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.
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.
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.
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.
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 nnection Install Mirobot studio control software Mirobot wiring Powering on Start using themanipulator End Figure 2.1 quick start flow chart of Mirobot manipulator 2.
Mirobot Mirobot Robot Users Manual Figure 2.3 connecting the manipulator to the power supply 2.2 Install Mirobot Studio control software 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.
Mirobot Mirobot Robot Users Manual Figure 2.5 Mirobot Studio interface after opening 2. Install driver 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. Figure 2.7 driver installed successfully 2.2.
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. Figure 2.8 serial port drive information ofmanipulator (3) Open the Mirobot Studio software.
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.
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.
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 Figure 2.17 stop button in Mirobot Studio 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 2.18 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.
Mirobot Mirobot Robot Users Manual Figure 2.19 command tab (2)Select joint motion mode at the control mode selection in Mirobot Studio, as shown in 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.
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.
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.
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.
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. Figure 3.1 appearance of Mirobot 3.3 Working principle and specification 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. Figure 3.2 Mirobot's workspace 3.3.
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.
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.
Mirobot Mirobot Robot Users Manual Axis motion parameters Shaft working range maximum speed Axis 1 100 ° to + 100 ° 31 ° 31° / s Axis 2 - 600 ° to + 90 ° 65 ° / s Axis 3 - 180 ° to + 50 ° 28° / s Axis 4 - 180 ° to + 180 ° 110° / s Axis 5 - 180 ° to + 40 ° 33° / s Axis 6 -180 ° to + 180 ° 66° / s Table 3.3 physical characteristics physical characteristics Net weight (manipulator and controller) 1.
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. Figure 4.1 back interface of substructure The PIN of the extended communication interface is shown in Figure 4.2. The definition of each pin is shown in table 4.1. Figure 4.
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 user’s authority to operate the equipment.
