UFactory UARM User Manual
  1. Manuals
  2. Brands
  3. UFactory Manuals
  4. Robotics
  5. uArm Controller
  6. User manual

UFactory UARM User Manual

Hide thumbs Also See for UARM:
Table of Contents

Advertisement

Quick Links

Download this manual
1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the UARM and is the answer not in the manual?

Questions and answers

Related Manuals for UFactory UARM

Summary of Contents for UFactory UARM

  • Page 2: Table Of Contents

    1.3. Emergency Stop ....................5 2. Quick Start ........................6 2.1. uArmWiring ......................6 2.2. Install uArm Studio ..................6 2.2.1. System Requirements .................6 2.2.2. Download and Install the uArm Studio Software .....6 2.3. Power On/Off ....................7 3. Product Description ....................8 3.1. Overview......................8 3.2. uArm ........................8 3.2.1.
  • Page 3 4.3.3. Teach&Play ..................19 4.4. 3D Printing Tutorial ..................23 4.4.1. 3D Printing Nozzle Installation Tutorial ........23 4.4.2. Cura For uArm Sofware Tutorial ..........26 4.4.3. Calibration Tutorial ................29 4.5. Drawing / Engraving Tutorial ..............29 4.5.1. Universal Pen Holder Installation Tutorial ........ 29 4.5.2.

  • Page 4: Safety Precautions

    Parental guidance is required if the operation is conducted by children. Please ● shut down uArm properly in time when the operation is completed. Do not put your hand into the range of motion to prevent accidents. ●...

  • Page 5: Emergency Stop

    1.3. Emergency Stop Press the power button to stop the drive, all actions and the running program in uArm Studio will be stopped. Should not press the power button during normal operation. If the power button is pressed during the action, the trajectory of the robot will then be changed and become different with the initial setting, which may trigger an unexpected situation such as a collision.

  • Page 6: Quick Start

    2. Quick Start This chapter briefly describes how to control uArm through uArm Studio so that users can quickly understand and start using uArm . 2.1. uArmWiring Step 1 Connect the power cord Step 2 Turn on the power switch Step 3 Connect uArm via USB cable and your computer 2.2.

  • Page 7: Power On/Off

    Download link: 2.3. Power On/Off After pressing the power button, the power indicator lights up, indicating that the robotic arm is turned on. After pressing the power button, the power indicator is off, indicating that the robotic arm is off.

  • Page 8: Product Description

    The uArm Swift Pro with uArm vision module to perform image recognition and it is ideal for AI robotics research.

  • Page 9: Base & Indicator

    3.2.2. Base & Indicator By default, the custom function button is used for Bluetooth mode /USB mode switching. Before using the USB mode, make sure the custom function buttons are in the up state as shown.

  • Page 10: Extension Port

    3.3. Extension Port The uArm interface is located on the back of the base and the arm. The diagram of the base extention is shown in the figure.

  • Page 12: Workspace

    3.4. Workspace uArm 's workspace is shown in the figure.

  • Page 13: Operating Guide

    The uArm robotic arm has teach-play, drawing, engraving and 3D printing functions, which can be implemented by uArm Studio software. The functions supported by uArm Studio are shown in the figure, and the detailed functions are as shown in the table.

  • Page 14: Blockly：visual Programming Tutorial

    Use the robotic arm to complete the drawing and &Engraving engraving operations. 4.2. Blockly：Visual Programming Tutorial uArm Studio Blockly is a visual programming interface designed specifically for uArm. 4.2.1. Quick Start There are three tasks for newbie to help you quickly understand Blockly.

  • Page 16: Blockly Function Description

    1）Control the basic motion of uArm 2）Events ( How to trigger a command ) 3）Apply the action you recorded 4）Advanced programming ( functions, variables, etc. ) 4.3. Teach&Play Tutorial Holding the uArm to record the action , then playing the recorded action.

  • Page 17: Suction Cup Installation Tutorial

    4.3.1. Suction Cup Installation Tutorial Step 1 : Install the suction cup on the fourth axis of the arm and tighten the hand screw. Note : If you need to remove the suction cup, please loosen the hand screw. Step 2: Connect the wires of the fourth axis, the suction tube and the limit switch.

  • Page 18: Gripper Installation Tutorial

    4.3.2. Gripper Installation Tutorial Step 1 : Use a hex wrench to remove the suction cup.

  • Page 19: Teach&Play

    4.3.3. Teach&Play Holding the uArm to record the action , then playing the recorded action. 4.3.3.1. Operation Tutorial 1）Record Action Click ‘Start Recording’ on uArm Studio or press the Menu button on the uArm base to start recording.
  • Page 20 2）Save...
  • Page 21 3）Set the times of playback 4.3.3.2. Offline Teaching Operation Tutorial Teaching with buttons on the robotic arm when offline.
  • Page 22 1. Turn on the teaching mode: press the menu button, the status indicator will turn green . 2. Hold the uarm and guide it, press the play button to turn on the suction cup/gripper, and then press the play button again to turn off the suction cup/gripper.

  • Page 23: Printing Tutorial

    4.4. 3D Printing Tutorial 4.4.1. 3D Printing Nozzle Installation Tutorial Step 1: Install the 3D print nozzle, tighten the fixing screws. Step 2 : Install the 3D printing feeding system.
  • Page 24 Note : Please make sure the connection is correct, otherwise the computer will not recognize the robotic arm. Connect the motor and expansion board with a color 4pin cable ( Importing PLA printing materials into the feeding system) Step 3 : Install PTFE catheter, install printing material and feeding tube.
  • Page 25 Step 4 : Allow the 3D printed material 60 cm above the catheter. Note : If the printer is unable to discharge, it may be due to the deformation of the end of the printed material. Step 5 : 3D print nozzle mounting catheter.

  • Page 26: Cura For Uarm Sofware Tutorial

    If there is an error in the horizontal state of the arm, please refer to 4.4.3 for the calibration. 4.4.2. Cura For uArm Sofware Tutorial Download and install CuraForuArm： https://www.ufactory.cc/pages/download-uarm 2. Enter uArm 3D printing, CuraForuArm will automatically start, if it doesn't start, click ‘Open Cura”. Cura for uArm Interface...
  • Page 27 3. Import a .stl file and adjust the size/position of the model. 4. Select “uArm Swift Pro” printer and the corresponding files. It is suggested to use the default settings. To set the 3D printing parameters, select the "Print Setup" option. If the "Print Monitor" option is selected, the printer will not be found on the interface.
  • Page 28 " Save Zero " . ( The zero point of each uarm is different, please adjust the zero point according to the above steps before printing ) 6. Start printing The 3D print nozzle will be preheated to 200 °C . The robotic arm will wait for the print nozzle to heat up.

  • Page 29: Calibration Tutorial

    4.4.3. Calibration Tutorial Calibration tutorial: uArm-Swift-Pro-Calibration.pdf 4.5. Drawing / Engraving Tutorial 4.5.1. Universal Pen Holder Installation Tutorial...
  • Page 30 Step 1 : Remove the suction cup with a hexagonal L -wrench Step 2 : Install the universal clip and tighten the screws...

  • Page 31: Laser Kit Installation Tutorial

    Step 3 : Connect the fourth axis motor 4.5.2. Laser Kit Installation Tutorial Material ( laser nozzle, hand screw )
  • Page 32 Step 1 : Fix the laser nozzle and tighten the hand screw. Step 2: Insert the laser control board into the end of the uarm. ( please pay attention to the interface direction )
  • Page 33 Note : If you cannot perform laser engraving, please open the uArm Studio software, turn on the “ drawing / engraving ” function, and rotate the laser nozzle to adjust the focus. During the engraving process, please do not touch the...

  • Page 34: Import Patterns & Parameters Setting

    Import Patterns & Parameters Setting 4.5.3. Step 1: Design a pattern, insert text / shape. (contour or grayscale mode ) Step 2: Click the " Run " button to start running. Step 3: Start drawing / engraving. 4.5.4. Adjust the Zero Point Before using the “...

  • Page 35: Bluetooth Tutorial

    4.6. Bluetooth Tutorial 4.6.1. Bluetooth Pairing Steps for IOS Step 1: Open uArm software and Bluetooth on your phone, click to connection. Step 2: Turn on the uArm power supply. Step 3: Press the Bluetooth button.

  • Page 36: Bluetooth Pairing Process For Android

    Step 4: As shown in the figure , the name of uArm will be displayed in the software , click to connect. If the indicator status is steady blue, the Bluetooth mode is connected. 4.6.2. Bluetooth Pairing Process for Android Step 1: Open uArm Play App and turn on the Bluetooth of your phone,click to connect.
  • Page 37 Note: You need authorize the uArm Play APP to access the position and Bluetooth of your phone in Settings-Authorization Management-uArm Play. Step 5: As shown in the figure , the name of uArm will be displayed in the software , click to connect. If the indicator status is solid blue, the Bluetooth...

  • Page 38: Precautions

    4.6.3. Precautions Bluetooth connection only supports firmware 3.2.0.

  • Page 39: Openmv Module

    5. OpenMV Module OpenMV Module（firmware version should be at least 3.1.9 ） Step1: Download the latest OpenMV IDE https://openmv.io/pages/download Download the latest OpenMV IDE: After installing OpenMV IDE , connect OpenMV to computer with USB cable , click the “Connect ” button in the lower left corner of the software interface .
  • Page 40 Step 2 : Upgrade OpenMV firmware via OpenMV IDE .
  • Page 41 Note : When the IDE captures the image, rotate the lens to adjust the focus (you can clearly see objects outside 20cm ), tighten the screws after the focus is complete. Step 4: Download tracking.py, save to OpenMV. https://github.com/uArm-Developer/OpenMV-Examples Download link: Click "File" - "Open File" to import tracking.py...
  • Page 42 Click "tool" - "Save open script to OpenMV Cam" , after the code is successfully saved, restart OpenMV by plugging in the USB cable . If the code is successfully stored ,after the OpenMV module is connected to USB , the status of OpenMV is light blue.
  • Page 43 Step 5 : Unplug OpenMV USB cable, connected by wires to the robotic arm OpenMV. Note : Make sure the installation is correct or your computer may not recognize your uArm . Step 6 : OpenMV secured to the robotic arm end-effector.
  • Page 44 Note : Please pay attention to the installation direction of OpenMV . If the direction is wrong, The uarm may move in the opposite direction. Please ensure OpenMV has already been disconnected from the computer, otherwise Open MV IDE will continue to control Open MV Step 7 : Make sure the desktop is clean and non-reflective.
  • Page 45 Step 8 : Place the robotic arm about 25 cm above the target object to let the Open MV recognize the object. Step 9 : Power on the uarm and connect it to the computer, then turn on the power switch of the uarm.
  • Page 47 Step 10 : Click to open the serial monitor.
  • Page 48 Step 11 : Change settings ( Line feed & 115200 baud rate ) , send M2500 command, the UART main communication port of the robotic arm will be switch from USB to OpenMV. Step 12 : Move the object slowly and the arm will follow the target object .

  • Page 49: Appendix

    UFACTORY Official Forum: https://bit.ly/2PUOQfE uArm Facebook : uArm Technical Support: support@ufactory.cc https://bit.ly/30caY9M Product Video: 2. uArm Firmware Guidance Manual Download: Guidance Manual 3. Releases History Version Releases Description 1.0.7 Added content to 3D printing operation guide and make 1.0.8 Added details to OpenMV content.
  • Page 50 1.0.12 Released Guidelines on 3D Printing catheter Installation. 1.0.13 Released robotic arm working range diagram. 1.0.14 Released 3D printing operation precautions. 1.0.15 Modified the content about Gcode in the Developer’s 1.0.16 Modified visual kit content. Manual. 1.0.17 Updated calibration card link. 1.1.23 Updated the official link.

Table of Contents