SAM. Interface Robot & Trainer Board. User Guide V0211

Transcription

1 SAM Interface Robot & Trainer Board User Guide V0211

2 Note: Pages 2-7 cover the use of the SAM Interface Robot. See pages 7-8 for the use of the SAM Trainer Board. SAM Interface Robot Materials Included SAM Interface Robot USB cable SAM USB Controller Box SAM software CD SAM power supply System Requirements Windows XP, Vista, or 7 1 USB port Optional Items Items for the robot to pick up and move SAM Trainer Board Package Installing the Software 1. Insert the CD into your computer. The program will autorun follow the instructions on the installation windows. 2. When finished, remove the CD from the computer. Connecting the Robot 1. Make sure the power switch on the SAM USB Controller Box is turned to the Off position (switch turned down). Plug one end of the power supply into the controller box and the other end into the a standard wall outlet. Plug one end of the Figure 1 USB cable into your computer and the other end into the controller box (Figure 1). You should hear a beep indicating that these components are connected. 2. Now connect the cord from the SAM into the other end of the controller box, making sure the pins are correctly aligned. 2 SAM Interface Robot & Trainer Board User Guide V0211

3 3. Flip the switch on the USB Controller to the On position (turned up) to turn on the robot. Operating the Robot Start your computer. SAM should automatically go to home position (Figure 2). Home position is when all of the axes are at the center of their range of motion. The robot may make a buzzing noise. Figure 2 Go to the Start menu and click the SAM Robot USB program. The software program will open. The screen should look like the one in Figure 3. Figure 3 On the left side of the screen, there is a grid that will show each movement of your program and will accept up to 499 movements. SAM Interface Robot & Trainer Board User Guide V0211 3

4 On the top right are five ranges of motion one for each axis with a slider bar that will move the axis within a range of 0 to 255 degrees. These axes include: Base Wrist Shoulder Gripper Elbow Under Functions on the bottom right, there are four functions you can choose: Home Returns the robot to home position Save Position Saves whatever position you made using one or more of the slider bars Run Runs the program you created Stop Stops the robot while it is running a program Run Mode and Speed are in the bottom right corner (Figure 4). Run Mode is either Single, which will run the program one time and then stop, or Repeat, which will run the program continuously. There are five speeds, with the slowest at the left and the fastest at the right. Figure 4 4 SAM Interface Robot & Trainer Board User Guide V0211

5 In the top left corner of the window, there is a File menu with four options under it (Figure 5): New Selecting this will clear the grid and let you start a new program. Open This lets you open previously saved programs. Save This saves a program you are working on. You will need to name it, and you can select where you want the program Figure 5 saved on your hard drive. Exit This lets you exit the program. You can arrange a program one movement as in one axis movement at a time or up to one movement for two or more axes at a time (note that the movement will occur in the left-to-right order of the axis fields onscreen). When you have some movements programmed and showing in the grid, you can manually change the value of the movement by highlighting the number in the grid (Figure 6). Type the new value in its place. Figure 6 SAM Interface Robot & Trainer Board User Guide V0211 5

6 Example Programming Procedure 1. Connect the SAM robot to the computer as described earlier. Set an object (such as a ball or block) within reach of the robot. Go to the Start menu and click the SAM Robot USB program. 2. In the Base slider bar, move the slider until SAM s arm is in line with the object. Click Save Position. 3. In the Shoulder slider bar, move the slider until SAM s shoulder moves the arm up or down to be closer to the object. Note: Take into account that you still have to move the Elbow axis, which will also move the arm up or down. Click Save Position. 4. Before moving the Elbow axis, you should make sure the gripper is open enough to fit the object inside it. To do this, move the Gripper slider until the gripper is open wider than the width of the object. Click Save Position. 5. In the Elbow slider bar, move the slider until SAM s arm is positioned to pick up the object. If needed, go back to the Shoulder axis and move it again to correctly position the arm. Click Save Position. 6. If needed, move the Wrist slider to change the angle of the gripper so it can pick up the object. Click Save Position. Note: You might have to tweak the Shoulder and Elbow axes after this to fine tune the position of the gripper to pick up the object. If you do this, be sure to click Save Position. 7. Finally, close the gripper on the object using the Gripper slider. Click Save Position. 8. Continue to use the sliders for the different axes to lift, move, and release the object where you want. Be sure to always click Save Position to save your movements. 9. To run the program, select a Run Mode of either Single or Repeat. Then, select a speed. Click Run. If you wish to change the speed, you can do that while the program is running. 10. When you want the robot to stop, click Stop. If you want it to return to home position, click Home. 11. If you want to save this program, click the File menu and select Save. A window will open name the program file and select where you want the program saved on the hard drive. 12. To run another saved program, select Open from the File menu. Navigate to the folder where you save programs and choose the one you want. It will open in the program window, where you can run it. 6 SAM Interface Robot & Trainer Board User Guide V0211

7 13. When finished using the robot, select Exit from the File menu. On the controller box, turn the switch to the Off position. Detach all the cords and store the SAM robot and its components in a safe place. SAM TRAINER BOARD Trainer Board Items Included SAM Trainer Board with precut holes 5 ball pedestals 5 balls 4 screws, washers, and nuts Nut driver Hex key Placing the Pedestals 1. One at a time, firmly push the closed end of each pedestal into one of the five round holes on the trainer board. These will be very snug. When all the pedestals are in the board, place the board on a flat surface so that the open end of the pedestals face up (Figure 1). Push the board down on the surface until all of the pedestals move up to an even height. Figure 1 SAM Interface Robot & Trainer Board User Guide V0211 7

8 Attaching the SAM Robot 1. Center the SAM robot over the part of the board where the four cutout slots form a large circle the arm should be roughly centered over the board. One at a time, push a screw down in one of the holes at the robot s base and through a slot in the board. Holding the robot and screw in position, place a washer over the screw end and finger tighten a nut over the end (Figure 2). 2. When all the screws, washers, and nuts are in place around the robot base, connect and power up the robot according to the instructions on pages 2-3. This will make it go to home position. Turn the robot until its arm is centered over the board (Figure 3). Use the hex key and nut driver to tighten the screws so they hold the robot securely in place. Figure 2 3. Put the balls on top of the pedestals. Now connect the robot to a computer, turn it on, and program it as directed on pages 3-7 of this user guide to move the robot as desired. Figure 3 P.O. Box 1708 Pittsburg, KS or service@pitsco.com 8 SAM Interface Robot & Trainer Board User Guide V0211