... 41 Operating the sandbox ...................... 41 Loading external software to the sandbox ................ 41 ANNEX I. SAMPLE PULSE DESK PROGRAM ..............43 Starting PULSE DESK ..................... 43 Creating a new program ....................44 Setting a basic trajectory by hand guiding ................ 45 Setting intermediary waypoints ..................

  • Page 4: Introduction

     using PULSE DESK to program and control motion of the PULSE robotic arm WARNING SIGNS AND THEIR MEANINGS Below, we list the warning symbols used throughout the manual and explain their meanings.

  • Page 5: About The Pulse Robotic Arm

    (e.g., safeguards). In its basic design, the PULSE arm comes in combination with the hardware and software components listed in Table 1-1.
  • Page 6 To program the PULSE robotic arm to move along a desired trajectory PULSE DESK and perform different kinds of operations with a work tool. Without an end effector, the PULSE robotic arm includes the following major structural sections (see Figure 1-1): ...

  • Page 7: States And Modes Of The Pulse Robot

    (see Section 3.1) or get access to the API (see Section 5) or the sandbox (see Section 6). If you are initializing the PULSE DESK software for the first time, the arm goes to the LEARN mode as soon as the starting page of the software is displayed on the screen.

  • Page 8: Emergency State

    1.2.2 Emergency state During operation, the arm can go to the Emergency state due to a fatal or non-fatal error. Table 1-3 below describes the indication and state of the PULSE arm, as well as recommendations how to respond to the emergencies.

  • Page 9: Untwisting Mode

    360° turn. Multiple twists can lead to wire breaks and other irreparable damages. As soon as the arm goes to the untwisting mode, access to the PULSE DESK interface is disabled. REST API functions causing the robot to move become unavailable.

  • Page 10: Safe Operation Requirements

    1.3 Safe operation requirements Make sure to read and meet the requirements before operating the robot. To ensure safe operation of the PULSE robot, it is essential to comply with the following requirements: ...

  • Page 11: Getting Started With The Robotic Arm

    2 GETTING STARTED WITH THE ROBOTIC ARM 2.1 Switching the arm Important! Before you switch the PULSE robotic arm, it must be ready for operation, i.e.: mounted at its operating location connected to the control box, the work tool, the emergency button, and additional...

  • Page 12: Setting Communication With The Pulse Arm

     a dynamic IP, if the arm is connected to a network with a DHCP server 2.2.1 Static IP By default, the PULSE robotic arm is set to the following static IP address — 10.10.10.20. To set a PC to work with the static IP address, follow the instructions below, depending on the operating system in use.
  • Page 13 ROZUM ROBOTICS PULSE DESK 5. In the displayed Network Connections window, right-click the Ethernet icon and select Properties. 6. On the Networking tab in the displayed Ethernet properties window, double-click Internet Protocol Version 4 (TCP/IPv4). 7. In the IP Version 4 (TCP/IPv4) window, select Use the following IP address and set up the IP address and the Subnet Mask fields to the value as shown below.

  • Page 14: Linux Os

    ROZUM ROBOTICS PULSE DESK 8. Click OK to confirm the settings. Linux OS 1. Switch on your PC. 2. Open Network Connections and double-click Ethernet to open the editing window as shown below. Rev. 5, in effect from Q2 2019...
  • Page 15 ROZUM ROBOTICS PULSE DESK 3. In the displayed window, select the IPv4 Settings tab. 4. In the Method dropdown box on the IPv4 Settings tab, select Manual. Rev. 5, in effect from Q2 2019 Page 15 | 56...

  • Page 16: Dynamic Ip

    2.2.2 Dynamic IP Dynamic IP is the IP address of the PULSE arm assigned to it by the DHCP server in the user network. To find out the dynamic IP of the robotic arm in your local network, you will need assistance from the system administrator of the network.

  • Page 17: Accessing The Pulse Desk Software

    (for details, see Section 4.6.2). 3.2 Edit screen When you run PULSE DESK for the first time, you will see a starting page instead of the Edit screen. The starting page has only the Main Menu button and the Program Name field.
  • Page 18 ROZUM ROBOTICS PULSE DESK As soon as you begin creating a new program (see Section 4.1.1) from the starting page, PULSE DESK displays the rest of the screen elements as shown in Figure 3-1. At subsequent starts, the software loads the Edit screen with the last executed program.

  • Page 19: The Main Menu Of Pulse Desk

    The Program Body panel displays the sequence of commands contained in a program. PULSE DESK indicates the currently executed command by selecting it. If you have just started PULSE DESK and chosen to create a new program, the Program Body contains only the Wait for command.

  • Page 20: Programming With Pulse Desk

    Figure 3-2: The Main menu of PULSE DESK 4 PROGRAMMING WITH PULSE DESK The general workflow of the PULSE DESK software is as illustrated in Figure 4-1. Figure 4-1: The PULSE DESK workflow Until you complete the entire workflow up to the Run stage, switching from stage to stage is only possible in the consecutive manner by stage names in the Stepper or the Next button.

  • Page 21: Completing The Edit Stage

    4.1.2 Adding commands to a program body After you have created a program, the next step is to add commands to its body. The PULSE DESK software enables using the following commands: Rev. 5, in effect from Q2 2019...
  • Page 22 For example, the output signal can be a signal causing a conveyor belt connected to a digital output on the control box to switch on and move away a load.  The Delay command specifies how long (in seconds) PULSE DESK should wait before moving on to execute the next command in the program body. ...
  • Page 23 ROZUM ROBOTICS PULSE DESK Figure 4-3: The Add Commands menu (opened) 2. On the Add Commands menu, click the required command. It appears in the Program Body below the currently selected command. Now, you can set the command parameters (see Section 4.1.4) or to add another command.

  • Page 24: Adding A Comment To A Program

    ROZUM ROBOTICS PULSE DESK In the Free Drive mode, the arm joints are not locked. Make sure to hold the arm tightly, providing proper support. Step 3. Press the Free Drive Mode button again to disable the mode and fix the arm in the desired position.

  • Page 25: Setting Command Parameters

    Commentary line in the program body. 4.1.4 Setting command parameters You can set and adjust command parameters only at the Edit stage. PULSE DESK enables you to set parameters for the following commands: ...

  • Page 26: Wait For Command

    ROZUM ROBOTICS PULSE DESK 4.1.4.1 Wait for command In the Program Body, select the required Wait for command line. The Service panel displays fields for parameter setting as shown in Figure 4-5 below. Figure 4-5: Setting parameters for the “Wait for” command In the Input Port dropdown box, select an input port where the external equipment (e.g.,...

  • Page 27: Send To Command

    ROZUM ROBOTICS PULSE DESK 4.1.4.2 Send to command 1. In the Program Body, select the required Send to command line. The Service panel displays fields for parameter setting as shown in Figure 4-6 below. Figure 4-6: Setting parameters for the “Send to” command 2.

  • Page 28: Delay Command

    Figure 4-7. Figure 4-7: Setting the parameters for the Delay command 2. In the Time field, specify how long (s) PULSE DESK should wait before moving on to the command following the Delay one.
  • Page 29 ROZUM ROBOTICS PULSE DESK Figure 4-8: Setting parameters for the Point command As you set the parameters, PULSE DESK prompts you about their admissible ranges as shown in Figure 4-9. Figure 4-9: Prompt to set point parameters The coordinates and angles specify the position of the arm’s tool center point at the...
  • Page 30 ROZUM ROBOTICS PULSE DESK Y = TCP offset along the axis Y relative to the center point in the arm base Z = TCP offset along the axis Z relative to the center point in the arm base Physical location of the TCP is at the center of the arm wrist.

  • Page 31: Deleting Commands

    To relocate a command within the Program Body, proceed as follows: 1. Select a command. 2. Drag the selected command to any desired location within the Program Body. PULSE DESK displays the command line at the desired location. 4.1.7 Renaming commands To give a command a new name, follow the instructions below: 1.

  • Page 32: Debugging A Program

    To switch to the Check stage, click Next or the stage name in the Stepper on the Edit screen. In the Stepper, PULSE DESK checks the Edit stage indication and moves selection to the Check stage. The Check stage screen has the appearance as shown in Figure 4-12.

  • Page 33: Conducting A Test Run

    Table 1-2). Simultaneously, changes to 2. PULSE DESK begins to execute the commands in the Program Body—from the first one on the list down to the last one. 3. As the software goes from one command to another, the selection frame moves down the Program Body.

  • Page 34: Running A Program

    ROZUM ROBOTICS PULSE DESK 4. After PULSE DESK executes the last command in the Program Body, it stops the test run and displays an appropriate message. The button changes to . The system goes to the READY state. 4.3 Running a program Once you have checked and debugged a program, you can proceed to execute it at the next stage—...

  • Page 35: Program Execution

    Execution results are saved to a production log (available to service personnel only). As PULSE DESK reaches the last command in the Program Body, it starts running the same program anew and keeps repeating it cyclically until the user stops its execution (see Section 4.3.2).

  • Page 36: Saving A Program

    2. In the displayed dialogue box (Figure 4-15), specify a name for the program and confirm the input by clicking Yes. Figure 4-15: “Save program as” dialog box PULSE DESK saves programs automatically when you click the Save&Run button at the Run stage. 4.3.4 Renaming a program To change a program name, follow the instructions below: 1.

  • Page 37: Managing Programs

    1. Click the Main menu button to open the Main menu. 2. In the sub-menu below the Load program command, select the program you need. PULSE DESK loads the content of the selected program into the Program Body panel.

  • Page 38: Updating Pulse Desk

    While updating is under way, you will see the green LED on the control box blinking. Access to the PULSE DESK user interface is disabled, and the LED on the arm is steady green. Once updating is over, the arm is de-energized. On the control box, the red LED lights up.

  • Page 39: Updating From A Usb

    PULSE DESK 4.6.2 Updating from a USB Use the method to update PULSE DESK, when your PULSE robot has no access to Internet. The updating sequence is as follows: 1. Download the latest version of the software to your USB, saving it in the main directory.
  • Page 40 PULSE DESK as below: 1. Start PULSE DESK in accordance with the instructions in Section 3.1. 2. Click the Main Menu button and select Configure. PULSE DESK opens the Configure screen as shown in Figure 5-1. Figure 5-1: Configure screen (with the API toggle in the disabled state) 3.

  • Page 41: Sandbox

    To access the UI functionality, you need to switch the Enable Remote API access toggle back to the disabled state. 6 SANDBOX With regard to the PULSE robotic arm, a sandbox is a special virtual environment enabling the following:  secure execution of custom user programs in a space isolated from the PC module running the PULSE DESK software ...
  • Page 42 (e.g., programs, execution logs). The data in the folder remains intact even when the sandbox is reset to defaults and can be subsequently retrieved at user discretion. The default access path is home/pulse-desk/share. Rev. 5, in effect from Q2 2019...

  • Page 43: Annex I. Sample Pulse Desk Program

    Starting PULSE DESK 1. Start PULSE DESK by typing in the dynamic or static IP address of the PULSE arm in the local network (for instructions to set IP, see Section 2.2) and the port number (:8080) in the browser line.

  • Page 44: Creating A New Program

    2. On the displayed screen, click the Main Menu button. 3. On the Main menu, select New program. PULSE DESK loads the Edit stage screen of the newly created program with the Wait for command already in the program body.

  • Page 45: Setting A Basic Trajectory By Hand Guiding

    The elbow buttons are active in the LEARN mode only. When you switch to the PULSE DESK interface to perform any actions (e.g., to edit a point, add a command via the Commands menu), the mode is off. To switch back into the LEARN mode, you will have to create a new program.
  • Page 46 ROZUM ROBOTICS PULSE DESK 8. Press the Point control button to remember the arm pose as the first waypoint in its trajectory. The software adds the point to the program body (default name Point 1), clearing the Wait for command. The Service panel displays Point 1 parameters—the coordinates and rotation angles of the tool center point (TCP) in the position.
  • Page 47 ROZUM ROBOTICS PULSE DESK 10. Repeat the same actions as described in Step 6 to 8 to set Point 2 to pick up nut 1. A corresponding command line (default name Point 2) appears in the program body. On the Service panel, you can see the TCP coordinates and rotation angles specifying the arm position at the point.
  • Page 48 ROZUM ROBOTICS PULSE DESK 13. To open the gripper and release nut 1 at the new location, press the Open gripper button. The Open gripper (1) command appears below Point 3 in the program body. 14. Set Point 4 to pick up nut 2 by following the instructions in Step 6 to 8.

  • Page 49: Setting Intermediary Waypoints

    ROZUM ROBOTICS PULSE DESK Now that a basic pick-and-place trajectory is set, you can quit the LEARN mode and start working with Add commands menu. Your next task is to add intermediary points to make the arm trajectory smoother. Setting intermediary waypoints In this particular case, we set up two intermediary waypoints for each of the already preset point in the basic trajectory—Point 1 to Point 5.
  • Page 50 ROZUM ROBOTICS PULSE DESK 18. In the parameter fields on the Service panel for Point 6, type in the same coordinates and rotation angles as for Point 2. The only change you need to make is to adjust the Z coordinate to a higher value so that the gripper at Point 6 would be slightly above Point 2.

  • Page 51: Verifying And Editing The Trajectory

    Adding a comment and setting other commands 27. Click and select Comment. PULSE DESK adds the Commentary line to the program body below the currently selected command. 28. Drag the command line to the top (as shown in the figure below). In the Note field on the Service panel, type in any detailed description of the program as required.
  • Page 52 In this way, you let PULSE DESK know that it can move on to the subsequent commands once it receives the High signal from an external device (e.g., a button) connected to Input#1 on the back panel of the control box.
  • Page 53 35. In the program body, select Delay, click . In the displayed menu, select Send to. PULSE DESK adds the Send to (1) command to the program body below Delay. 36. Set the parameters in the Service panel for the Send to (1) command as follows: ...

  • Page 54: Conducting A Test Run

    ROZUM ROBOTICS PULSE DESK 37. Click Next or Check in the Stepper to move on to check the created program. PULSE DESK switches to the Check stage screen as shown below. Conducting a test run Adjust the speed control value to 20% by dragging the speed control to the right.

  • Page 55: Executing And Stopping The Program

    When PULSE DESK executes the last command, it stops and displays an appropriate warning. Click OK to return to the Check stage screen. Click Next to move on to execute the program. If you click Next, PULSE DESK displays the Run stage screen.
  • Page 56 PULSE DESK Click (replaces the Save&Run button) to stop the program execution. If you click the Save&Run button again after stopping the program, PULSE DESK starts executing the program from the very beginning. Close the browser window to quit PULSE DESK.

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