Introduction toArmControl

Programming

Help

A General Programming Outlinea) Start at a home position.

b) Move the robot to a point directly above an object.

c) Move the robot to the object

d) Close the gripper.

e) Lift the object straight up.

f) Move the object to another point above the drop off position.

g) Set the object down where you want it.

h) Open the gripper.

i) Return to a point above the object.

j) Return home.

Check Setup

Step 1. Plug in the robots USB

Step 2. Turn on the robots power

Step 3. Start ArmControl

Step 4. Ensure communication is established

Step 5. Check arm style

Step 6. Check calibration if necessary

ArmControl Sequencer

Record Pause Copy Delete Save Load Clear All

Home Back Play Forward Loop

Global Speed

Play Line

Sequencer WindowSequencer Options: Drag Time, Drag Move, Scrub TimelineLoop Options: Drag Length, Right Click for Loop Count

ArmControl Sequencer

Save

Step 1 - Save the current sequence before recording any steps

Step 2 – Add a copied step

Step 3 – Move the robot to the next position

Step 4 – Record the current position

Copy

Record

ArmControl Sequencer

Step 5 – Adjust time duration for each step

Step 6 – Rewind the sequence to the beginning

Step 7 – Play the sequence one step at a time to ensure position accuracy

Home

Forward

WARNING! If the step duration is faster than the real robot can move from step to step it may skip or miss desired positions.

ArmControl Sequencer

Step 8 – Make any step corrections necessary

Step 9 – Play the entire sequence

Step 10 – Save the current sequence

Play

Save

Inputs

Inputs A-D can be used to control various starts and stops to a saved sequence

A B C D

Inputs

Input A – Digital start sequence from beginning

Input B – Return from digital pause

Input C – Return from digital pause

Input D – Stop sequence in progress

A B C D

B and C – Return from Pause

Inputs B and C can be used to return motion to a sequence when a digital pause is recorded onto a step

To add a digital pause to a step, select the step to be paused and select Pause. A pause line will then be added to the sequence timeline

B C

Pause

Inputs A & D

Input A – A signal from input A will start a sequence from the beginning or stop a sequence in progress rewind to home and restart the sequence

Input D – A signal from input D will stop a sequence. Can be used as an emergency stop

A D

  Stopped at Beginning

Stopped in Middle

Stopped at End

At Digital Pause In Motion

Starts from Beginning

Returns & Starts from Beginning

Returns & Starts from Beginning

Returns & Starts from Beginning

Stops & Restarts from Beginning

Starts from Beginning

Restarts from Current Time Nothing Resumes from 

Current Pause Nothing

Starts from Beginning

Restarts from Current Time Nothing Resumes from 

Current Pause Nothing

Nothing Nothing Nothing Nothing Stops at Current Time

Inputs

A

B

C

D