UFactory uArm Swift Pro User manual

User Maunal
SHENZHEN UFACTORY CO. LTD.
v1.1.0

Contents
1. Safety Precautions
1.1.Precautions
1.2.General Safety
1.3.Emergency stop
2. Quick Start
2.1.uArmWiring
2.2.Installation of uArm Studio Software
2.2.1.Environmental requirements
2.2.2.Obtain and install the uArm Studio software package
2.3.Power On/Off
3.Product Description
3.1.Overview
3.2.uArm (Host)
3.2.1.External Structure
3.2.2.Base & Indicator
3.3.Extension Port
3.4.Workspace
4 .Operating Guide
4.1.uArmStudioSoftware user manual
4.2.Blockly：Visual Programming Tutorial
4.2.1.Quick Start
4.2.2.Blockly Function Description
4.3.Hand-guiding Tutorial
4.3.1.Suction Cup Installation Tutorial
4.3.2.Gripper Installation Tutorial
4.3.3.Hand-guiding
4.3.3.1. Operation Tutorial
4.3.3.2.Offline Guiding Operation Tutorial
4.4. 3D Printing Tutorial
4.4.1. 3D Printing Nozzle Installation Tutorial
4.4.2.Cura For uArm Software Tutorial
4.4.3.Calibration tutorial and calibration card
4.5. Drawing / engraving tutorial
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4.5.1.Universal pen holder installation tutorial
4.5.2.Laser kit installation tutorial
4.5.3.Import patterns & Parameters setting
4.5.4.Adjust the Zero Point
4.6.Bluetooth Tutorial
4.6.1.Bluetooth Pairing Steps for IOS
4.6.2.Bluetooth Pairing Steps for Android
4.6.3.Precautions
Appendix OpenMV module
Link of Developer's Manual
uArm Community
Releases History
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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.
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 Installation uArm Studio control software
Users can control the robotic arm through the control software uArm Studio, and to realize
teaching reproduction, 3D printing and other operations. This chapter takes the teaching
reproduction as an example.
2.2.1 Environmental requirements
Operating systems supported by uArm Studio software are as follows:
Windows 7/Windows 8/Windows 10（this manual is based on these OS）
macOS 10.10/macOS 10.11/macOS 10.12
2.2.2 Obtain and install the uArm Studio software package
Before using uArm , please download the uArm Studio software from http://www.ufacto-
ry.cc/#/cn/support/ and download and install according to the instructions. Software packages
for Mac OS system are also available on this page.
2.3 Power On/Off
When the power button is pressed, the
power indicator lights up to turn it on.
When the power button is pressed, the
power indicator is off and it is turned off. power light

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 the development uArm functions to suit your needs. The uArm
Swift Pro with uArm vision module to perform image recognition and it is ideal for AI robotics
research.
3.2 uArm (Host)
3.2.1 External Structure
The uArm consists of a base, an arm, a forearm and an end effector lamp. The appearance is as
shown in the figure.
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3.2.2 Base & Indicator
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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
interface is shown in the figure.
GND 5V D6 A3
Steering interface

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

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4.Operating Guide
The uArm robotic arm has hand-guiding, drawing, engraving and 3D printing functions, which
can be implemented by uArm Studio software. The functions supported by uArmStudio are
shown in the figure, and the detailed functions are as shown in the table.
uArm Studio Blockly is a visual programming interface designed specifically for uArm.
The robotic arm is controlled in a visual programming manner,
and the user can program by means of drag-n-drop.
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 with robotic arm
Use the robotic arm to complete the drawing and engraving
operations
Drawing ＆ Engraving
4.2 Blockly：Visual Programming Tutorial
Hand-guiding
Blockly
3D Printing
4.1 uArm Studio Software User Manual
Module Function

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There are three tasks for newbie to help you quickly understand Blockly.
4.2.1 Quick Start

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(1)Control the basic motion of uArm
(2)Events ( How to trigger a command )
4.2.2 Blockly Function Description
(3)Apply the action you recorded
(4)Advanced programming ( functions, variables, etc. )

Holding the uArm to record the action , then playing the recorded action.
4.3 Hand-guiding 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.
4.3.1 Suction Cup Installation Tutorial
Step 2: Connect the wires of the fourth axis, the suction tube and the limit switch.
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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.
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4.3.2 Gripper Installation Tutorial
Step 1 Use a hex wrench to remove the suction cup.
Step 2 Install the gripper and lock the fixing screws.
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Step 3 Install the fourth axis motor and gripper.
(1)Record Action
Holding the uArm to record the action , then playing the recorded action.
Tap ‘Start Record’ on uArm Studio to activate the function or tap ‘Menu’ to start recording.
4.3.3 Hand-guiding
4.3.3.1 Operation Tutorial
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Teaching with buttons on the robotic arm when offline.
4.3.3.2 Offline Teaching Operation Tutorial
(2)Save (3)Set the playback speed and number of
playbacks
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Recording :
1. Open the teaching mode: press the menu button once, the status indicator turns green .
2. Hold the arm and guide it, press the play button once to open the suction cup/gripper, and
then press the play button again to close the cup/gripper. (If custom button is pressed, and the
uArm is in gripping/suction cup mode, press the custom button again, otherwise the Bluetooth
function will automatically start in this mode.
3. Complete the recording process, press the menu button once, the status indicator will go off.
Play :
1. Press the play button once, single play; long press the play button for 2 seconds for playing
in loop.
2. During playback, the status indicator flashes slowly .
3. During playback, press the play button once to stop playback .
4.3.3.3 Difference between hand-guide teaching and offline
teaching
(1) Hand-guide teaching has no time limit
(2) You can save and export your recorded actions, and you can also import actions recorded by
others.
(3)You can use your recorded action in Blockly
4.4 3DPrinting Tutorial
4.4.1 3DPrinting Nozzle Installation Tutorial
Step 1: Install the 3D print nozzle, tighten the fixing screws
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Step 2 : Install the 3D printing feeding system
Note : Please make sure the connection is correct, otherwise the computer will not recognize
the robotic arm.
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Connect the motor and expansion board with a color 4pin cable
Step 3 : Install PTFE catheter
( Importing PLA printing materials into the feeding system)
( Importing PLA printing materials into the feeding system)
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