2 常见问题FAQ

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faq

Hardware

Q: why it appear small jitter when I use the vertical state, but not when running?

A:please check whether it is vertical, vertical state is not affected by gravity, mechanical voids lead to small jitter, after the use of this state will not occur. The recommended speed in this state is 400-500.

Q: Will ROS system charge later ?

A:ROS is open source and will update on our github. There is no charge for firmware upgrades.

Q:myCobot joint hard limit

A: The first axis and fifth axis have limit, the first axis clockwise about 160°, counterclockwise about 160°. the fifth axis clockwise and counterclockwise rotation about 160° Note: when turning the robot arm, it should be small angle and gently, after reaching the limit. you can not continue to rotate.

Q: what is the unit of velocity of the robotic arm?

A: speed 180 degrees per second

Q:Is it just not support M5STACK's steering gear, will it support other M5 sensors?

A:M5STACK Basic currently supports all sensors.

Q:Do Atom support sensors in the future?

A:atom support needs to further open the interface, within our plan, need to wait

Software

Q: why can't my compiler find the corresponding device?

A:You need to build the development environment and install the corresponding project library to develop the equipment.

Q: why my compiler can't compile the sample program properly?

A: the required project library is not installed or the project inventory is in conflict, it is recommended to check that the project library is installed correctly. If the installation is correct and still can not be compiled, please reinstall the arduino development environment.

Q: why did I burn the firmware to the ATOM terminal and the device didn't work properly?

A:ATOM terminal firmware needs to use our factory firmware, you can not change other unofficial firmware in use, If the device burn other firmware accidentally. You can use "myCobot firmware burner" to select ATOM terminal-select serial port-select ATOMMAIN firmware to burn the ATOM terminal.

l UIFlow

Q:UI Flow don't support with the latest firmware? A: Need M5STACK update, we have asked M5 to help us update, the time cycle is unknown.

l RoboFlow

Q: Can I use robotStudio software programming A: Our own industrial programming software RoboFlow can be used, robotStudio is ABB company, it can not communicate with us.

l ROS

Q:ROS version A:/ rosdistro:kinetic /rosversion:1.12.17

Q:Does the ROS system operate with a computer attached to the robot arm? A: Yes, connect with the computer is ok.

Q:Ros folder downloaded from github runs only display controls but not display myCobot 3D models. A: You need to open rviz,rosrun rviz rviz manually

Q:Range out or error[101] occurs when in runtime A: Check that the serial port is correct, basic and atom firmware are correct.

Q: operation mode A: It need to open 3 terminal for current operation

l myStudio

Q:Does myStudio replace the UIFlow? A: No, it insteads of the current downloader.

l myCobot phone controller

Q:I have a few questions to ask about APP: 1) Bluetooth has two controls on the right, one is back to zero, the other is? 2) The sixth axis has no mechanical zero, how to get the robot back to zero? Rz the Euler angle is 0. 3) Press the control button of the joint and end shaft, then loose, will it keep moving? A:1. Another free model.

2.When the robot arm is in calibration correction, the current position is set to zero by default.

3.After release, you should stop. APP use the jog control. However, due to the instability of Bluetooth connection, there may be a stop instruction but arm do not received.

l Firmware Burner

Q: Motor don't work A: Use the latest version 1.3 firmware burner, burn atommain to the atom. Only if computer link to the end of the robotic arm typeC interface can you update the firmware to atom.

Q: After burn, how to return to the factory settings? A: Download firmware burner or arduino program, burn main firmware.

l Others

Q:What is the difference between MainControl and Transponder?

A:MainControl is the factory with its own, transponder is the transfer program, after burning can be directly sent packet protocol control.

Q: default software - Drag to teach, action can only be saved to ram can not be saved to flash A: old version will be released with the Chinese version mainControl after the bug adjustment

Q: each Data is a hexadecimal number, right, and then converted to hex characters to send to the machine A: right, serial communication sends and receives data in HEX form

Others

Q:Can I get real-time data while executing instructions

A:It is not allowed for the time being, the bus can not be disturbed when working

Q: The end interface rudder model has a limited end of the control card, what is the relationship with the M5stack? Is it independent?

A: End of the device needs to be able to adapt to our controller, it can support PWM mode control of the steering gear.

Q:what does the speed parameter 0-100 in the WrigeAngle mean

A: speed parameter 0-100 is the percentage of speed

Q: Can I use GetAngles to get the angle information of 6 axes?

The return value of the

A:GetAngles is a float array with a length of 6. The index starts at 0, followed by 6 joints

Q: Is servo or stepper motor?

A:myCobot carry six servo motors.

Q: repeated positioning accuracy

A:+/-0.5mm

Q: what is the reducer structure?

A: reducer is gear set.

Q: what is the gear?

A: metal tooth structure

Q: what is this programmed with?

A:myCobot is open ROS, now supports most platforms on the market including UIFLOW,Arduino,microPython,FreeROTS

Q:How is the Real Time

A:Uart communications, maximum 50 ms delay, normal 5 ms

Q:where can the detailed documentation, sample code of the Arduino library and API interface be seen?

A: check our github: https://github.com/elephantrobotics/myCobot

Q: How much time continuous operation / motor life

A:300-500 hours, rest 15-30 minutes before use will prolong the life of the arm;

Q: shell material

A: plastic; photosensitive resin; SLA

Q:Do the robot arm have torque sensors

A: most collaborative robots don't have torque sensors

Q:Brand of motor

A: self-made motor, external processing

Q: Turn the joint tape encoder?

A: yes

Q: not harmonics?

A: notss

Q: I don't understand servo steering gear , is it a steering gear like a model?

A:it is a steering gear like a model, but we customize and modify a lot, is more suitable for the manipulator. Six-axis linkage, three-power interpolation, not as uniform as industrial robots, the final price here.

Q:motor parameters

A:large steering gear: rated load 10 kgcm, maximum speed 60 rpm, voltage 7.4 V, encoder 12 bit magnetic knitting.

small steering gear: rated load 2 kgcm, maximum speed 80 rpm, voltage 7.4 V, encoder 12 bit magnetic knitting.

Q:ROS version

l rosdistro:kinetic //

l rosversion:1.12.17//

Q: Angle Accuracy

l 360/4096=0.0879°

Q: power supply range

l 6~9V

3~5A

Q:IO input, output, voltage, how to debug; why marked 5V?

A:3.3 V,atom of IO control is gradually open; there are 5V of power; debugging needs to see which platform to develop, arduino,uiFlow,python is different

Q:IO port connection problem

A: IO according to the position, it is divided into the IO, on the basic of the manipulator base and the IO;IO at the end of the manipulator, which is divided into digital signal input and output DIO, analog signal, communication I2C,SPI, power grounding.

Q:Are encoders absolute or incremental?

A: absolute value (steering gear with high precision encoder)

Q:asic software brush uiflow, later with your burning software brush back maincontrol, why the robot arm track recording software can not be used

A:atom firmware version is not compatible, can only use the same version of firmware; update the atom version can

Q: why did it remind TimeOutwhen burning?

A: power up again or press the reset button when burning

Q: why did lights go out when I burn Bluetooth or Transponder atom

A: need command control to reopen LED, close by default

Q: why my equipment can't be used after burning the demo program

A: need to check your version number, corresponding to the version number of firmware can, different versions of the program is incompatible

Q: the accuracy range deviation of the manipulator is a little large

A: the current accuracy, we need more precision to view our industrial arm

Q: I can't drag to teach after burning

A: First check whether the basic and atom are burned; whether the burned firmware corresponds to the requirements to be achieved; and whether the burning is the latest firmware bottom Basic burning atommain at the top

Q:can't control robotic arm when burn transponder

A:Atom also need to burn, burn firmware atom2.1alpha; Basic burn transponder

Q: by which of the six steering gear

A:Atom control at top

Q:python API sample tutorial

A: currently have demo, test code under github Test folder

Q:Do you need to start again after drag the instruction

A: because when re-recording joint motor lock position can not be cut off, click on the release can make the arm joint loose, can be the next drag teaching; power failure can also start again

Q:Does instruction be achieved by reading the set potential value (drag instruction principle)

A: principle is like this

Q:What information does the send to the joint motor through the ROS? Can feedback encoder information

A: potential value; read potential value

Q: show six values in Get coords

A:x,y,z,rx,ry,rz, translation plus rotation; z-y-x compliance

Q:AC flash red light, robotic arm screen not on

A: if the motor doesn't move, may be Basic is broken. Ac frequently flash red lights mean power supply, then power off and power supply. It could be some pcba broken.

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