WLKATA Mirobot User manual

WLKATA Mirobot manipulator User Manual
WLKATA Mirobot
User Manual
Version: 1.3
Date: Sep 30th 2020
WLKATA Robotics
Beijing Tsinew Technologies Co., Ltd.
北京勤牛创智科技有限公司
www.wlkata.com

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Copyright© Beijing Tsinew Technologies Co., Ltd. 2019. All rights reserved.
Without the written permission of the company, no unit or individual is allowed to extract
or copy part or all of the contents of this document. And shall not be transmitted in any form.
Exemption from declaration
To the maximum extent permitted by law, the devices described in this manual (including its
hardware, software, firmware, etc. Informal writing) are provided "by the status quo," and may
have defects, errors or faults. Tsinew Technology does not provide any form of express or
implied warranties, including but not limited to the warranties of merchantability, quality
satisfaction, fitness for a specific purpose, noninfringement of the rights of third parties, etc.
Informal writing ; nor Compensation for any special, incidental, incidental or indirect damages
caused by the use of this manual or the use of our devices.
Before using this device, please read this user manual and relevant technical documents
published on the Internet in detail and understand relevant information to ensure the
manipulator is used on the premise of fully understanding the manipulator and its related
knowledge. Tsinew Technology recommends that you use this manual under the guidance of
professionals. All safety information contained in this manual shall not be regarded as the
guarantee of Mirobot. Even if the manual and relevant instructions are followed, the hazards or
losses caused in the use process may still occur.
It is the responsibility of the users of this device to ensure that the applicable laws and
regulations of the relevant countries are followed and that there are no significant risks in the
use of Tsinew Technology manipulator.
WLKATA Robotics
Beijing Tsinew Technology Co., Ltd
Address: Room 1603, Zhongguancun Energy & Security Science Park, Building 3,
Qinghua East Road 16, Haidian District, Beijing, China. 100083
Website: www.wlkata.com

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Preface
Objective
This manual introduces the functions, technical specifications, installation instructions,
system debugging, etc. Informal writing of the Mirobot manipulator, which is convenient users
understand and use the Mirobot manipulator.
Readers
This manual applies to:
Educational Engineer
Sales Engineer
Installation and commissioning engineer
Technical support engineer
Revised records
Date
Version
Modification record
Dec 20th 2019
V1.0
The First-time Release
Mar 30th 2020
V1.1
Updates the teach pendant section
Updates the trouble shooting section
May 30th 2020
V1.2
Updates the Pneumatic Set section
Sep 30th 2020
V1.3
Updates the Python section
Updates the conveyor belt section
Updates the sliding rail section
Tutorials of laser engraver, firmware
upgrade and calibration,

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Symbolic conventions
The following symbols may appear in this manual, and their meanings are as follows.
Symbol
Explain
Indicates a high potential hazard which, if not avoided, could
result in personnel death or severe injury.
Indicates a moderate or low potential hazard, if not avoided,
may cause slight personal injury, manipulator damage.
This indicates that there is a potential risk, which may lead to
arm damage, data loss ,or unpredictable results.
Representation is the additional information of the text and
the emphasis and supplement to the manual.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Table of Contents
1Introduction of WLKATA Mirobot............................................................. 7
1.1 Structure of WLKATA Mirobot ...............................................................7
1.2 Items in the WLKATA Mirobot standard set ...........................................9
1.3 Add-ons and accessories ..........................................................................9
2Safety precautions..................................................................................10
2.1 General Safety........................................................................................11
2.2 Precautions.............................................................................................12
3Quick start guide of Mirobot...................................................................16
3.1 Power adapter and USB cable connection .............................................16
3.2 Powering on and off WLKATA Mirobot ...............................................17
3.3 Installing the driver and WLKATA Studio ............................................18
System environment requirements .................................................18
Downloading WLKATA Studio and the driver packages...............18
Installing and verification the driver ..............................................18
Installing and verification of WLKATA Studio..............................20
3.4 Brief Introduction of WLKATA Studio Control Software.....................23
Chinese and English switch:...........................................................23
Joint/Coord Mode switch ............................................................24
Introduction to SETTING interface.............................................24
3.5 Start using the manipulator ....................................................................26
Prerequisite .....................................................................................26
Preparing operation steps................................................................26
Using the ROBOT JOINT MODE control function.......................29
Using the COORDINATE MODE control function.......................30
Using the TEACHING function .....................................................31
Using the BLOCKLY function .......................................................35
Using the gripper module ...............................................................37

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Using the DRAWING function ......................................................40
Using the Pneumatic Set.................................................................45
Using the Python programming .....................................................47
3.6 Using the teach pendant (Bluetooth controller) .....................................49
Product description .........................................................................49
Product function and parameter description ...................................49
Operation Guide .............................................................................52
3.7 Using the Sliding Rail and Conveyor Belt.............................................58
Connection and use of sliding rail ..................................................58
Connection and use of conveyor belt .............................................61
Cautions and Disclaimers ...............................................................63
Disclaimers .....................................................................................64
4Working principle and specification........................................................65
4.1 Working space........................................................................................65
Coordinate system ..........................................................................65
Sports function................................................................................66
4.2 Technical specifications .........................................................................67
Technical parameters ......................................................................68
Technical parameters ......................................................................70
5Interface description ..............................................................................70
5.1 Interface board of the manipulator.........................................................70
5.2 Interface board of the Extender Box......................................................71
Appendix I....................................................................................................73
WLKATA Mirobot Calibration Operation .......................................................73
Appendix II...................................................................................................76
Mirobot Firmware Upgrade Tutorial ...............................................................76
Appendix III..................................................................................................78
Trouble shooting list of WLKATA Studio and Mirobot ..................................78

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
1Introduction of WLKATA Mirobot
WLKATA Mirobot is a six-axis mini industrial robot arm manipulator and is independently
developed and launched by Beijing Tsinew Technologies Co., Ltd. The WLKATA Mirobot
manipulator is primarily developed for STEAM makers, and adolescent education and higher
education purpose.
It represents a new generation of lightweight six-axis desktop robot arm model, which
integrates a variety of practical functions, such as drawing, handling, stacking, painting, writing
and machine vision. Users can easily control Mirobot by remote controller, graphical
programming, teaching and play. It has a rich I / O extension interface, which allowed it to
connect to diverse end-effectors. For advanced operation, users could adopt Python, C++ and
more for subsequent development.
Structure of WLKATA Mirobot
WLKATA Mirobot is mainly composed by a base, six rotating joints, a lower arm, an upper
arm, an end-effector connection plate. There are a total of six robot joints in Mirobot. The
reference frame is shown in Figure below. For more information of the structure of Mirobot,
please refers to the section Working principle and specification in this manual.
The Structure of WLKATA Mirobot

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
The Six Joint Frame Of WLKATA Mirobot
Reference Frame of WLKATA Mirobot

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Items in the WLKATA Mirobot standard set
The WLKATA Mirobot standard set is ready for users who want to experience the essential
functions of the Mirobot. There are 10 items in the standard set package, including the Mirobot
manipulator, User Manual (paper-based simplified version), Bluetooth Box, Extender Box, IDC
Cable, Gripper Module, Pen Holding, Power Supply, USB Cable and Hex Screwdrivers.
Items in the WLKATA Mirobot standard set
Add-ons and accessories
A rich range of add-ons are available for the WLKATA Mirobot. Please refers to the following
table to check the name and function of the add-ons.
11
Robot Controller
12
Robot Controller USB Cable

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
13
Low Power Pneumatic Unit
+
14
Suction Cup
15
2-Finger Gripper
16
High Power Pneumatic Unit
+
17
Universal Ball Gripper
18
GoPro (Hero7) Carrier
19
Sliding Rail
+
20
Conveyor Belt
+
21
Robot Arm Vehicle
22
Robot Arm Vehicle Power Supply
and Battery
+
2Safety precautions
This chapter introduces the safety precautions when using this device. Please read this
manual carefully before using the manipulator for the first time. This device should be used in an
environment that meets the below requirements. Do not modify the device without
authorization. Otherwise, it may cause device failure, even personal injury, electric shock, fire,
etc. The installation, operation, teaching, programming, and system development personnel of
the manipulator must first read the manual carefully and use the manipulator in strict
accordance with the specifications of the manual.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
General Safety
DO NOT Change or Modify the Circuit or Wire.
The manipulator is an electrical equipment. Nonprofessionals are not allowed to
change or modify the circuit or wire. Otherwise, it is easy to cause injury to the
equipment or person.
When using the manipulator, the following safety rules shall be followed:
The "DANGER," "WARNING," and "NOTICE" described in the manual are only used as
supplementary instructions for all safety precautions.
Please use the manipulator within the specified environment. If the manipulator is used
beyond the specification and load conditions, the device lifetime will be shortened and
even cause damages to the equipment.
The personnel responsible for the installation, operation and maintenance of the
WLKATA Mirobot manipulator must firstly receive training, and understand various
safety precautions, and master the correct operation and maintenance methods before
operating and maintaining the manipulator.
It is not suggested to repair the faulty parts or dismantle the manipulator without
professional training. If the devices fail, please contact the WLKATA Mirobot technical
support engineer for advices.
The high corrosive cleaning is not suitable for the cleaning of the manipulator, and the
anodized parts are not suitable for immersion cleaning.
If needs to discard the device, please correctly dispose it as industrial waste in
accordance with relevant laws to protect the environment.
There are small parts in the packing box. DO NOT let children play with the packing or
parts in the box in order to prevent swallowing or hurts.
If the manipulator is used by child, at least one adult must be on the side to monitor the
child’s operation.
The equipment shall be shut down when the operation is completed.
In the process of manipulator movement, please do not extend your hand into the
movement range of the manipulator to avoid bumping or pinching.
It is strictly prohibited to change or remove and modify the nameplate, description, icon,
and mark of the manipulator and related equipment.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
During the handling and installation, please pay attention to handle with care according
to the instructions. Otherwise, it is easy to damage the manipulator.
When operating the manipulator, the local laws and regulations shall be strictly
observed. The safety precautions described in the manual are only as a supplement to
local safety regulations.
Before operating the manipulator, please refer to this WLKATA Mirobot User Manual
which is downloadable in the WLKATA official website.
Precautions
I. Lifting and Handling Mirobot Correctly
Always remember to lift and handling Mirobot by holding the Lower Arm with
one hand and holding the Base with the other hand. One should not lift or
handle Mirobot by holding the Upper Arm, or it would cause a damage to the
motor gears of the major joints.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
II. Be Careful of Your Finger and Preventing Pinching
When the manipulator is during operation, do not place your fingers in the
gap between the upper and lower arms, or the cap between the lower arm
and base to prevent pinching.
III. DO NOT Twisting the Joints by Hand!
DO NOT (!) twist the Joint 1 or Joint 3 by hand in any case, since this would
lead to a fetal damage to these joints (due to the high reduction gear ratio of
these motors). It is only allowed to adjust the joints by using WLKATA studio
or proper operation software.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
IV. Caution the Hot Surface of Motor & Chip
When Mirobot is powered on, DO NOT (!) touch the surface of joint 6 motor
or the chip by hand, as those parts could be very hot during working.
VI. Press the RESET Bottom for a Hardware Emergency Stop
In any case of illegal or abnormal operation of the Mirobot, one should press
the RESET button immediately on the top of the Mirobot base for an
emergency stop. Then before any further operation, remember to execute
the HOMING action.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
V. Execute HOMING action on Each Time Powering on or
re-connect the Mirobot manipulator
Each Time the manipulator is powered on, RESET from an emergency stop, or
reopen the WLKATA studio, the user must execute the HOMING action by
click the HOMING button in WLKATA Studio to homing the joints position.
One should wait for the HOMING action to be completed before any further
operation. (Please refer to 3.4.2 for detailed instruction).
VII. Unplugging All External Components When Powered Off
When power off the manipulator, please disconnect and unplug all external
components from the manipulator, such as Bluetooth box, extender box,
color sensor, sliding rail, conveyor belt etc. Otherwise the manipulator and
the external components may be damaged.
VIII. Avoid Using This Device for Laser Engraving
This manipulator is not designed for executing laser engraving. For users who
use this device in potentially hazardous conditions, one should wear full
personnel protection equipment, including glass, glove and use proper
protection cover unit, etc.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
3Quick start guide of Mirobot
This chapter briefly introduces how to control the manipulator by using WLKATA Studio, so
that users can quickly understand and use the manipulator. The overall process of operation is
shown in Figure below.
The quick start flow chart of using WLKATA Mirobot manipulator
Power adapter and USB cable connection
(1) Use the supplied USB data cable to connect the WLKATA Mirobot and your computer.
Connecting the manipulator to the computer
Start
Power Adapter and USB Cable Connection
Install WLKATA Studio Software and Driver
Power On/Off
Start Using Mirobot
End

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
(2) Connect the supplied power adapter to the manipulator.
Connecting the manipulator to the power adapter
Powering on and off WLKATA Mirobot
DO NOT Twisting the Joint 1 or Joint 3 by Hand No Matter the
Manipulator Is Powered On or Off!
Since this would lead to a fetal damage to the gears of these joints. (See the
2.2 Precautions in this manual)
Power on:
Ensure to connect the manipulator with supplied power adapter. Press the ON/OFF power
button on the top of the manipulator base to power on the device. The green power
indicator on the ON/OFF button will light up.
Switching on the manipulator

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Power off:
Press the power button on the top of the base of the manipulator again to switch off the
power. The power indicator light on the button will turned off.
Installing the driver and WLKATA Studio
The users can control the Mirobot by using WLKATA Studio software to realize functions
such as Joint Mode control, Coordinate Mode control, Teaching & Play, Blockly control and
Drawing, etc.
System environment requirements
WLKATA Studio control software supports the following operating systems:
•Windows 7 (64 bit)，Windows 8 (64 bit)，Windows 10 (64 bit)
Downloading WLKATA Studio and the driver packages
Download WLKATA Studio software package and the CH340 driver package from
http://www.wlkata.com/site/download.html.
Installing and verification the driver
1. Installing driver
Decompress the driver package, and click SETUP.exe in the directory to install the CH340
driver. In the pop-up window, click INSTALL and the interface will pop up after successful
installation. Click OK.
CH340 driver installation wizard interface

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Driver installed successfully
2.Verifying the driver
(1) Ensure to connect the manipulator to the computer by using the supplied USB data
cable.
(2) Open the Device Manager in your PC windows system. Ensure to tick the Show hidden
devices option in the View menu. If the "USB-serial ch340 (COM4)"can be found in the port
(COM and LPT), it means the driver is installed successfully. The port number following the
COM may be different depends on the default driver installation of your system.

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
Serial port drive information of the WLKATA Mirobot manipulator
Installing and verification of WLKATA Studio
1. Installing WLKATA Studio
Log in to the official website: www.wlkata.com. Click "Support-Download Center". Choose
"Wlkata Studio-Win-v1.015.zip (Alpha version)" to download.
WLKATA Studio software package can be directly decompressed and used.