Mirobot Users Manual Mirobot Robot Users Manual 2AVLB-MIROBOTF1 Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Beijing Tsinew Technologies Co.,Ltd. 2019. All rights reserved. Without the written permission of the company, no unit or individual is allowed to extract or copy part or all of the contents of this document. And shall not be transmitted in any form. Exemption from declaration To the maximum extent permitted by law, the products described in this manual (including its hardware, software, firmware, etc. Informal writing) are provided "by the status quo," and may have defects, errors or faults. Qinniu Chuangzhi does not provide any form of express or implied warranties, including but not limited to the warranties of merchantability, quality satisfaction, fitness for a specific purpose, noninfringement of the rights of third parties, etc. Informal writing ;
nor Compensation for any special, incidental, incidental or indirect damages caused by the use of this manual or the use of our products. Before using this product, read this user manual and relevant technical documents published on the Internet in detail and understand relevant information to ensure the robot arm is used on the premise of fully understanding the robot and its related knowledge. Qinniu Chuangzhi recommends that you use this manual under the guidance of professionals. All safety information contained in this manual shall not be regarded as the guarantee of Mirobot. Even if the manual and relevant instructions are followed, the hazards or losses caused in the use process may still occur. It is the responsibility of the users of this product to ensure that the applicable laws and regulations of the relevant countries are followed and that there are no significant risks in the use of Qinniu Chuangzhi manipulator. Beijing Tsinew Technologies Co.,Ltd. Address:
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Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Preface Objective This manual introduces the functions, technical specifications, installation instructions, system debugging, etc. Informal writing of the Mirobot manipulator, which is convenient users understand and use the Mirobot manipulator. Readers This manual applies to:
Customer Engineer Sales Engineer Installation and commissioning engineer Technical support engineer Revised records time Modification record Symbolic conventions The following symbols may appear in this manual, and their meanings are as follows. Symbol Explain Indicates a high potential hazard which, if not avoided, could result in personnel death or severe injury. Indicates a moderate or low potential hazard, if not avoided, may cause slight personal injury, manipulator damage, etc. Informal writing This indicates that there is a potential risk, which may lead to arm damage, data loss ,or unpredictable results. Representation is the additional information of the text and the emphasis and supplement to the book. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual 1. Safety precautions This chapter introduces the safety precautions when using this product. Please read this manual carefully before using the manipulator for the first time. This product should be used in an environment that meets the requirements. Do not modify the product without authorization. Otherwise, it may cause product failure, even personal injury, electric shock, fire, etc. Informal writing. The installation, operation, teaching, programming ,and system development personnel of the manipulator must first read the manual carefully and use the robot in strict accordance with the specifications of the manual. 1.1 General Safety Danger the manipulator belongs to live equipment. Nonprofessionals are not allowed to change the circuit at will. Otherwise, it is easy to cause injury to the equipment or personal. When using the manipulator, the following safety rules shall be followed:
When operating the manipulator, the local laws and regulations shall be strictly observed. The safety precautions described in the manual are only as a supplement to local safety regulations. To engage the "danger," "warning," and "precautions" described in the manual are only used as supplementary instructions for all safety precautions. To engage, please use the manipulator within the specified environment. If the manipulator is used beyond the specification and load conditions, the product will be shortened the service life even damages the equipment. To engage the personnel responsible for the installation, operation ,and maintenance of the Mirobot manipulator must first receive strict training, understand various safety precautions, and master the correct operation and maintenance methods before operating and maintaining the robot. To engage high corrosive cleaning is not suitable for the cleaning of manipulator, and anodized parts are not suitable for immersion cleaning. To engage, it is not allowed to repair the faulty products or dismantle the manipulator without professional training. If the products fail, please contact Mirobot technical support engineer in time. If the product is scrapped, please correctly dispose of industrial waste in accordance with relevant laws and protect the environment. To engage the packing box of the manipulator contains small parts. Do not let children play, to prevent swallowing. During the use of children, someone must be on the side to monitor, and the equipment shall be shut down in time when the operation is completed. In the process of robot movement, please do not extend your hand into the movement range of the manipulator, be careful of bumping and pinching. It is strictly prohibited to change or remove and modify the nameplate, description, icon ,and mark of the manipulator and related equipment. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual During the handling and installation, please be careful, and pay attention to handle with care according to the instructions on the packing box, and place it correctly according to the direction of setting up the robot. Otherwise, it is easy to damage the machine. Before operating the manipulator, please refer to the user manual attached to the box. 1.2 Precautions Do not place your fingers in the gap between the upper and lower arms during operation. Prevent pinching. If the coordinate reading of the manipulator is abnormal during use, please press the reset button on the back of the base. Each time the mechanical arm is powered on again, it must first press the RESET button in the Mirobot Studio to reset. The user must wait for the reset action to be completed before the control operation can be carried out. Please disconnect or connect external devices, such as Bluetooth, WiFi, handle ,and infrared, when the manipulator is completely powered off sensor kit, color sensor kit, etc. Informal writing. Otherwise, it is easy to damage the machine. When using laser engraving, please wear protective glasses. Do not shine on your eyes and clothes. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual 2. Quick start This chapter briefly introduces how to control Mirobot through Mirobot Studio, so that users can quickly understand and use Mirobot, and its process is shown in Figure 2.1. Start Mirobot wiring connectionconnectionco Install Mirobot studio control software nnection Mirobot wiring Powering on Start using themanipulator End Figure 2.1 quick start flow chart of Mirobot manipulator 2.1 Manipulator cable connection
(1) Use USB data cable to connect the manipulator and computer. As shown in Figure
(2) Connect the power supply to the robot arm, as shown in Figure 2.3. Figure 2.2 connecting the robot arm to the computer Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual 2.2 Install Mirobot Studio control software Figure 2.3 connecting the manipulator to the power supply It can be used to control the manipulator by using the software Mirobot Studio of the upper computer of Mirobot, and realize the functions of axis motion control, Cartesian coordinate motion control, one key calibration of the manipulator, drawing of the manipulator, etc. Informal writing 2.2.1 System environment requirements The Mirobot Studio control software supports the following operating systems:
Windows 7Windows 8Windows 10 macOS 10.10 macOS 10.11 macOS 10.12 2.2.2 Get the control software package of Mirobot Studio Before using Mirobot, download the Mirobot Studio package based on the windows operating system. 2.2.3 Install the Mirobot Studio control software package 1. The Mirobot Studio software package can be directly decompressed and used. As shown in Figure 2.4, double-click to open the extracted tool.exe file. Figure 2.4 opening the tool.exe file Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual 2. Install driver Figure 2.5 Mirobot Studio interface after opening Download the driver installation package from the link:
https://sparks.gogo.co.nz/ch340.html. Double click to open the Mirobot driver, as shown in Figure 2.6. Figure 2.6 device driver installation wizard interface Click "Install" to install the driver. The interface shown in Figure 2.7 will pop up after success. Click OK. 2.2.4 Verification after installation of Mirobot Studio Figure 2.7 driver installed successfully 1.Verify the Mirobot Studio Software After the installation, double-click to open the tool.exe file in the Mirobot Studio package. If the Mirobot Studio software can be opened correctly, it means that the Mirobot Studio software is running normally. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual 2.Verifying the Mirobot driver
(1) Connect the Mirobot manipulator to the computer through the USB data cable.
(2) Open the device manager window. If "USB-serial ch340 (COM4)" can be found in "port
(COM and LPT)," it means that the driver is installed successfully, and the port number after com may be different. As shown in Figure 2.8.
(3) Open the Mirobot Studio software. Click the Setting tab, as shown in Figure 2.9. Figure 2.8 serial port drive information ofmanipulator Set the serial port to the com number seen in step (2), here is COM4, and then click OK. As Figure 2.9 Setting tab of Mirobot Studio Software shown in Figure 2.10. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 2.10 setting a serial port number on Setting tab
(4) At this time, the upper left corner of the Mirobot Studio software displays the green connection success flag. At this time, you can start to use the Mirobot Studio software to control the manipulator. As shown in Figure 2.11. Figure 2.11 Successful connection between Mirobot Studio software and manipulator 2.3 Startup and shutdown Power on: press the switch button on the side of the base of the Mirobot manipulator by hand to turn on the power of the Mirobot manipulator. The power indicator on the button will light up, as shown in Figure 2.12. Figure 2.12 switch on the robot arm Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Be careful Do not turn Mirotbot's 1st and 5th axes by hand as Mirotbot may be damaged. Switch off: press the switch button on the side of the base of the robot arm again to turn off the power of the robot arm. The power indicator on the button will turn off. 2.4 Start using the manipulator This chapter describes the essential control operation of the robot arm using the software Mirobot Studio. Prerequisite The Mirobot Studio software has been installed. For details, please refer to the 2.2 installations of Mirobot Studio control software. the manipulator has been correctly connected to the computer, and the power supply of the manipulator has been turned on. Refer to 2.3 startups and shutdown for detailed operation Operation steps 1. Double click tool.exe in the Mirobot Studio package. Pop up the Mirobot Studio interface, and then follow the steps of Verifying the Mirobot driver to verify the Mirobot driver to set the serial port connection between the Mirobot Studio and the manipulator. After the connection is completed, the green checkmark should be displayed on the connected icon in the upper left corner of the Mirobot Studio, which indicates that the Mirobot Studio and the manipulator have been correctly connected, as shown in Figure 2.13. Figure 2.13 the Mirobot Studio and the robot arm are properly connected 2. Before any control operation on the manipulator, the manipulator must be reset. Click the reset button in Mirobot Studio, as shown in Figure 2.14. Then wait for the manipulator to be reset. Figure 2.15 shows the manipulator during the reset process, and figure 2.16 shows the manipulator after the normal reset. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 2.14 The reset button of manipulator Figure 2.15 Resetting the arm in progress Figure 2.16 The manipulator after normal reset Be careful The Mirobot manipulator must be reset first after each power failure or re power up. 3. In case of any illegal operation of the manipulator, you can click the stop button in the Mirobot Studio for emergency stop operation, as shown in Figure 2.17. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual After the emergency stop operation, if it is necessary to continue using the manipulator, press the entity reset button next to the power button on the manipulator base, as shown in Figure 2.18. Figure 2.17 stop button in Mirobot Studio Figure 2.18 reset button on the base of the manipulator Be careful After the emergency stop operation of the Mirobot manipulator, it is also necessary to perform the reset operation in the Mirobot Studio again. 4.Using the axis motion control function of Mirobot
(1) Click the command tab, as shown in Figure 2.19. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual
(2)Select joint motion mode at the control mode selection in Mirobot Studio, as shown in Figure 2.19 command tab Figure 2.20. Figure 2.20 joint motion mode selection
(3) Click the single-axis motion control button on the right side of the Mirobot Studio to control the six joints of the manipulator to move separately. The speed can be adjusted at speed, and the step can be adjusted at step. As shown in Figure 2.21. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 2.21 Mirobot Studio joint controls 5. using the Cartesian space motion control function of Mirobot
(1) Click the command tab, as shown in Figure 2.19.
(2) Select Cartesian space motion mode at the control mode selection in Mirobot Studio, as shown in Figure 2.22. Figure 2.22 Cartesian spatial motion mode selection
(3) Click the control button on the right side of Mirobot Studio to control the spatial position and attitude (XYZ coordinate and RPY angle) of the end actuator of the manipulator. The speed can be adjusted at speed, and the step can be adjusted at step. As shown in Figure 2.23. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 2.23 Mirobot Studio position and attitude control buttons 6.Use the teaching recurrence function of Mirobot
(1) Click the teaching tab, as shown in Figure 2.24. Figure 2.24 teaching tab
(2) Click the control button on the right side of Mirobot Studio to control the spatial position and attitude (XYZ coordinate and RPY angle) of the actuator at the end of the manipulator. When adjusting to a satisfactory teaching position point, click the "add point"
button to add a teaching point, as shown in Figure 2.25. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 2.25 add teaching point button Then continue to adjust the position and posture of the manipulator, continue to click the
"add point" button, and add the second teaching point and the third teaching point... Until all teaching points are added.
(3) Click the "run" button in the Mirobot Studio panel to realize the continuous recurrence of the recorded teaching points. Click the step button in the panel to realize the single-step movement of the recorded teaching point. As shown in Figure 2.26. Figure 2.26 continuous and single-step repeat buttons of teaching points 3. Product introduction 3.1 Overview Mirobot is a desktop level 6-DOFmanipulator, which supports functions such as teaching reproduction, graphical programming, writing and painting, laser carving, etc. Informal writing compared with similar products, its end position and posture can be controlled. At the same time, it also has a rich I / O extension interface, which can connect different end actuators, and can be used by users for subsequent development. 3.2 Product appearance and composition Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Mirobot is composed of a base, six rotating joints, a giant arm, a small arm, an end tool, etc. Informal writing its appearance is shown in Figure 3.1. 3.3 Working principle and specification Figure 3.1 appearance of Mirobot This chapter mainly describes the working space, working principle, size ,and key technical specifications of Mirobot. 3.3.1 Working space Mirobot's workspace is shown in Figure 3.2. 3.3.2 Coordinate system Figure 3.2 Mirobot's workspace Mirobot's six joint coordinate systems and Cartesian space coordinate systems are shown in Figure 3.3 and Figure 3.4 , respectively. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 3.3 joint coordinate system Figure 3.4 Cartesian coordinate system Joint coordinate system: the coordinate system determined by reference to each moving joint. Milobot has six joints: j1j2 J3 J4 J5 J6, all of which are rotary joints. The positive rotation direction of each joint follows the right-hand rule and the thumb points to the opposite direction of the output shaft of each shaft motor. Cartesian coordinate system: The coordinate system is determined by reference to the base of the manipulator. The origin of the coordinate system is the center of the base platform. The x-axis direction is perpendicular to the fixed base forward. The y-axis direction is perpendicular to the fixed base to the left. 3.3.3 Sports function The motion modes of Mirobot manipulator include joint motion mode and a Cartesian motion mode. 1. joint movement mode Joint motion mode means that each joint of the manipulator is controlled separately. You can click the joint motion button to move a single joint. Joint coordinate system mode:
Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Click "J1 +" and "J1 -" to control the positive and negative rotation of the base motor. Click "J2 +" and "J2 -" to control the positive and negative rotation of boom motor. Click "J3 +" and "J3 -" to control the positive and negative movement of jib motor. Click "J4 +" and "J4 -" to control the positive and negative rotation of the fourth axis at the end. Click "J5 +" and "J5 -" to control the positive and negative rotation of the fifth axis at the end. Click "J6 +" and "J6 -" to control the positive and negative rotation of the sixth axis at the end. 2.Cartesian motion mode The Cartesian motion mode of the manipulator controls the position and attitude of the end actuator. You can click the coordinate and RPY angle motion buttons to change the position and attitude of the end actuator. Cartesian coordinate system mode:
Click "x +" and "X -" to control the manipulator to move along the positive and negative direction of the X-axis. Click "Y +" and "Y -" to control the manipulator to move along the positive and negative direction of the Y-axis. Click "Z +" and "Z -" to control the manipulator to move along the positive and negative direction of the Z-axis. Click "PX +" and "PX -" and the end posture of the manipulator rotates along the X-
axis. Click "py +" and "py -" to rotate the end posture of the manipulator along the Y-axis. Click "PZ +" and "PZ -" and the end posture of the manipulator rotates along the Z-axis. Be careful Cartesian motion mode supports point-to-point motion mode and linear interpolation motion mode. Please refer to Mirobot communication instructions for specific modes. 3.4 Technical specifications 3.4.1 Technical parameters Table 3.1 parameter specifications Parameter specification Axle number Payload Repeated positioning accuracy Communication Interface Power supply voltage Power input Power Working environment 6+1 150 g 0.2 mm USB / WiFi * / Bluetooth 100 V - 240 V, 50 / 60 Hz 12 V / 4A DC 50W Max
- 10 C - 60 C Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Table 3.2 axis motion parameters Mirobot Mirobot Robot Users Manual Shaft Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis motion parameters working range 100 to + 100 31
- 600 to + 90
- 180 to + 50
- 180 to + 180
- 180 to + 40
-180 to + 180 Table 3.3 physical characteristics physical characteristics maximum speed 31 / s 65 / s 28 / s 110 / s 33 / s 66 / s Net weight (manipulator and controller) Round base size Material of manipulator Controller Robot installation 1.5kg diameter160mm aluminum alloy, ABS engineering plastics Arduino2560 desktop Package specification (L w h) The dimension of standard outer box (L 220mm 160mm 270mm 300mm x 200mm x 400mm w h) Software SDK Table 3.4 application software Application software Mirobot Studio, grblcontroller3.6, Mirobot Blockly (Graphics Programming) Mirobot communication protocol and Mirobot function library step drive interface 1, I / O 4 (configurable as analog signal input (AD) or PWM output) Expandable I / O interface 3.4.2 Technical parameters The size parameters of Mirobot are shown in Figure 3.5, and the installation hole size of its end flange is shown in Figure 3.6. Figure 3.5 Mirobot size parameters Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual Figure 3.6 The end flange size 4 Interface description 4.1 Interface board The Mirobot interface is located at the back of the base of the mechanical arm, and the schematic diagram of the base interface is shown in Figure 4.1. The PIN of the extended communication interface is shown in Figure 4.2. The definition of Figure 4.1 back interface of substructure each pin is shown in table 4.1. Figure 4.2 PIN of back extension communication interface of substructure Table 4.1 pin definition of extended communication interface 15 2A 16 1A TX_2 Ex0 represents the output of pwm1, and EX1 represents the output of pwm2. 1b, 2b, 1a, and 11 EX0 12 EX1 9 5V 10
13 2B 14 1B RX_3 RX_2 TX_3 GND GND 8
6
7 5 3 1 4 2 2A refer to the four interfaces of the external sliding rail stepping motor. The Mirobot external communication interface needs to be connected with the external expansion interface board by Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual using a special cable arrangement. The common external interface board of Mirobot is shown in Figure 4.3. The pin definition is shown in Figure 4.4. Figure 4.3Mirobot general external interface board Figure 4.4Mirobot general external interface board pin definition diagram Document version Users Manual Beijing Tsinew Technologies Co.,Ltd. Mirobot Mirobot Robot Users Manual FCC Statement This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Any Changes or modifications not expressly approved by the party responsible for compliance could void the users authority to operate the equipment. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help. FCC RF Radiation Exposure Statement The equipment should be installed and operated with minimum distance 20cm between the radiator and your body. Document version Users Manual Beijing Tsinew Technologies Co.,Ltd.