UFactory uArm Swift Pro Developer's Manual
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UFactory uArm Swift Pro Developer's Manual

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  • Page 2: Table Of Contents

    Contents SAFETY INSTRUCTIONS ......................4 GENERAL INFORMATION ..................... 4 1.Source file ..........................4 2.Reference frame ........................5 3.Coordinate ..........................6 4.Mounting ..........................8 5. Buttons & indicator lights ....................10 6.Extension description ......................11 SPECIFICATIONS ........................13 APPLICATION INFORMATION ................... 16 1.Send command over usb cable ..................
  • Page 3 1.Introduction .......................... 28 2.Example ..........................28 3.Commands(tbd)· ......................... 28 UARM COMMUNITY ......................40 RELEASE NOTE ........................40...

  • Page 4: Safety Instructions

    Safety Instructions Please don’t put your hands between the arms when uArm is moving. Please use the official power supply for safety reasons. Please clear a space for uArm, in case of knocking down anything. General Information General information for the robot arm, and it’s good to know before developing. 1.Source file ⚫...

  • Page 5: Reference Frame

    2.Reference Frame...

  • Page 6: Coordinate

    3.Coordinate The picture in the right also shows the dynamic payload range of uArm. Test condition: G2202 F1000; Red point is the Tool Center Point. Detail size of each arm and base.
  • Page 7 The origin of base coordinate is in the center of the base. But the tool center point is different for different end-effectors. And we also offer the different commands for different usages. Currently we offer 4 kinds of mode: M2400 S0: Normal mode (end-effector tools: suction) M2400 S1: Laser mode (end-effector tools: laser) M2400 S2: 3D printing mode (end-effector tools: Hot End) M2400 S3: Universal holder mode (end-effector tools: universal holder)

  • Page 8: Mounting

    4. Mounting...

  • Page 10: Buttons & Indicator Lights

    5. 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 11: Extension Description

    6.Extension Description...
  • Page 12 Details of 30P Base Extension...

  • Page 13: Specifications

    Specifications Specifications Weight 2.2kg Degrees of Freedom Repeatability 0.2mm Max. Payload 500g Working Range 50mm～320mm Max. Speed 100mm/s Connector Micro USB Wireless Bluetooth 4.0 Input Voltage DC 12V Power Adapter Input:100～240V 50/60Hz; Output: 12V5A 60W Operation Temperature & 0℃-35℃ 30%RH-80%RH Humidity noncondensing Storage Temperature &...
  • Page 14 Angle Speed Lifetime Torque Base Motor 0°～180° 40°/s >3000h 12kg⋅cm Left Motor 0°～130° 40°/s >3000h 12kg⋅cm 0°～106° Right Motor 40°/s >3000h 12kg⋅cm End-effector Motor 0°～180° 60°/s 500h 2kg⋅cm Accessories Suction Diameter 5mm～10mm Max. Pressure 33kPa Integrated Pump Max. Lifting Weight 1000g Feature With feedback...
  • Page 15 Channel spacing / bandwidth 2MHz Transmit power 0dBm Mode of operation GFSK (simplex / duplex) simplex Duty cycle 100ms Access Protocol (if applicable) Bluetooth Low Energy 4.0 Transmitter Class type CLASS 2 Type E3D v6 Hot End Dimension(L*W*H) 37mm*31mm*76mm Extruder Dimension(L*W*H) 61mm*52*66mm Consumption 3D Printing Kit...

  • Page 16: Application Information

    Application Information We would introduce several ways to play with the robot arm in different platform. 1.Send Command over USB Cable Power on the uArm and open the Arduino IDE. And setting the board like the picture below. Please make sure the port you are choosing is the correct port of uArm. Open the serial monitor in the right side of Arduino IDE.
  • Page 17 Set the parameter of serial monitor in the right bottom. If the setting is correct, you would receive the detail information from uArm like the picture below.
  • Page 18 Now, you are able to send the command to the uArm. Let’s send “G0 X250 Y0 Z130 F10000”.

  • Page 19: Send Command Over Bluetooth

    If uArm finishes the movement, it replies “ok”. Please check the chapter of Protocol (Page 20) in this guide to test more commands. 2.Send Command over Bluetooth Plug in the Bluetooth stick, and press down the button beside the power button.
  • Page 20 Power on the uArm. When the Bluetooth stick is searching, the blue indicator keeps blink until the wireless connection is built up between stick and uArm. And the blue indicators in both stick and uArm become solid. Open the Arduino IDE. And setting the COM port like the picture below. Please make sure the port you are choosing is the correct port of Bluetooth stick.
  • Page 21 Set the parameter of serial monitor in the right bottom like the picture below.
  • Page 22 Now, you are able to send the command to the uArm. Let’s send “G0 X250 Y0 Z130 F10000”. If uArm finishes the movement, it replies “ok”.

  • Page 23: The 2Nd Uart

    Please check the chapter of Protocol (Page 20) in this guide to test more commands. 3.The 2nd UART Sometimes the 2 UART is important for our project, for example you want another Arduino to communicate with uArm. During the design, we have had it in mind. There is the 2 UART in the 30P base extension.
  • Page 24 Connect uArm Swift Pro to PC.Open XLoader (xloader.russemotto.com/)，load uArmSwiftPro_2ndUART.hex (https://github.com/TonyLeheng/Vision-Pick-and-Place ) Click “Upload” to upload the code to uArm Swift Pro. Switch to USB communication Connect uArm Swift Pro to PC, open XLoader (xloader.russemotto.com/)，load uArmSwiftPro_Standard.hex (https://github.com/TonyLeheng/Vision-Pick-and-Place). Click “Upload” to upload the code to uArm Swift Pro.

  • Page 25: Arduino

    How to compile and upload the file？ 1. Download the code and extract it to your Arduino libraries folder (normally it’s in C:/Users/ufactory/documents/Arduino/libraries/) 2. Find the file named Marlin.ino in the Marlin folder and open it 3. Plug in the USB cable and power port then turn on the power button...
  • Page 26 4. Select the correct port and type of Arduino board like the picture below 5. Click the upload button to finish the uploading...

  • Page 27: Ros & Python

    5.ROS & Python Currently we released the library of Python and ROS. For more information, please check the link below. Source code of ROS for Swift Pro: https://github.com/uArm-Developer/SwiftproForROS Python library for Swift Pro: https://github.com/uArm-Developer/pyuf 6.OpenMV Demo And also the demo of OpenMV: https://github.com/uArm-Developer/OpenMV-Examples You could find the details steps in quick start guide.

  • Page 28: Protocol

    Protocol 1.Introduction • uArm Gcode is an important part of the uArm software. • Based on the standard gCode protocol, we add a new protocol head in front of the Gcode so that it can be more easily to use and debug. •...
  • Page 29 Command without the underline: it’s the standard Gcode. Caution : 1.There should be blank space between each parameter; 2.The letters in the command should be capitalized; GCode Command (v1.2) Description Feedback 1. # is used for the debug, if you don’t want to use it please remove it directly. (For Example: G2202 N 2.
  • Page 30 G2205 S Polar coordinates for relative ok \n or $ \n (refer to 1000 displacement Err output) Setting Command (parameters are in underline) M17\n Attach all the joint motors ok \n #n M204 P200 T200 Set accelerations and save ok \n R200\n P = Printing moves R = Extruder only (no X, Y, Z)
  • Page 31 Read EEPROM N(0~2,0 is internal EEPROM,1 is M2211 N USR_E2PROM, 2 is ok V SYS_E2PROM), A is address, T is type (1 char,2 int,4 float) Write EEPROM N(0~2,0 is internal EEPROM,1 is M2212 N USR_E2PROM, 2 is ok\n SYS_E2PROM), A is address, T is type (1 char,2 int,4 float)V is the input data Default function of base...
  • Page 32 Set the digital IO direction M2241 N $n ok \n (V1 Output; V0 Input;) Set the name of Bluetooth, btname M2245 V 11 letters limited (Do not $n ok \n add # in this command) Please check the Grove M2304 P modules below Please check the Grove M2305 P...
  • Page 33 joints P2201\n Get the device name ok V P2202\n Get the hardware version ok V P2203\n Get the software version ok V P2204\n Get the API version ok V 0123456789AB P2205\n Get the UID ok V P2206 N Get the angle of number 0 $n ok V joint (0~2) P2220\n...
  • Page 34 2: 3D printing; 3: Universal holder;) Ticking feedback Ready Timed feedback , ”M2120” Report the button event. N: 0 = Menu button, 1 = @4 N Play button V: 1 = Click, 2 = Long Press @5 V Report event of power connection @6 N Report event of limit switch...
  • Page 35 Grove Suppor Module Commands Description Return t Ports M2304 P Deinit 3, 4, 5 ok\n Init Module 1 in Port M2305 P ok\n or E25 Chainable is the number of LEDs 3, 4, 5 init fail RGB LED chained. M2307 P Set the color of 3, 4, 5 ok\n...
  • Page 36 M2305 P N6\n Init Module 6 in Port 1, 2, 13 ok \n Angle M2306 Sensor Set report interval (ms) 1, 2, 13 1000 V583\n M2304 P Deinit 1, 2, 13 ok \n Air Quality M2305 P N7\n Init Module 7 in Port 1, 2, 13 ok \n Sensor...
  • Page 37 M2304 P Deinit ok \n M2305 P N11\n Init Module 11 in Port ok \n V1\n 1: right 2: left Gesture 4: up Sensor M2306 Set report interval (ms) 8: down 1000 16: forward 32: backward 64: clockwise 128:counter clockwise M2304 P Deinit 4, 8, 9...
  • Page 38 M2305 P N15\n Init Module 15 in Port ok \n Temperatur e & M2306 Set report interval (ms) Humidity 1000 T23.3 H82.2\n 3, 4, 5, M2304 P Deinit ok \n 8, 9 3, 4, 5, M2305 P N16\n Init Module 16 in Port ok \n 8, 9 PIR Sensor...
  • Page 39 1000 V583\n d. Different modes for uArm Swift Pro Since different types of the end-effectors have different length and height, so we designed the command M2400, which could help us to fit the uArm into different situations easily. With this command, there is no need to concern about how to adjust the parameters for different situations.
  • Page 40 Add the relationship of left/right motor with the upper and lower arm Tony 1.0.4 Modify several commands of Gcode David 1.0.5 Modify several commands of Gcode Daniel 1.0.6 Modify the content of switching to 2nd UART Daniel Add the dimensions of the base of uArm Swift Pro V1.1...

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