UFactory uArm Controller User manual

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Table
1. Safety Precautions.......................................................................................................4
1.1. Precautions.........................................................................................................4
1.2. General Safety ...................................................................................................4
1.3. Emergency Stop ...............................................................................................5
2. Quick Start......................................................................................................................6
2.1. uArmWiring........................................................................................................6
2.2. Install uArm Studio..........................................................................................6
2.2.1. System Requirements.........................................................................6
2.2.2. Download and Install the uArm Studio Software.....................6
2.3. Power On/Off ....................................................................................................7
3. Product Description....................................................................................................8
3.1. Overview..............................................................................................................8
3.2. uArm.....................................................................................................................8
3.2.1. External Structure.................................................................................8
3.2.2. Base & Indicator...................................................................................9
3.3. Extension Port ................................................................................................10
3.4. Workspace.......................................................................................................12
4. Operating Guide........................................................................................................13
4.1. uArm Studio Software Instructions ........................................................13
4.2. Blockly：Visual Programming Tutorial..................................................14

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4.2.1. Quick Start...........................................................................................14
4.2.2. Blockly Function Description.........................................................16
4.3. Teach&Play Tutorial.....................................................................................16
4.3.1. Suction Cup Installation Tutorial .................................................17
4.3.2. Gripper Installation Tutorial ..........................................................18
4.3.3. Teach&Play..........................................................................................19
4.4. 3D Printing Tutorial......................................................................................23
4.4.1. 3D Printing Nozzle Installation Tutorial ....................................23
4.4.2. Cura For uArm Sofware Tutorial ..................................................26
4.4.3. Calibration Tutorial...........................................................................29
4.5. Drawing / Engraving Tutorial....................................................................29
4.5.1. Universal Pen Holder Installation Tutorial................................29
4.5.2. Laser Kit Installation Tutorial.........................................................31
4.5.3. Import Patterns & Parameters Setting......................................34
4.5.4. Adjust the Zero Point.......................................................................34
4.6. Bluetooth Tutorial.........................................................................................35
4.6.1. Bluetooth Pairing Steps for IOS...................................................35
4.6.2. Bluetooth Pairing Process for Android......................................36
4.6.3. Precautions..........................................................................................38
5. OpenMV Module ......................................................................................................39
6. Appendix......................................................................................................................49

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1. Safety Precautions
This chapter describes the safety precautions that should be taken when using
this product. Please read this manual carefully before using it. User should strictly
follow this operating manual.
1.1. Precautions
1. When working with the robotic arm, do not put your hand between the
connecting rods;
2. Please use the official standard power adapter ;
3. Please make sure that there is enough space on the desktop to avoid hitting
obstacles during the operation of the robotic arm ;
1.2. General Safety
●If an error occurs, please contact [e-mail] in time.
●If the product is scrapped, please comply with relevant laws to properly
dispose of industrial waste and protect the environment.
●The robotic arm comes with small spare parts; please keep them away from
children to prevent accidental swallowing.
●Parental guidance is required if the operation is conducted by children. Please
shut down uArm properly in time when the operation is completed.
●Do not put your hand into the range of motion to prevent accidents.
●It is strictly forbidden to change or remove and modify the nameplate,
instructions, icons, and markings of the robotic arm and related equipment.

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●Be careful during handling and installation. Pay attention to the instructions
on the box and place the robot according to the direction of the arrow.
Otherwise, the machine may be damaged.
●Before operating the robotic arm, please refer to the user manual attached to
the box.
1.3. Emergency Stop
Press the power button to stop the drive, all actions and the running program in
uArm Studio will be stopped.
Should not press the power button during normal operation. If the power button
is pressed during the action, the trajectory of the robot will then be changed and
become different with the initial setting, which may trigger an unexpected
situation such as a collision.

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2. Quick Start
This chapter briefly describes how to control uArm through uArm Studio so that
users can quickly understand and start using uArm .
2.1. uArmWiring
Step 1 Connect the power cord
Step 2 Turn on the power switch
Step 3 Connect uArm via USB cable and your computer
2.2. Install uArm Studio
Users can control the robotic arm by uArm Studio, and to realize teaching
reproduction, 3D printing and other operations. This chapter takes the teaching
reproduction as an example.
2.2.1. System Requirements
Operating systems supported by uArm Studio software are as follows:
⚫Windows 10
⚫Ubuntu 16.04
⚫Mac OSX 10.10 or above
2.2.2. Download and Install the uArm Studio Software
Before using uArm , please download the uArm Studio software and install
according to the instructions.

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Download link: https://www.ufactory.cc/pages/download-uarm
2.3. Power On/Off
After pressing the power button, the power indicator lights up, indicating that the
robotic arm is turned on.
After pressing the power button, the power indicator is off, indicating that the
robotic arm is off.


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3. Product Description
3.1. Overview
uArm is the world's first open-source desktop robotic arm, it features open source
hardware and software,you can expand and develop uArm functions according to
your own needs. The uArm Swift Pro with uArm vision module to perform image
recognition and it is ideal for AI robotics research.
3.2. uArm
3.2.1. External Structure
The appearance of the uArm is as shown in the figure.

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3.2.2. Base & Indicator
By default, the custom function button is used for Bluetooth mode /USB mode
switching. Before using the USB mode, make sure the custom function buttons are
in the up state as shown.

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3.3. Extension Port
The uArm interface is located on the back of the base and the arm. The diagram
of the base extention is shown in the figure.

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3.4. Workspace
uArm 's workspace is shown in the figure.

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4. Operating Guide
4.1. uArm Studio Software Instructions
The uArm robotic arm has teach-play, drawing, engraving and 3D printing
functions, which can be implemented by uArm Studio software. The functions
supported by uArm Studio are shown in the figure, and the detailed functions are
as shown in the table.
Module
Function
Blockly
The robotic arm is controlled in a visual
programming manner, and the user can program
by means of drag-n-drop.

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Teach&Play
Once the teaching mode has recorded a series of
actions that taught to the robotic arm, the robotic
arm automatically repeats the recorded actions.
3D Printing
3D printing with robotic arm.
Drawing
&Engraving
Use the robotic arm to complete the drawing and
engraving operations.
4.2. Blockly：Visual Programming Tutorial
uArm Studio Blockly is a visual programming interface designed specifically for
uArm.
4.2.1. Quick Start
There are three tasks for newbie to help you quickly understand Blockly.

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4.2.2. Blockly Function Description
1）Control the basic motion of uArm
2）Events ( How to trigger a command )
3）Apply the action you recorded
4）Advanced programming ( functions, variables, etc. )
4.3. Teach&Play Tutorial
Holding the uArm to record the action , then playing the recorded action.

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4.3.1. Suction Cup Installation Tutorial
Step 1 : Install the suction cup on the fourth axis of the arm and tighten the hand
screw.
Note : If you need to remove the suction cup, please loosen the hand screw.
Step 2: Connect the wires of the fourth axis, the suction tube and the limit switch.

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4.3.2. Gripper Installation Tutorial
Step 1 : Use a hex wrench to remove the suction cup.

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Step 2: Install the gripper and lock the fixing screws.
Step 3: Install the fourth axis motor and gripper.
4.3.3. Teach&Play
Holding the uArm to record the action , then playing the recorded action.
4.3.3.1. Operation Tutorial
1）Record Action
Click ‘Start Recording’on uArm Studio or press the Menu button on the uArm
base to start recording.

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2）Save