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Summary of Contents for Reach X 7
- Page 1 REACH X Integration Manual V002 +61 (2) 9519 7651 | info@reachrobotics.com www.reachrobotics.com...
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Page 2: Table Of Contents
Reach X Integration Manual | V002 Reach X Integration Manual Contents Introduction ......................................3 Safety Information ....................................4 2.1. Hazard classification ................................. 4 2.2. Target Group ....................................4 2.3. Personal safety ................................... 4 2.4. Product safety ..................................... 6 2.4.1. Leak detection ..................................6 2.4.2. -
Page 3: Introduction
Software downloads • Reach Robotics contacts If you can't find what you're looking for on our website or Help Centre, please get in touch with Reach Robotics Support at support@reachrobotics.com. You can also get in touch with us at sales@reachrobotics.com (for all sales enquiries), info@reachrobotics.com... -
Page 4: Safety Information
This section describes the necessary safety information and precautions relevant to the setup and operation of the Reach X manipulator system. To ensure correct and safe use of Reach Robotics manipulators, carefully read this section and make yourself well acquainted with the contents. Follow any warnings and cautions included. In conjunction with this manual, it is important that the users have knowledge of safety considerations and make correct judgments on safety procedures during operation. - Page 5 The Reach X has the potential to emit a powerful magnetic field which can pose a fatal risk to personnel with passive or active implants such as pacemakers, defibrillators, insulin pumps, etc.
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Page 6: Product Safety
2.4.2. Obstacle setup Virtual obstacles can be defined within the manipulator workspace to reduce the risk of collision between the Reach X and other equipment. Care should be taken to ensure that any obstacles configured are defined correctly to cover all potential collision points. -
Page 7: Power Circuit And System Integration
Reach X Integration Manual | V002 Reach Robotics has had success with the Wurth Elektronik Clamp-On Ferrites (P/N 74272251, 74272221) and the TDK Power Line Filter (P/N B84112G0000B080). Integrators must take care to install any filters in the correct orientation. Failure to do so may cause open/short circuits and pose a fire hazard. -
Page 8: Operating Environment
Instead, the Reach X manipulator is a component of a larger system which comprises additional power, safety, and control devices. As such, the Reach X conforms to the applicable EC Directives within the scope of this framework. The customer who incorporates the Reach X manipulator system into the customer’s final system, which will be shipped to or used in the regulated region, should verify that the overall system conforms to the EC Directives. -
Page 9: Installation Of External Safety Circuits
3.4. Use of the supplied RS232/485-to-USB Break-Out-Board The Reach X is commonly supplied with an external Printed Circuit Board (PCB) for interfacing between a USB Serial Device and the manipulator. This device does not form a core part of the manipulator system and is included as an optional setup item only. -
Page 10: Specifications
Reach X 2 Processor NVIDIA TX2 Interface low-level protocol Ethernet, RS485, RS232 Proprietary communication protocol Reach Robotics Reach System Communication Protocol* *Please contact Reach Robotics Sales for access to the Reach System Communication Protocol documentation. +61 (2) 9519 7651 | info@reachrobotics.com www.reachrobotics.com... -
Page 11: Interfacing And Integration
V002 5. Interfacing and integration Reach X manipulators have three comms/power ports available on the base, two for Ethernet and power, and one for RS232/RS485 and power. The Reach X base module contains an Ethernet switch, to which both ETH ports are connected. This allows multiple devices to be daisy chained using Ethernet. -
Page 12: Attach Jaws To Manipulator
The base includes six mounting holes which fit M4 CS bolts. 5.1. Attach jaws to manipulator It is easier to attach the jaws when the manipulators are powered and connected to Reach 3D Viewer. See Section 6 for instructions. INFO With the jaws open, align the centre hole with the pushrod on the end of the manipulator, and screw the jaws onto the pushrod by one full turn. -
Page 13: Control Options
Reach X Integration Manual | V002 2. Ensure that the flat portion of the locking mechanism aligns between the jaws and the end-effector interface. 3. Carefully align the screw collar with the threaded area on the wrist, and slowly tighten. The jaws will close as the collar tightens. -
Page 14: Menus
Reach X Integration Manual | V002 6.1.1. Menus Input Devices menu Manipulators menu Device type allows selection of the arm model including which jaws are currently installed. • Camera model toggles a wrist camera to appear/disappear on the 3D model of the manipulator. -
Page 15: Settings Menu
Reach X Integration Manual | V002 Click on Temperature, Pressure or Humidity to open the full climate panel showing all joints for the selected • manipulator. Edit manipulators allows you to delete existing manipulators and add new ones. • 6.1.2. Settings menu Edit Signals is an advanced menu which allows you to edit how the input controllers affect the behaviour of the... -
Page 16: Reach Control
The Reach X command pods (CP) come in left and right variants and correspond to the left and right manipulators in the Reach X AIS. For a standalone Reach X, you can choose the orientation of the command pod at the point of purchase. - Page 17 Reach X Integration Manual | V002 A command pod consists of a SpaceMouse, joystick, 3 preset buttons, and input/output connectors. Each command pod has their axes printed on the SpaceMouse part of the pod to aid user control. SpaceMouse: move and rotate the SpaceMouse in three dimensions to kinematically control the entire •...
- Page 18 Reach X Integration Manual | V002 If you are using the command pods on a pre-setup Linux system (i.e. the web certificate has already been installed), you must run the downloaded install script again for the pods to function correctly. Failure to run the script again will result in the pods connecting but not CAUTION controlling the manipulators.
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Page 19: Master Arm
6.4. Master Arm The Reach Robotics Master Arm system is a topside controller that maps the human operator control inputs to the movement of the manipulator’s joints in a corresponding manner. In this way, the Master Arm controller allows the manipulator to “mimic”... - Page 20 Reach X Integration Manual | V002 Assign the Master Arm to the correct manipulator using the Arm button. The Channel should be MA0 for the left Master Arm, and the Profile should be set automatically to Default. You cannot use the Orbit profile with a Master Arm.
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Page 21: Gamepad
Jaw open/close: push the joystick up to open the jaws, and down to close them. 6.5. Gamepad A simple HID gamepad (Reach Robotics supplied or BYO) can be used in conjunction with Reach Control. The gamepad control inputs can be customised and mapped to the different functions and joints of the manipulator. The gamepad can be used to control the manipulator in joint velocity, or end-effector Cartesian (XYZ) mode. -
Page 22: Bench Setup And Acceptance Test
If you wish to use Human Interface Devices (HID) such as a Command Pod, SpaceMouse or gamepad with the Reach X, you must use the Google Chrome browser, which can be installed from the arm itself if not already installed on your computer. - Page 23 If you connect the manipulators to another computer, you will need to download the certificate again. Click Advanced, and then click Proceed to [SN].local (unsafe). 4. This will open the Reach 3D Viewer software (see Software Overview below for more information).
- Page 24 Reach X Integration Manual | V002 6. This will open a window where you can install Chrome for either Windows or Linux. Click the appropriate installer link and follow the instructions in the window. Open Chrome and return to https://[SN].local:3000.
- Page 25 Reach X Integration Manual | V002 8. A window will open with instructions on how to install the certificate for your operating system. Click the link to download the certificate from Chrome. 9. If using Windows, you may find that it tries to block the .exe file from running. In this case, click More info, then click Run Anyway.
- Page 26 11. Now that you have the Reach 3D Viewer software up and running, you can connect the manipulator(s) properly. There should already be two manipulators visible in the Manipulators menu on the left-hand side.
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Page 27: Manipulator Maintenance
It is also recommended to conduct a regular Acceptance Test (Section 6) to check all joints for abnormal behaviour. 8.1. General manipulator care Reach Robotics manipulators are intended for use in water or air. Other fluids may have an adverse effect on the materials used in their production. -
Page 28: Revision History
Reach X Integration Manual | V002 9. Revision history Version Date Author Notes V001 05/07/2024 Ellie Best Initial version V002 02/12/2024 Ellie Best Chrome installation instructions Change to certificate install instructions Specification updates Updated pictures of hardware EMC testing details +61 (2) 9519 7651 | info@reachrobotics.com...
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