rozum robotics Pulse User manual

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TABLE OF CONTENTS
INTRODUCTION......................................................................................................................... 3
WARNING SIGNS AND THEIR MEANINGS......................................................................... 3
1. ABOUT THE PULSE ROBOT................................................................................................ 4
1.1. Overview............................................................................................................................. 4
1.2. The operating states of the PULSE robot........................................................................ 6
1.3. Safe operation requirements............................................................................................. 7
2. SWITCHING THE ROBOTIC ARM..................................................................................... 7
3. THE PULSE DESK USER INTERFACE.............................................................................. 8
3.1. Accessing the PULSE DESK software............................................................................. 8
3.2. The Main Menu of PULSE DESK.................................................................................. 11
4. PROGRAMMING WITH PULSE DESK............................................................................ 11
4.1. Editing a program............................................................................................................ 12
4.1.1. Creating a program ..................................................................................................... 12
4.1.2. Adding commands to a program body........................................................................ 12
4.1.2. Setting command parameters...................................................................................... 14
4.1.4. Deleting one or more commands................................................................................ 20
4.1.4. Relocating one or more commands............................................................................. 20
4.2. Debugging a program...................................................................................................... 20
4.2.1. The Check stage screen............................................................................................... 20
4.2.2. Conducting a test run.................................................................................................. 22
4.2.3. Adjusting command parameters ................................................................................. 22
4.3. Running a program.......................................................................................................... 22
4.3.1. Starting program execution......................................................................................... 23
4.3.2. Pausing or stopping a program ................................................................................... 24
4.3.3. Saving a program........................................................................................................ 25
4.3.4. Renaming a program................................................................................................... 25
4.4. Managing programs......................................................................................................... 25
4.4.1. Loading a program...................................................................................................... 26
4.4.2. Deleting a program ..................................................................................................... 26
4.5. Closing PULSE DESK..................................................................................................... 26
4.6. Updating PULSE DESK.................................................................................................. 27
ANNEX I. SAMPLE PULSE DESK PROGRAM................................................................... 28

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INTRODUCTION
The data, instructions, and recommendations in this manual are intended to assist operators of the
PULSE robotic arm in the following:
understanding the operating principle of its hardware and software components
using PULSE DESK to program and control motion of the PULSE robotic arm
WARNING SIGNS AND THEIR MEANINGS
Below, we list the warning symbols used throughout the manual and explain their meanings.
The sign denotes important information that is not directly related to safety, but that the
user should be aware of.
The sign indicates important safety precautions the user should follow.

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1. ABOUT THE PULSE ROBOT
1.1. Overview
The PULSE robotic arm is a lightweight manipulator intended for collaborative operation in
industrial and commercial applications, including:
pick-and-place
packing
assembly
machine tending
screwing
gluing
welding, etc.
Figure 1-1: The PULSE robot (without an end effector)
Although the arm is designed to operate safely in close proximity to humans, the
integrator should conduct a risk assessment for each particular installation to evaluate
the need for additional safety devices (e.g., safeguards).
In its basic design, the PULSE arm comes in combination with the hardware and software
components listed in Table 1-1.

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Table 1-1: Hardware and software components supplied with the PULSE robotic arm
Component
Intended use
Hardware
Control box
To control operation of the PULSE robotic arm.
Emergency stop
button
To ensure Category 1 stop of the robotic arm in an emergency.
Software
PULSE DESK
To program the PULSE robotic arm to move along a desired trajectory and
perform different kinds of operations with a work tool.
Without an end effector, the PULSE robotic arm includes the following major structural sections
(see Figure 1-1):
a mounting plate (1)
an arm base (2)
six axes (3-8), comprising Rozum Robotics self-designed servo motors
a wrist with a LED indicator and a cable connector (9)
For detailed structural design and component-specific data, refer to “Pulse Robotic Arm.
Hardware Installation Manual.”
In addition, the arm includes linkage elements—aluminum alloy tubes and elbow fittings. On the
elbow fitting above the wrist, there are four control buttons as shown below.
Figure 1-2: Control buttons of the PUSLE robotic arm

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1.2. The operating states of the PULSE robot
Table 1-2 describes the operating states and modes of the robotic arm. Transition from
INITIALIZATION to READY is automatic, whereas from READY to WORK and back—
enforced through the PULSE DESK software.
Table 1-2: The operating states of the PULSE robotic arm
Operating state
Details
INITIALIZATION
Power is supplied to the robotic arm via the cable that connects it to the
control box. The robotic arm is initializing, running self-tests to check the
operational state of its components.
In case any of the self-tests fails, the robotic arm goes to the
Error state. The red LED on the control box lights up, whereas
the LED on the arm wrist remains off.
READY
The robotic arm is on and ready for operation, but not in motion. The green
LED on the control box is constantly on.
Once you initialize the PULSE DESK software (see Section 3.1), the arm
goes to the LEARN mode, enabling the control buttons. The writs LED turns
yellow.
In the LEARN mode, two states are possible:
Freeze: The arm joints are locked in their current positions, and the user
cannot move them by hand. The freeze state is on by default.
In the Freeze state, an attempt to move the robotic arm by
hand guiding can cause damage to its components.
Free Drive (Zero Gravity): The arm retains its position, and the user
can move the arm by hand guiding (e.g., to add points to a program
created in PULSE DESK).
To enable/ disable the state, press the FREE DRIVE MODE button
(see Figure 1-2). Once the arm is in the Free Drive state, the wrist LED
turns blue.

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WORK
This is a state of active operation, when the robotic arm moves or performs
any other programmed actions (e.g., closes/ opens the gripper).
The green LED on the front panel of the control box is constantly on, and
the wrist LED is blinking green.
If an error occurs during operation of the robotic arm, the wrist
LED turns red. On the control box, the red LED lights up.
1.3. Safe operation requirements
Make sure to read and meet the requirements before operating the robot.
To ensure safe operation of the PULSE robot, it is essential to comply with the following
requirements:
Conduct a risk assessment of your application to evaluate the need for additional safety
devices (e.g., safety cages, fencing, etc.) or any other risk-mitigating measures.
Provide continuous power supply to the robotic arm (e.g., installing an uninterruptible
power supply, a redundancy circuit, etc.). Otherwise, we cannot guarantee that the robotic
arm will maintain its position during a power outage, which may result in serious damage
to its components.
Keep away from the workspace of the arm when it is in the WORK state.
2. SWITCHING THE ROBOTIC ARM
To switch the PULSE robotic arm, follow the instructions below:
Before powering the control box, make sure all cables are correctly connected and
properly secured. Always use original cables from the Rozum Robotics supply package!
1. Plug the power cord of the control box into the mains socket.
2. Flip the external mains switch (if any) to the ON position.
3. Flip the power switch (see Figure 2-1) on the back panel of the control box to the ON
position. The control box starts receiving power and initializing. Once the bootup is over,
the robotic arm starts initializing, too.

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Figure 2-1: The back panel of the control box
4. Wait until the arm is fully initialized. As soon as the arm is ready for operation, it will go
to the READY state (see Table 1-2).
3. THE PULSE DESK USER INTERFACE
PULSE DESK is a software program that enables operating the PULSE robotic arm together with
an attached work tool. The program is pre-installed on the PC module integrated into the control
box and boots in the course of the control box initialization. Its functionality allows for the
following:
creating programs to set up a motion trajectory of the robotic arm
debugging created programs to adjust a motion trajectory
executing created programs to operate the arm
saving and deleting created programs
adjusting the motion speed of the arm
operating an attached work tool
setting parameters for communication between the arm and external equipment (e.g.,
conveyor belts, safety devices)
saving data on program execution to a production log (available to service personnel only)
3.1. Accessing the PULSE DESK software
You can start working with PULSE DESK as soon as the PULSE robotic arm is on and in the
READY state (see Table 1-2).
To access the software, complete the following two steps:
1. Start a web browser on your device (a tablet, a laptop, a PC).
2. Specify the arm's IP address and the port number (:8080) in the browser line.

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The IP address is dynamically assigned to the PULSE robotic arm by the DHCP server.
To get the address, you can either (a) look up the last assigned IP address on the DHCP
server or (b) check the IP addresses of the devices on ports 22 8080 and 8081.
If you have successfully completed the first two steps, PULSE DESK loads the Edit stage screen
(see Figure 3-1). The arm goes to the LEARN mode, while the control buttons on the robotic arm
switch to the enabled state.
At the start, the software also informs you about available updates (if any) (for details,
refer to Section 4.6).
Figure 3-1: The Edit stage screen
Table 3-1 describes the interface elements of the Edit stage screen and their purposes.

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Table 3-1: The elements of the Edit stage screen
No.
Description
1
The Main Menu button opens the Main menu of the PULSE DESK software (for details,
see Section 3.2).
2
The Program Name field displays either the name of the currently executed program or the
default “Untitled program”name.
The Program Name field cannot be empty. If you remove the program name from
the field, it will display the "Program name here..." background prompt.
3
The Stepper indicates the current stage of working with the PULSE DESK software:
creating a program (Edit)
debugging (Check)
production (Run)
In the Stepper, you can see the currently active stage selected (as shown for the Edit stage
in Figure 3-1) and the completed stage(s) (if any)—marked with a checkmark.
Once you reach the Run stage, you can switch between the stages by clicking appropriate
stage names in the Stepper.
Before switching back from the Run stage to any other, make sure to stop program
execution.
4
The Next button enables switching from programming to debugging and then to production.
At the Run stage, PULSE DESK replaces the Next button with the Save&Run one.
5
The Program Body panel displays the sequence of commands contained in a program.
PULSE DESK indicates the currently executed command by selecting it.
If you have just started PULSE DESK or chosen to create a new program, the Program Body
contains only the Wait for command.
When in the LEARN mode, the Wait for command disappears as soon as you
start adding new commands using the control buttons.
6
The Service panel displays the parameters of the command selected in the Program Body.
You can set the parameters by changing the values in appropriate fields (for details, see
Section 4.1.2).
For the Open gripper and Close gripper commands, the Service panel is
displayed empty.
7
The Add Commands control opens a list of commands for creating a program (for details,
see Section 4.1.1).

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3.2. The Main Menu of PULSE DESK
Clicking the Main Menu button opens a sliding menu with the following commands:
Load program—for choosing a program to work with from a list of previously created
and saved programs
New program—for creating a new program
Save program as—for saving the program under a specified name
Delete program—for permanently removing a program
Figure 3-2: The Main menu of PULSE DESK
4. PROGRAMMING WITH PULSE DESK
The general workflow of the PULSE DESK program is as illustrated in Figure 4-1 below.
Figure 4-1: The PULSE DESK workflow
Until you complete the entire workflow up to the Running stage, switching from stage to stage is
only possible in the forward direction by pressing the Next button. Once you are at the Running
stage, you can go back to any previous stages or switch between the stages randomly by pressing
the Stepper indications—Edit, Check, or Run.
Before switching back from the Running stage to any other, it is advisable to stop
program execution.

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4.1. Editing a program
4.1.1. Creating a program
To create a new program, follow the sequence of actions as below:
1. On the Edit stage screen, click the Main menu button to open the Main menu.
2. On the Main menu, select New program.
3. On the Main menu, select Save program as. In the displayed dialog box, specify a
program name and confirm saving the program under the specified name.
Figure 4-2: The “Save changes”dialog box
If there is a program already running in PULSE DESK when you select New program on the
Main menu, PULSE DESK requests to stop execution of the program. Once you confirm the stop,
the software clears the Program Body and the Program Name field. You can proceed to saving
your new program (Step 3 above).
In PULSE DESK, every program should have a unique name. If you attempt to save a
newly created program under a name that coincides with an already existing one,
PULSE DESK displays an appropriate warning, preventing you from using the
redundant name.
4.1.2. Adding commands to a program body
After you have created a program, the next step is to add the commands to its body. The PULSE
DESK software enables using the following six commands:
The Wait for command specifies the input port for receiving a signal from external
equipment (e.g., a conveyor belt) and the type of the received signal (high/ low).
The Send to command sets the output port the output port for sending a signal to external
equipment (e.g., a conveyor belt) and the type of the sent signal (high/ low).
The Delay command specifies how long (in seconds) PULSE DESK should wait before
moving on to execute the next command in the program body.
The Point command sets a waypoint in a motion trajectory of the arm.

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The Open gripper command opens the gripper.
The Close gripper command closes the gripper.
Adding commands is possible only at the Edit stage.
There are two ways to add commands to a program body:
A. Using the Add Commands button
B. Pressing control buttons
A. To add a command using the Add Commands button, follow the instructions below.
1. On the Edit Stage screen, click to open the Add Commands menu. The button
changes its appearance to .
Use the button to close the Add Commands menu when you no longer need it.
Figure 4-3: The Add Commands menu (opened)

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2. On the Add Commands menu, click the required command. It appears in the Program
Body below the currently selected command.
Now, you can proceed to set the command parameters (see Section 4.1.2) or to add another
command.
B. To add a command by pressing the wrist buttons, keep to the following guidelines.
The control buttons are enabled in the LEARN mode only. You can use them to add
three of the six commands—Point, Open gripper, and Close gripper.
To add the Point command:
Step 1. Move the arm manually to the desired position.
Step 2. Press the Point button on the elbow fitting to add the point. The point appears in
the Program Body panel below the currently selected command. The Service panel displays
the point parameters (the X, Y, Z coordinates and rotation angles).
If required, you can adjust the point parameters using the Joystick group of
buttons (No. 2, Figure 4-7) or by manually changing the values in the parameter
fields of the Service panel (No. 1, Figure 4-7).
To add the Open gripper or Close gripper command:
Step 1. Select a point (Point command) within the Program Body where you want the gripper
to open/close or add one as described above.
Step 2. Press either the Open gripper or the Close gripper button on the elbow fitting. A
command to open/close the gripper appears in the program body below the selected point.
4.1.2. Setting command parameters
You can set and adjust command parameters either at the Edit stage or at the Check one. PULSE
DESK enables you to set parameters for the following commands:
Wait for
Send to
Point
Delay
The Open gripper and Close gripper commands have no parameters to set.

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Wait for command
1. In the Program Body, select Wait for. The Service panel displays the command
parameters as shown in Figure 4-4 below.
Figure 4-4: Setting parameters for the “Wait for”command
2. In the Input Port dropdown box, select an input port for receiving a signal from
connected external equipment (e.g., a conveyor belt).
An input port is one of the digital inputs on the back panel of the control box.
3. In the Value dropdown box, select either High or Low to specify the type of the received
signal.
Send to command
1. In the Program Body, select Send to. The Service panel displays the command
parameters as shown in Figure 4-5 below.

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Figure 4-5: Setting parameters for the “Send to”command
2. In the Output Port dropdown box, select an output port for sending a signal to connected
external equipment (e.g., a conveyor belt).
An output port is one of the digital outputs on the back panel of the control
box.
3. In the Value dropdown box, select the output signal type—High or Low.
Delay command
1. In the Program Body, select Delay. The Service panel displays the command parameters
as shown in Figure 4-6.

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Figure 4-6: Setting the parameters for the Delay command
2. In the Time field, specify how long (ms) PULSE DESK should wait before moving on to
the command following the Delay one.
Point command
1. In the Program Body, select Point.
2. In the Service panel, set the coordinates and rotation angles (roll, pitch, yaw) for the point
in the fields (1) as shown in Figure 4-7 below.

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Figure 4-7: Setting parameters for the Point command
As you set the parameters in area (1), PULSE DESK will prompt you about mandatory
parameters and their admissible ranges as shown in Figure 4-8.
Figure 4-8: Prompt to set point parameters
3. Using the joystick buttons in accordance with their purpose (Table 4-1), adjust the X, Y,
Z coordinate values and rotation angles, if needed.
Alternatively, you can adjust point parameters by changing the values directly
in the parameter fields (1).

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Table 4-1: The joystick buttons and their purpose
Button
Purpose
To increase the X coordinate value
To decrease the X coordinate value
To increase the Y coordinate value
To decrease the Y coordinate value
To increase the Z coordinate value
To decrease the Z coordinate value
To set rotation in the clockwise direction
To set rotation in the counterclockwise direction
To adjust the roll angle (RX) (rotation around the X axis)
To adjust the pitch angle (RY) (rotation around the Y axis)
To adjust the yaw angle (RZ) (rotation around the Z axis)
You can also click Move to the point to verify the resulting arm position and then make new
adjustments, if needed.

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4.1.4. Deleting one or more commands
To remove a command from the Program Body, follow the instructions below:
1. Select one or more commands in the Program Body.
2. Drag-and-drop the selected one or more commands outside the Program Body panel.
PULSE DESK removes them permanently from the program body.
4.1.4. Relocating one or more commands
To relocate one or more commands within the Program Body, proceed as follows:
1. Select one or more commands.
2. Drag the selected one or more commands to any desired location within the Program
Body. PULSE DESK displays them at the desired location.
4.2. Debugging a program
4.2.1. The Check stage screen
Once you have created a program, your next step is to check whether it can work properly with
the robotic arm and debug it. For the purpose, you need to switch to the Check stage and conduct
a test run of the program.
To switch to the Check stage, click Next in the Edit screen. In the Stepper, PULSE DESK checks
the Edit stage indication and moves selection to the Check stage one. The screen has the
appearance as shown in Figure 4-8 below.