rozum robotics Pulse User manual

ROZUM ROBOTICS PULSE ROBOTIC ARM
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GETTING STARTED WITH THE PULSE ARM
It takes the SIX STEPS to get started with the PULSE ARM:
STEP 1. Mount the arm.
STEP 2. Connect the arm with the control box, the local
network, and the peripheries
STEP 3. Switch the arm
STEP 4. Set communication with the arm
STEP 5. Start the PULSE DESK
STEP 6. Run a sample program

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STEP 1. Mount the arm.
1. Unpack and position the arm vertically.
2. Holding the arm tight on the body, bolt it down onto a mounting surface using one of the
following methods:
Method 1. Insert four M8 bolts into the 9-mm dia. holes on the edges of the transition plate
pre-assembled with the arm and tighten the bolts up.
Method 2. Dismantle the transition plate pre-assembled with the arm by removing the 2 pins
and 11 bolts that hold together the arm base and the plate. Then, use the same 2 pins and 11
bolts to bolt down the arm base to the mounting surface.
This is it! The arm is now ready for STEP 2.

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STEP 2. Connect the arm with the control box, the local network, and
the peripheries
1. Attach your selected end effector, using the mechanical and electrical interfaces on the wrist
of the robotic arm as illustrated below:
Mechanical interface
Electrical interface
*DO = digital output
*DO = digital output

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2. Connect the arm with the control box, using the 48V hybrid cable from the supply package.
The cable should run from the connector at the bottom of the robotic arm to the 48V connector
on the back panel of the control box.
A robotic arm from a specific supply package is compatible only with the control box
from the same package!
3. Plug the emergency stop button cable (attached to the button) into the appropriate connector on
the back panel of the control box as shown below
4. Connect the 220V power cable included in the supply package to the power supply connector
on the back panel of the control box.

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5. Connect the arm directly to a personal computer (PC), using the Ethernet cable.
6. (Optional) To connect any required additional equipment (e.g., a sensor, a safeguard, a PLC)
to the robotic arm, use the digital inputs and outputs on the back panel of the control box.
Note: For detailed connection requirements and parameters, refer to the HARDWARE
INSTALLATION MANUAL.
The arm is now ready for switching at STEP 3!

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STEP 3. Switch the arm
Do not move the arm manually until the initialization is over and the wrist LED on
the arm is steady green!
1. Plug the power cable connector into the mains socket.
2. Flip the power switch on the back panel of the control box to the ON position.
The control box starts receiving power and initializing. During the initialization, the LED on
the arm wrist is off, while the green LED on the control box is blinking.
Once the initialization of the control box is over, the green LED goes from blinking to steady
green. Then, the arm starts initializing, too.
After the arm initialization is over, the wrist LED turns steady green.
Now, you can go to Step 4!

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STEP 4. Set communication with the arm
For the quick start, the robotic arm is connected directly to a PC. Therefore, to set communication
with the arm, use a static IP. For the arm, the static IP is 10.10.10.20 by default.
Below, you will find the instructions how to set communication via a static IP, depending on the
operating system in use.
Windows OS
1. Switch on your PC.
2. In the right-hand corner of the Taskbar, left-click the network connection indicator.
3. Among the displayed connection options, select Npcap Loopback Adapter.
4. In the displayed Ethernet settings window, click Change adapter options.

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5. In the displayed Network Connections window, right-click the Ethernet icon and select
Properties.
6. On the Networking tab in the displayed Ethernet properties window, double-click
Internet Protocol Version 4 (TCP/IPv4).

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7. In the IP Version 4 (TCP/IPv4) Properties window, select Use the following IP address and
set the IP address and the Subnet Mask fields to the values as shown below.
For the last digit in the IP address field, you can use any value from 1 to 255, except
for 20, since 10.10.10.20 is the default static IP address of the arm.
8. Click OK to confirm the settings.

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Linux OS
1. Switch on your PC.
2. Open Network Connections and double-click Ethernet to open the editing window as shown
below.
3. In the displayed window, select the IPv4 Settings tab.

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4. In the Method dropdown box on the IPv4 Settings tab, select Manual.
5. In the Addresses area on the same tab, click Add and specify the Address, Netmask, and
Gateway as shown in the figure below.
Specifying the last digits in the Gateway and the Address fields, it is possible to use any
value from 1 to 255, except for 20, since 10.10.10.20 is the default static IP address of
the arm.
6. Click the Save button to confirm the settings.
Now, you have all you need to start working with it via the PULSE DESK user interface!

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STEP 5. Start the PULSE DESK user interface
1. Open a browser.
2. In the browser line, type in either the default static IP address 10.10.10.20 and the port number
8080.
The browser page displays the starting screen of the PULSE DESK user interface.
Now, you can start programming the PULSE arm using the interface. To help you make your first
steps, we provide a sample PULSE DESK program in Step 6.
For a more detailed program, refer to the PULSE DESK USER MANUAL.

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STEP 6. Run a sample program
Task: To perform a pick-and-place operation, moving an object (e.g., a nut) from one location to
another.
All parameter values are for reference only. To create a program for your purpose, use
your own values specific to your application and operating conditions.
The general recommendation is to observe the following sequence:
1.Creating a new program
2.Setting a basic trajectory by hand guiding
3.Setting intermediary waypoints
4.Verifying and editing the trajectory
5.Conducting a test run
6.Executing and stopping the program
Creating a new program
1. On the screen displayed at PULSE DESK start, click the Main Menu button.
2. On the Main menu, select New program. PULSE DESK loads the Edit screen with the
Wait for command already in the program body.
Simultaneously, you will see the wrist LED turn yellow. This means the LEARN mode is now
on, and the control buttons on the arm elbow are enabled.

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3. On the Main Menu, select Save program as and type in a name for your program (e.g.,
pick-and-place-nuts) in the displayed dialog box.
4. Click Yesto confirm saving the program under the name and close the dialog box. The specified
name appears in the Program Name field.
Setting a basic trajectory by hand guiding
For the particular trajectory, we will use the buttons on the arm elbow (see the figure below) to set
three basic waypoints:
Point 1—start position
Point 2—to pick up the object from its initial location
Point 3—to move the object from its initial location to another spot
In addition, we will add commands to open/close the gripper at the waypoints.
The elbow buttons are active in the LEARN mode only. When you switch to the
PULSE DESK interface to perform any actions (e.g., to edit a point, add a command
via the Commands menu), the mode is off. To switch back into the LEARN mode,
you will have to create a new program.

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5. Press the Free Drive button on the elbow of the robotic arm to set the arm into the Free Drive
mode.
The LED turns blue and you can now drive the arm to any position manually.
In the Free Drive mode, the arm joints are not locked. Make sure to hold the arm
tightly, providing proper support, to avoid damages due to the robot falling.
6. Set the arm into a starting pose by hand guiding. The recommended starting pose is as illustrated
below.
7. Once you are in the required starting pose, press the Free Drive button again. The arm goes to
the Freeze mode, which means its joints are locked in their current positions.
8. Press the Point control button to remember the arm pose as the first waypoint in the required
trajectory.
Now, if you look at the screen of your PC, you will see the following:

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PULSE DESK adds the point to the program body (default name Point 1), clearing the
Wait for command.
The Service panel displays Point 1 parameters—the coordinates and rotation angles of
the tool center point (TCP) in the position.
Physically, the TCP is located at the centre of the arm wrist as shown below.

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9. With the arm in the same pose, press the Open gripper button. The Open gripper command
appears below Point 1 in the program body.
10. Press the Free Drive button to switch the arm back into the Free Drive mode. Drive the arm
by hand guiding towards the nut so as to pick it up from its original location.
11. Once the gripper is in the right position and orientation to pick up the nut, press the Free Drive
button again to freeze the arm in the pose.
12. Press the Point button to remember the pose as Point 2 of the required trajectory.
A corresponding command line (default name Point 2) appears in the program body. On the
Service panel, you can see the TCP coordinates and rotation angles specifying the arm position
at the point.
13. To grab the nut at Point 2, press the Close gripper button on the arm elbow. The corresponding
command appears below Point 2 in the program body.

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14. Press the Free Drive button to switch the arm back into the Free Drive mode. Drive the arm
by hand guiding to move the nut from its original location to another spot.
15. Once the gripper is at the required spot, press the Free Drive button again to freeze the arm in
the pose.
16. Press the Point button to remember the pose as Point 2 of the required trajectory.
A corresponding command line (default name Point 3) appears in the program body. On the
Service panel, you can see the TCP coordinates and rotation angles specifying the arm position
at the point.
17. To open the gripper and release the nut at the spot, press the Open gripper button. The
Open gripper (1) command appears below Point 3 in the program body.
Now that a basic pick-and-place trajectory is set, you can start working with Add commands menu.
Your next task is to add intermediary points to make the arm trajectory smoother.
Setting intermediary waypoints
In this particular case, we set up two intermediary waypoints for each of the already preset points
in the basic trajectory—Point 2 and Point 3. One of the intermediary waypoints is to approach a
preset point before lowering the gripper and the other—to lift the gripper before moving on to
another waypoint. In addition, we will set an end pose to finish the program.

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18. Add an intermediary waypoint to approach Point 2. To do this, select the command preceding
the point in the program body. Click . In the displayed menu, select Point.
A new command line (default name Point 4)appears in the program body preceding Point 2.
The parameter fields on the Service panel for the new command contain default zeros.