The ARM Users` manual
Contents
1. Figure keypad fold out menu The ARM unit will fold out if key 1 1 is continuously pressed The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 18 3 4 3 Menu for folding in wim Oynamite bal Via the main menu it is possible to reach the folding in menu a As soon as being in the folding in menu the following symbol will appear on the display O J OOO OO OO E O O 2 e OO In the folding in menu The ARM unit can be folded in by pressing key 1 2 continuously Figure keypad fold in menu Remark Fold The ARM unit in until the beep Only then The ARM unit is fully folded in Only in this case the fold out routine can be executed The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 19 3 4 4 Velocity menu eT inama The velocity menu can be reached by pressing key 3 1 in the main menu The velocity can be adapted by pressing key 3 1 again The velocity will switch between slow and quick The current velocity can be seen on the display unit g Q Q a O Slow quick In the figure below it is shown which movements can be made in the velocity menu menu Figure keypad velocity menu piteh roll rall b d p b pieh vow yaw D i xe The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 20 eT Dinamis 3 4 5 Joint menu Via the main menu the joint menu can be reached via key 12. ccccccecseeeeeeeeeeeeeseeeeeesaeeeeesaeeees 36 6 2 System requirements and technical specifications cece ccc ceeccceeeceeeeeeeeeeeeeceeeeeseeesaeessaeees 36 6 3 SY 2 E ee ee ey P EA ee ne O eee ee 36 6 4 Contents transparent mode Kit ee cecccceeececeeececeeeeeseeeeeseeeeseecesseecesseeceseeeeeseeeeseneeseneeesaeess 37 6 5 Hardware installation ccccccccecccesecceeeeeeeeeseeeeseeeeseeeeeeeeseeeeseeeeseeeseeeeseeesseeeseueeseeeeseeesseeesaaees 38 6 6 SEAM TPN A AOE ce eects EE EAT nate Se ace Statice Seta cra nso A E E 39 6 7 The control structure of the ARM cccccccccceccccssececseeeseeeeeseeeeeseeeesseecesseeeeeeeeessaeeeseneeeseeeeeas 40 6 8 Programming the ARM via CAN DUS ccccceecceeceeeeeeeeeeeeeeseeeeeeseeeeeeseeeeeeseaseeessaeeeesaaaeeeenaees 41 6 9 Status Cl AN iN CAM OW scree visser cack a bane sau bandtadsiteus A E R 47 CIO ood O70 1 EIE eee ee E eee ee ee ee eee eee ee een 48 oI ca 5 oeee kee a a ee ee ee eee ee ee eee eee ere 49 6 12 FAQ SOTIWATG gia viscdivciwianidmcadndccin seiuedwaceun iepunwionbannnandedawucenmsaienscinedawnscibiaibwotlenuteasemmieinainnodulenmetameeds 50 T CUSTOMER SERVICES ceccscccciiscsesssccssecasceenssnscsesessspeccrsscsessneeceeueresseensneaseesenees 52 7 1 SEVICE CONAC Mee ee en eee ee eee 52 7 2 Questionnaire for repair of The ARM Uniit cccccccceececceeceeseeeeseecesseeeeseeeeeseeeeeseeeesseeeesaeees 54 7 3 Warranty terms Advan
3. In joint mode no so called prohibited area s are defined This WARNING for examples implies that you can steer the gripper such that it collides with the base of the ARM Therefore be careful when using joint mode 3 2 Use of the 4X4 MATRIX KEYPAD The 4X4 matrix keypad consists of 16 keys which are positioned as follows The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 15 eal Gini 3 3 Starting with The ARM unit Starting point of this chapter is that The ARM unit is correctly installed according to the installation description of the previous chapter The following parts should be connected to the processor box Power supply batteries The ARM unit arm An input device Display unit The ARM unit can be started according to the following procedure e Switch on the ARM e Wait until the start up procedure is finished The gripper opened and closed itself e Then the display now shows the following symbol O OOO OO000 ooooo OOO O e Press key 1 1 until The ARM unit fully has been folded out that is the ARM does not move anymore This pre programmed movement can only be executed if The ARM unit was folded in correctly The ARM unit can now be used The ARM unit can be folded in as follows Go to the mode selection mode key 3 3 Select the fold in mode key 1 2 Press key 1 2 until the arm is fully folded in Wait until the beep After folding out Th
4. 0000 000 0000 ERROR Error in the Absolute Measuring system Initialisation error Blocked motor Move without input Internal communication warning Electrical error ACTION Switch the on off switch off Take a second trial to restart The ARM unit If a few trials do not work then contact your supplier Move in the other direction Look if one axes is blocked or if too heavy load is transported Restart The ARM unit by switching it of and on again If this does not solve the problem contact your supplier Contact your supplier Restart The ARM unit by switching it of and on again If this does not solve the problem contact your supplier The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 22 O O O O 00000 O O BLINKING OO 00 00 OO O 00 OO 00O OO BLINKING Gripper moves against wrist Wrong position for XYZ modes Folding in out is impossible from this position Move gripper back tinamu in the opposite direction Move back to the normal position for XYZ modes with the joint menu Move with help of the joint menu to a position from which The ARM unit car folded in out If any other problems exist or if the actions described above do not work PLEASE CONTACT YOUR SUPPLIER The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 23 AT inama 4 Operating the ARM using
5. s cover at the back of the PC 5 Carefully insert the PC CAN card into the ISA slot by holding the card at the top and gently pushing both ends into the slot at the same time PCA82C200 gael can transceiver Figure 6 1 PC CAN card CAN BUS _ PC ISA BUS 6 Fasten the card s bracket at the back of the computer 7 Replace the cover of the PC and fasten its cover screws The CAN card is powered by the PC The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 38 The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 6 5 3 Connecting the CAN cable oh Finally you have to connect the cables 1 Connect the CAN cable to both the combined power CAN cable of the Manus ARM and CAN card mounted in the PC 2 Turn on the PC 3 Turnonthe Manus ARM The pin configuration of the 9 pins D sub connector on the PC CAN card is The CAN cable is not galvanically disconnected separated from the CAN card 6 6 Software installation Take the following steps to install the transparent mode demo software on your PC 1 Create a new directory on your PC s hard disk Copy the all files on the floppy disk provided to this new directory on your hard disk 3 Execute the program pecan exe on your hard disk A help screen appears The Manus ARM can now be controlled by the appropriate keys on the keyboard of your PC The demo program is a 16 bit DOS applicati
6. this byte is not changed so no new or the same package is send the ARM will move with a speed of 0 22 mm per 20 ms This is due to the fact that this information send by the PC is send by User I O processor to the Mathematical processor every 20 ms The maximum opening between the fingers of the gripper is 90 mm After the gripper is closed or the two fingers have grasped an object a spring in the lower arm is extended resulting in a built up of the gripper force While building up the gripper force the distance between the fingers of the gripper does not change linearly according to the table above 6 8 2 Joint controlbox cbox4 In control box 4 cbox4 the individual axis of the Manus ARM can be rotated operated In cbox4 the display shows a J Position com mands send by the PC to the User I O processor are sent to the Mathematical processor The table below shows valid position commands POSITION DISPLACEMENTS Increment s Minimum _ 1 LIFT UNIT Up off Down 1 1 1 0 1 10 incr 0 1 degree 0 incr 0 1 degree 0 incr 10 incr 6 A5 8 GRIPPER __ 0 1 mm 15 incr The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 43 vit Dynamit The response of the gripper to position command is identical to its response in Cartesian mode see previous section In the Joint controlbox cbox4 the Mathematical processor does NOT perform safety che
7. 80C552 sends a package with ID 0x350 Just read or interpret 40 The 80C552 sends a package with ID 0x360 Just read or interpret 60 The 80C552 sends a package with ID 0x37F Give me the control box and desired movements 60 Answer with 0x371 all bytes 0 Go to cartesian mode stand still 80 The 80C552 sends a package with ID 0x350 Just read or interpret 100 The 80C552 sends a package with ID 0x360 Just read or interpret 120 The 80C552 sends a package with ID 0x37F Give me the control box and desired movements 120 Answer with 0x371 second byte 1 Remain in cartesian mode move along x axis with speed 1 The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 42 6 8 1 Cartesian controlbox cbox1 eT namga In control box 1 cbox1 the Manus ARM can be positioned along its x y and z axis When this control box is active the display will show an X Position commands send by the PC to the User I O processor are sent to the Mathematical processor The table below shows valid position commands POSITION COMMANDS Byte no Parameter Increment s AO 1 O 1 LIFT UNIT Up off Down 1 2 AIX A2 Y 0 022 mm 0 increments 127 incr A3 Z A4 YAW A5 PITCH 0 1 degree 0 incr 10 incr A6 ROLL A7 GRIPPER 0 1 mm 15 incr Example If the value of byte number 2 is set to 10 the ARM will move 0 22 mm 10x0 022mm after 60 ms If after this
8. A second issue to consider when implementing point to point control is the speed behavior of the controller of the ARM as discussed above The position loop of the controller contains a proportional action only whereas the speed loop contains an integral action in addition to the proportional action 6 9 Status clarification The first 2 bytes of a package with identifier ID equal to 0x350 represent the status of the ARM A status is categorized as either warning error or general messages The first byte Byte 1 indicates the message type the second byte Byte 2 contains the message itself When the first byte 1s equal to 0 implies no message and the second byte should be ignored The table below gives an overview of warnings errors and general messages The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 47 oe ynas 1 type 0 Nomessage __X 1 Warning Gripper stuck The gripper has collided with other parts of the ARM Move the gripper in the opposite direction Arm folded is folded and you try to fold it even more Or the ARM is fully stretched and you are attempting to stretch it further Move the ARM in the opposite direction 3 Blocked motor The load is too heavy blocking a motor or you are pushing against an object impeding the ARM to move Reduce or remove the load or move in opposite direction Maximum M1 rotation Move in opposite direction A Maximum M1
9. The ARM unit To prevent that the ARM gets damaged the following limitations must be considered The ARM is meant for indoor use Any collision of the ARM with objects must be avoided Therefore the ARM may not be used for example for like games like wheelchair hockey The ARM unit may not be dropped The ARM unit may not be exposed to aggressive environments like sand and aggressive substances The wrist may not be immersed into water The ARM may partly fold out if the wheelchair takes a turn at high speed lf the battery power is too low the ARM will shut itself off We advise you to use the lift unit in its highest or lowest position only especially when you are driving the wheelchair The ARM unit may only by used by those who can operate The ARM unit safely It is not allowed to use The ARM unit for lifting and using hot sharp and dangerous materials and objects External factors which can cause a temperature of The ARM unit of gt 50 or lt 5 have to be avoided It is not allowed to use The ARM unit under these conditions Transport or storage under the condition gt 60 or lt 20 can cause damage to the electronics and electro mechanics It is not allowed to use transport or store The ARM unit in places where the humidity is more than 90 or in rain or in other humid environments This can cause damage to electronics and electro mechanics Other external factors which can bring power to bear on The ARM unit li
10. keypad or joystick 4 1 Keypad control The figure below shows an overview of the menu structure when using the keypad i t TES MAIN MENU FL ORINKING The ARM User s manual 500 012 1 009 Chapter 4 Operating the ARM using keypad or joystick 24 Onan 4 2 Joystick control Description menu structure North The short joystick control uses 4 wind directions for controlling ieee Eai The ARM unit 7 a gt South Naming the four directions of the joystick wind directions The figure below shows the menu structure when controlling the ARM using a 4 wind direction joystick Cartesian menu A oy N gt Zn E iL IN Jil Qa Qa Qa an Joint menu Menu structure joystick control This structure consists of a main menu with submenus for cartesian joint fold and drink movements Within the drink and fold menu movements can be activated di rectly The cartesian and joint menu are subdivided into 4 submenus These sub menus have to be selected first e g X1 J2 before a movement can be activated You can select a submenu by moving the joystick in the corresponding direction By making a short quick switch one can go up one level in the menu E g when the control is in the submenu for Cartesian movements the menu goes one up by making a short quick switch When this is repeated one ends up in the main menu The ARM User s manual 500 012 1 009 Chapter 4 Operati
11. sent then it is strongly The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 11 recommended to put the ARM back in the suitcase which has been delivered togetier with The ARM unit see previous section Note It is not necessary to have a lift unit In such a case the coupling system can for example be directly attached to the wheel chair 2 2 2 Connections of different parts to the processor box The ARM unit arm should be connected to the computer box via a cable which is connected to the Lift unit at the other side WARNING A The figure below shows the front panel of the processor box Switch off the computer box before connecting or disconnecting any cable to or from the computer box POWER OMIOFF JOYSTICK KEYPAD R522 DISPLAY je 1 a Z4 OC 3A Fi ese Dynamics SERIAL NUMBER nr 04 06 0565 C Front panel of the computer box From left to right the plugs and switch on the front panel are e JOYSTICK If you use an analog joystick you should connect its cable to the JOYSTICK con nector If you use a digital joystick you should connect it to the KEYPAD connec tor on the front panel Note It is not possible to use two or more input devices to operate the ARM e KEYPAD If you use a 4x4 keypad you should connect its cable to the KEYPAD connector If you use a digital joystick you should connect its cable to the KEYPAD connec tor Note It is not possible to use two or more input
12. the joint to move in the opposite direction which reduces the absolute position to safely recover from a blocked motor situation WARNING The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 46 oer inama Point to point control position control Point to point control is applied in practice and gives satisfactorily results but you should be aware of the following difficulties Backlash The Manus ARM shows some mechanical backlash in its transmis sions As the angles of the joints are measured on the motor axis and not on the joints the measured angles of the motor may not represent the actual angles of the joints As the exact magnitude of the backlash is unknown it is not possible to calculate the exact location angles of the joints from the measured angles of the motors Hence if for example 1 increment is send to the ARM the joint might not move due to mechanical backlash Friction Also friction in the transmissions may impede the ARM from moving when small displacements are commanded e g 2 increments If the commanded displacement is small the position error will be small As a result the motor torques may be too small to overcome friction and the joint does not move The ARM might start moving when for example 10 increments are commanded In that case the joint may shows overshoot e g 15 increment when it is suddenly able to over come friction Speed behavior
13. yearly planning interim planning e check in of The ARM unit and determine the completeness of provided information e determine the actual technical condition of The ARM unit e analysing possible errors faults e if necessary discuss this analysis and remarks from other end users with you Mechanical maintenance The ARM unit basic Checking the good functioning and or condition and or excessive wear and if useful or necessary cleaning and or providing with new grease and or replacing and or adjusting of e A1 bearing belts in column lower arm wrist and A1 axis tolerance and grease in reduction box couplings all fastenings absolute encoders CCD arrays bevel gears wrist bevel gears elbow tension of belt upper arm and wrist long gripperband wrist side A1 drivebelt gripper total cleaning excl external cleaning due to use see art 6 g maintenance contract taking apart lower arm cleaning the conductors and provide with new grease The ARM User s manual 500 012 1 009 Chapter 7 Customer services 52 e remove rust and if possible treat anti corrosive AT anama Mechanical maintenance lift unit e taking apart the complete unit e dry cleaning of the parts e checking the condition of the bearings if necessary setting new bearings and provide with new grease e checking the condition of the spindle and provide with new grease Software maintenance If desirable and possible e upgrading system software Electronica
14. 4 In the joint menu all axes can be steered independently WARNING A After the joint menu has been reached the following symbol will appear on the display In joint mode no so called prohibited area s are defined This for examples implies that you can steer the gripper such that it collides with the base of the ARM Therefore be careful when using joint mode O O00 QO O O OO Below the keyboard for the joint menu can be found aa close close gripper es eaaa upper arm eee ae arm shoulder arm Figure keypad jointmenu left 3 5 Use of the Lift unit The lift unit can be used within the main menu The lift unit has two operating positions Utmost position high Utmost position low It is preferable to use only these positions because the high low unit is sufficient stable in these positions only The high low unit can be steered up via key 3 4 and steer down via key 4 4 The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 21 3 6 Troubleshooting oe Dinamis Due to wrong usage of system errors The ARM unit may refuse to work anymore In this case a warning symbol is shown at the display unit The list below describes which errors may occur which display symbols belong to them and which actions can be taken DISPLAY SYMBOL 000 O 0 000000 O O 00 00 0 O O BLINKING 000 OOO O 000
15. 75 seconds position 5 In case a new scan velocity is chosen the operation will automatically move on to the main menu 5 3 6 Menu for adapting the velocity of The ARM unit S In the S submenu velocities can be adapted by pushing a key as soon as the symbols pass by For this applies gt Means low velocity gt gt l Means high velocity When starting up the velocity will be adjusted at the low velocity In case a new velocity is chosen the operation will automatically move on to the main menu The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 34 5 4 Errors and warnings of the single operating function eT namga In The ARM unit surroundings a distinction has been made between warnings and errors In case of a warning certain movements will not be possible anymore however The ARM unit will still be functioning In case of an error The ARM unit will not be functioning anymore Usually a last report will be left on the display 5 4 1 Warnings The ARM unit knows a number of warnings In the case of a warning a warning symbol will variously appear The warning symbol often reflects underlined A beep can also be heard You can often get in a warning situation by moving in the opposite direction 5 4 2 Errors Furthermore The ARM unit has some error messages In case of an error message The ARM unit has to be switched off It is most wise to try to repair The ARM unit by repeatedly switching the syste
16. Hence defining which is in fact a velocity v p 20 10 mm s The PI motor controllers ensure that the ARM moves at this specified reference velocity input If you do not change the value of this position p this desired displacement is added in time on the desired position resulting in a constant displacement in time which is in fact velocity This velocity behavior of the ARM changes when the specified ve locity v p 20 10 mm s can not be reached e g when this specified velocity is too large In that case the difference between the actual position and the position to be reached increases This difference is known as the position error If the position error increases the motor torques are increase in an attempt to reduce the position error As a result the velocity of the ARM increases reducing the position error Hence the velocity of the ARM is no longer equal to the specified velocity Also when a joint is blocked e g due to an obstacle the position error increase and as a result the motor torque increases Then if the blocked joint is released the ARM moves at increased velocity in an attempt to reduce the position error as fast as possible Removing the user inputs by selecting cbox0 before the joint is able to move again does not solve this problem It will result in the so called Move Without Input error M and will result in a software _ deadlock of the microcontrollers Figure 6 2 You should command
17. The ARM Users manual Date August 14 2002 Report number 500 012 1 009 2002 Exact Dynamics All rights reserved No part of this document may be reprodu ced stored in a retrieval system or transmitted in any form or by any means without prior written permission from Exact Dynamics Warranty limits Exact Dynamics makes no warranty for the use of this manual and assumes no responsibility for any error which may appear in this document The information is subject to change without prior notice and should not be considered as a commitment by Exact Dynamics Critical evaluation of this manual by the user is welcomed eT Dinamis Preface Congratulations You ve just received the ARM It is the world s most advanced mobile wheelchair mountable robot manipulator It is the only one with 6 2 degrees of freedom in movements For safety reasons we strongly advise you to carefully read this manual before using the ARM WARNING A This manual will guide you through the installation set up and use of the system via several interface possibilities Please let you guide by those chapters which are des cribing your choice of the interface s The ARM may not be used for manipulating sharp hot heavy objects and or hazardous liquids and gasses Nei ther may it be used to handle objects which may cause in juries to people animals or cause damage to objects or the ARM itself If you have any quest
18. The ARM unit The ARM may only be attached to the wheelchair when e The ARM is folded e The ARM unit is switched off and e if the lift unit is in the highest or lowest position the lowest position is preferred 1 Make sure that the handle of the support unit in the position marked by the red dot e 2 Hold the ARM at the handle near the shoulder and tilt it slightly towards the lift unit 3 Lower the ARM verti cally onto the upper pin of the lift unit and rotate it gently to meet the lower pin 4 Push the handle of the support unit away from the base of the ARM marked by the green dot e The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 10 oe Dynama Detaching the ARM from the support unit WARNING A Take the following steps to detach The ARM unit The ARM may only be attached to the wheelchair when e The ARM is folded e The ARM unit is switched off and e if the lift unit is in the highest or lowest position the lowest position is preferred 1 Push the handle of the support unit towards base of the ARM marked by the red dot e 2 Hold the ARM atthe handle near the shoul der and tilt the ARM towards the lift unit 3 Take the ARM from the upper pin of the lift unit by lifting it vertically After detaching The ARM unit has to be stored carefully at a safe place In case that The ARM unit has to be stored for a long time or if it has to be
19. ced Robot Manipulator cccccccccccseccceceseeeseeeeseeeeeeeeaeeeseeeesaeeeseees 56 eT Dinamis 1 The ARM unit Manipulator 1 1 The ARM unit In this chapter we will explain the structure of The ARM unit and how the several parts and movements are called Knowledge of the different terms make communication about The ARM unit much easier But also safer as confusing and exchanging terms in certain cases may lead to unwanted situations The ARM unit consists of the following components some items are optional YS The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator The basic ARM Gripper Support unit optional Lift unit optional Computerbox Selector box optional User input device e g joystick keypad single switch Display unit Suitcase Manual Software license s b k Column s Shoulder b Upper arm o Forearm A p Wrist AFO ean y g Gripper K The basic ARM and gripper oe Dynama Gripper The gripper is capable to perform com mon tasks It can handle bottles up to 9 Zee Z cm 3 5 width of 1 5 kg 3 Lb s weight lt lt Its grasping power is 20 N 4 Lb When grasping this power is increasing the longer the grasping command will be given until this limit has been reached The maximum opening between the fingers is about 10 cm AA 7 j Y pe x oy Te gripper Computer box The computer box contains the electronic control board w
20. cimal number _ 350 37F den Number 0B The controlbox cbox concept When controlling the ARM using transparent mode a so called control box cbox or mode has to be selected Five control boxes exist Controlbox Mode _ _ _ _ In each control box the user inputs are treated in a different way see Figure 6 3 PC PROGRAM 80C186 CBOX1 CARTESIAN CAN 80C552 JOINT g0C592 INTERFACE USER INPUT CBOXE MANUS ARM FOLD OUT FOLD IN Figure 6 3 The concept of control boxes After start up the Manus ARM is in the initialisation mode cbox0 Next a other controlbox can be selected The selected control box determines the way user in out is interpreted by the mathematical processor It also determined the meaning of position feedback information 6 8 Programming the ARM via CAN bus The Manus ARM can be controlled by sending the appropriate commands from the PC via the External CAN bus to the User I O processor 80C552 microcontroller This microcontroller just trans The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 41 fers the commands directly to the Mathematical processor 8 G ai86 microprocessor In addition it activates symbols on the display The communication between the the PC CAN card and the User I O processor is according to a question amp answer protocol The User I O processor sends a package to the PC CAN card every 20 ms First two
21. cks to prevent a collision of the gripper with another part e g upper arm or base of the ARM You should there fore generate a collision free path for the gripper A collision may re sult in major damage to the gripper or other parts of the ARM WARNING A 6 8 3 Folding out controlbox cbox5 In order to be able to fold out the ARM has to be folded in The current fold status can be requested for During fold out you can stop and continue The ARM will only fold out if the cbox5 is selected twice With the first command you enter the fold out control box cbox5 Sending the second command starts the fold out sequence During folding out the display will show the symbol shown in Figure 6 4 o Figure 6 4 50000 Symbol shown on the display in control box Goo Folding out cbox5 O The ARM folds out according to a pre programmed path with a fixed velocity which can not be changed At the end of the fold out procedure the unfolded status is return by the User I O processor 6 8 4 Folding in controlbox cbox6 The ARM will only fold in if the cbox6 is selected twice With the first command you enter the fold in control box cbox6 Sending the second command starts the fold in sequence During folding in the display will show the symbol shown in Figure 6 5 OOO0O00 Figure 6 5 O 7 O Symbol shown on the display in control box a o Folding in cbox6 0000 0 The ARM folds in according to a p
22. command for axis 1 the ARM will continue to move axis 1 until you send a different speed command for axis 1 Hence to stop axis e g to prevent a collision you explicitly need to send a speed command with value 0 2 Using standard input devices like the keyboard and joystick speed of the ARM in Cartesian mode is limited to 25 cm s and to 12 and 30 degrees s in case of joint mode The trans parent mode allows higher speeds of the ARM in Cartesian as well as in joint mode Therefore at high speeds special precautions should be taken to prevent collisions with persons objects in the envelope of the ARM as well as with the ARM itself 3 In contrast to a standard input device it is possible to control more than one axis of the Manus ARM simultaneously 1 e you can control two or more axis x y and z in Cartesian mode simultaneously you can control two or more axis axis 1 to axis 7 in joint mode 6 4 Contents transparent mode kit The transparent mode kit consists of e Combined power CAN cable e an EEPROM with software for the 552 processor inside the computer box If you ordered ARM including transparent mode this EEPROM is installed in the computer box If you ordered the transparent mode separately you have to install the EEPROM yourself see section 6 5 1 e 1 floppy disk 3 5 containing transparent mode demo software pccan exe and pccan c e PC CAN interface card If one or some of these items are missin
23. d joystick and use this device to control the ARM you must obtain a so called software selector box 6 2 System requirements and technical specifications Installing the transparent mode requires and IBM compatible PC with at least one free 16 bit ISA slot and MS DOS Win 3 x or Win9x as a operating system CAN controller 82C200 Base address CAN card 0x300 Bus CAN card 16 bit ISA Bus type BasicCAN Baudrate CAN bus 250 kbit s Power supply PC Operating systems MS DOS Win 3 x Win9x Language example source file pccan c ANSI C 6 3 Safety Safety is essential Read the following section carefully and follow the cautions and warnings that are placed throughout this manual If the actions indicated below and throughout this section are not WARNING complied with serious injury to you could result as well as major da mage to the ARM The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 36 vit When the ARM is controlled by standard input devices like a keypad or joystick several safety features and safety checks are carried out by the computer box In the case of transparent mode two safety issues require special attention of the user These three safety issues are discussed below 1 Once the ARM is executing a command which is issued by the PC through the CAN bus it will continue the executing of this command until another command is issued For example if you send a speed
24. d denned dag bossedde nna aiea iiaia la aiaa 9 3 OPERATION OF THE ARM UNIT 0 ccc cceceeeeeeeeeeeeeeeeeeeseeeeeneeeeeeeesenesees 15 6 HP TOW MOR BIS Sage eects scat paren satan E EE A E E ET 15 3 2 Use of the 4X4 MATRIX KEYPAD cccccsscccceeseceeceeeeecsaseecseaeeeceaueeecsaseeessageeessageeessaeeeseas 15 3 3 Vel CAG WE TC ARM UN ern T E E E 16 3 4 Use of The ARM unit MANIPULATOR n annnannnnnnnnnnnnnnsnnnnsnnnnnsnrnrnsnrnnsrrressnrrnsrrrrnsnrnrnrrrnnnrresnnenn 17 3 5 ES Sy OE EN ASU e E E E E E EE EEE E AE 21 3 6 Bare elo SCO ONG a E E E dae E E 22 4 OPERATING THE ARM USING KEYPAD OR JOYSTICK cesses 24 4 1 Kaypad CONV Ol esre ti ec cw ede A dla iia E A AN aah etd 24 4 2 JOYS CK CONT Ol ene eee E EE E eee eer eer eee eee AE rer eee eee ee ee 25 5 THE SINGLE SWITCH CONTROOL cccccccceceeeeeeeeeeeeeeeseeeseeeeeneseeeeeessnesees 27 5 1 The single Switeh Control esre A Aaa E 27 5 2 Starting The ARM unit Single SWitCh CONTIOL cccccccseeeeeeeeeeeeeeeeeeeeaeeeeeeseeeeeesaeseeesaeneeesaaaees 27 5 3 Using single switch control ccccseececseseecesececeseceseseeceaeeseaeecsaeeeceueceneseeseageessaseensetensuesenaes 28 5 4 Errors and warnings of the single operating function cccccccseeeeeceeeeeeeeeeeeeesaeeeeeseeeeesaeeeenens 35 6 THE PC CAN CONTROL TRANSPARENT MODE ccccsccssseeeeeeeeeees 36 6 1 Controlling the Manus ARM by a PC through CAN DUS
25. devices to operate the ARM e RS232 The RS232 connector is not used e DISPLAY Connect the cable of the display to the DISPLAY connector e ARM Connect the cable from the lift unit to the ARM connector on the front planel In the case you do not have a lift unit connect the special male connector part to this connector The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 12 AAT Dinamis e POWER ON OFF switch Use the POWER ON OFF switch to switch on or off the ARM unit The light next to the switch indicates whether the ARM unit is on or off If the light is green the ARM is on If the light is red the voltage of the power supply batteries is too low Warning Switch off the computer box before connecting or disconnecting any cable to or from the computer box Switch off the ARM unit if the light next to the on off switch is WARNING red And charge the batteries before switching on the ARM e 24V DC 3A The ARM unit requires a 24 V DC 3A power supply Connect the mains supply from the power supply usually batteries to the 24V DC 3A connector The ARM unit comes with a plug to be connected to the 24V DC 3A connector The connection scheme pin layout of this connector is supplied on a separate sheet coming with the ARM 2 2 3 Electronic test Take the following steps to perform an electronic test of the ARM Switch off the computer box Connect the main power supply to the computer box C
26. e ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator 4 eT inama 1 2 Use of The ARM unit 1 2 1 The properties of The ARM unit manipulator In this chapter we will amplify on the properties of The ARM unit This is also called the functionality of The ARM unit A F hee ee a 4 f b UUE w S r j ARM IN VERTICAL POSITION USER SPAC As shown in the figures above the range of The ARM unit can be indicated in a sphere cal shape with a radius of 80 cm Due to the use of the lift unit there are two spherical working spaces of The ARM unit The ARM unit has a maximum lifting capacity of appr 1 5 kg 3 Lb s When trying to lift objects heavier than 1 5 kg there is a possibility that the display shows a warning The ARM unit has built in slip couplings to prevent The ARM unit from damage They are designed for safety purpose not for regular use The maximum speed of The ARM unit is the speed with which The ARM unit can move an object held in the gripper in space This speed is adjusted at 25 cm sec The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator 1 2 2 Tips for save use of The ARM unit eT Dinama Further to a survey held in 1996 under several users of The ARM unit a list has been made up This list shows the several activities of the users with The ARM unit A few of these activities are 1 All day activities being as independent as possibl
27. e ARM unit is still in the folding out mode The figure below gives the meaning of the keys in this mode out If key 4 1 is pressed after folding out then the main mode will be selected The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 16 eT Dinamis 000 000 000 3 4 Use of The ARM unit MANIPULATOR 3 4 1 Keypad configuration menu From all submenus the main menu can be selected via key 4 1 When the main menu is reached the following symbol will appear on the display 000 000 display symbol main menu 000 Via the main menu all sub menu s can be reached The submenus for each key are shown in the figure below Folding out Drinking intmenu Drinking back Velocity Up CC Lifting Up Main Down Lifting Down Figure keypad Main menu The ARM User s manual 500 012 1 009 Chapter 3 Operation of The ARM unit 17 3 4 2 Menu for folding out eT Dinama The folding out and folding in movements are so called pre programmed motions The folding out menu can be reached from the main menu by continuously pressing key 1 1 Leaving the key The ARM unit stops and will continue after pressing again After the folding out menu has been reached the following symbol will appear on the display O O OO OD O00 O00 OO OO O O In the folding out menu The ARM unit can be folded out by pressing key 1 1 Folding out o e E
28. e e g pouring a drink making dinner eating and drinking getting a drink on a terrace and toasting taking medicines washing and drying scratching face putting on and off your glasses and positioning precisely shaving electrically Opening doors and windows using switches watering plants Opening a tap shopping positioning keypad your forearm etc Opening drawers grabbing things from the floor playing with pets especially dogs playing games 2 Working activities being as independent as possible e g all day activities during working hours see 1 operating the computer operating the printer making telephone calls removing diskettes exchanging tapes switching pages To prevent that these activities are not dangerous for the user we hereby must ask your attention for the warnings and for using your common sense The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator Safe eating and drinking mA Dynama Eating with cutlery may cause a dangerous situation Please read the following tips carefully e To prevent that the spoon hits the plate it is a good suggestion to bend the spoon see drawing The distance between gripper and plate is larger now e It is often a problem to dish up as food is spoiled or the plate will move Special plates with rims and antiskid mats are available e As eating with The ARM unit does not go very fast the food will be cold To prevent this specia
29. e selected by pressing the key After pressing this key The ARM unit will move After releasing the key the last selected movement will remain visible on the display for a short time such that the user can choose the same movement again This option enables users to position accurately by making short key presses The menus in the main operating cycle are xX This menu handles cartesian control It is divided into 2 submenus A For control of the arm P For control of the wrist In addition the symbols for gripper open close are added to this menu Gripper open Gripper close The gripper open and gripper close movements stop after the key is released D In this menu the controls for drinking can be found U In this menu the controls for folding in or out and the control of the high low unit are categorised J In this menu the joint controls are categorised T In this menu the scan velocity i e the velocity at which symbols change at the display can be adapted The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 28 S In this menu the velocity at which The ARM unit moves can be adapted Ginamees All menus end with the symbol which is shown above By activating this symbol the current menu will be left If for some time 30 symbols no key is pressed then the control will go to a pause state This state can be recognised by the following symbol 000 0 0 After pressing a key i
30. ematical processor are received from the second processor which is a 80C552 microcontroller and is referred to as the User I O processor This processor processes the user input The calculated torque set points from the 80C186 are send to the third processors which is a 80C592 microcontroller and is referred to as the Control I O processor This processor is located inside the Manus ARM The communication between the User I O processor and the Control I O processor runs also through a CAN bus and is referred to as the Internal CAN bus The protocol and connection of this bus is handled by the a Philips 82C200 chip The Internal CAN bus should not to be confused with the CAN bus between the computer box and your PC The latter is referred to as the External CAN bus and is used to send commands from the PC to the User I O processor and vise versa It is not possible to connect the PC via the CAN card directly to the Internal CAN bus For simplicity the External CAN bus will also be referred to as the CAN bus in the following The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 40 Communication on the CAN bus Information on the CAN bus 1s send as a package consisting of e the identification ID of the package e a flag which indicates whether information is or is not retrieved rtr and e the length of the package number of bytes e eight bits of data Parameter Datatype Example ID hexade
31. er s manual This situation is indicated by a warning see section 3 4 The orientation of the ARM must be changed manually or by PC control in the Cartesian or Joint mode Q What happens if the user input exceeds its maximum A Too big user inputs may lead to increasing position errors The PI controller will not be able to reach the desired speed As a result Manus will continue moving after this user input is set to 0 You should prevent this situation as the behavior of the manipulator becomes un predictable The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 51 A Dynamit 7 Customer services When there are problems with The ARM unit or if you have questions please contact Exact Dynamics 7 1 Service contract An annual service contract for the ARM can be bought from Exact Dynamics This service contract can be prolonmged each year to a maximum of 5 years When closing such a contract The ARM unit will be serviced and repaired assembly faults for free The service contract includes a 8 hours helpdesk support per year You have to send The ARM unit to Exact Dynamics once per year for maintenance On the next two pages the standard maintenance activities are listed which will be executed standard activities are activities that directly influence the continuance of good functioning of The ARM unit manipulator CHECKLIST EXECUTED MAINTENANCE ACTIVITIES Initial activities e
32. for the backward movement will appear of the same axle The symbols are Symbol 1 Symbol 2 symbol 3 symbol 4 Symbol 5 Symbol 6 Symbol 7 The Symbol for the backward movement of each axle is shown as follows The different joint movements which correspond with the axis symbols are on the next page The backward movement for each axis is shown in the second figure The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 32 Symbol 1 Symbol 2 Symbol 3 symbol 4 Symbol 5 Symbol 6 Symbol 7 WARNING Rotation axis 1 oe Dynama Rotation axis 2 Rotation axis 3 Rotation axis 4 Rotation axis 5 Rotation axis 6 Rotation axis 7 Using the ARM in joint menu may cause serious damage to are defined which impede the gripper from colliding with the ARM The ARM User s manual 500 012 1 009 Chapter 5 The single switch control the ARM itself because in the joint menu no prohibited areas 33 oe Dynama 5 3 5 Menus for adapting scan velocity T In the T menu the scan velocity can be adapted The following possibilities are present Every 1 5 second a new symbol appears Every 1 5 second a new symbol appears Every 1 25 second a new symbol appears Every 1 second a new symbol appears Every 0 5 second a new symbol appears Every 0 5 second a new symbol appears OonRWN When starting up the scan velocity will be adapted on 0
33. g please contact Exact Dyna mics Note Any third party CAN interface card can be used to control the ARM However in that case to need to write your own driver matching the protocol as described in section 6 7 The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 37 oer inama 6 5 Hardware installation 6 5 1 Installation of the EEPROM If you ordered ARM including transparent mode the EEPROM has already been installed in the computer box and you can skip this sub section and proceed with sub section 6 5 2 Installation of the PC CAN card If not take the following steps to install the EEPROM 1 Turn off the Manus ARM Disconnect the computer box of the Manus ARM from the power supply and all peripheral devices 3 Replace the 552 EEPROM on the printed circuit board by the EEPROM marked 552 1 provided in the transparent mode kit 4 Close the computer box Manus ARM and reconnect all peri pheral devices 6 5 2 Installation of the PC CAN card Once the correct EEPROM in the computer box Manus ARM has been installed you can install the PC CAN card in your PC For more information please refer to the manual of your PC 1 Ground yourself by touching the power unit casing Turn off your PC and all peripheral devices Disconnect the PC from the power supply and all necessary components 3 Loosen the PC s cover screws and remove the cover 4 Select a free ISA PC XT slot Remove the slot
34. harge will be made 4 3 Warranty also does not include operating supplies or accessories plant or refinishing The ARM User s manual 500 012 1 009 Chapter 7 Customer services 56 the equipment alterations for this purpose electrical work external to the specifie equipment attachments or other devices not furnished by Exact Dynamics _ 4 4 Exact Dynamics shall be relieved from the liability under this contract and to the extent that it shall be unable to carry out all or any of its obligations herein owing to wars strikes lockouts governmental controls or restrictions where these or any other such causes are beyond all reasonable control of Exact Dynamics However the user advises of such situations arising 5 ASSIGNMENT 5 1 The user may not assign or transfer warranty or any of its rights herein without prior written consent of Exact Dynamics The ARM User s manual 500 012 1 009 Chapter 7 Customer services 57
35. hich is necessary to control the ARM JOYSTICK KETPAD ETAF DISPLAY POWER OMIOFF OE 2V DCA exer Dynamics SERIAL NUMBER aa 06 056 ee The front panel of the computer box The following parts have to be connected to the computer box The ARM unit Keypad or joystick Display Power supply For further details about connection see section 2 2 2 Keypad The Matrix 4X4 keypad is one of a soft touch type and is available in 4 sizes e small dimension keys 17x21 e medium dimension keys 50x46 e large dimension keys 70x70 e extra large jumbo dimension i IE keys 135x175 4 3 6 E With this keypad the user can operate OAT H The ARM unit see chapter 3 e SETS Keypad with 4x4 buttons The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator Display The display unit gives information about the status of The ARM unit When using The ARM unit the display screen shows in which operation mode The ARM unit is at that moment When you change the operation mode the signs on the display also changes immediately In chapter 3 the signs will be explained in more detail When failures or errors occur the display gives a signal With this signal in general the failure or incorrect operation can be detected easily and quickly Support unit Pi if S y Fi i a 4 Display The ARM unit basic can be mounted on a support unit The main purpose
36. information packages are send The third package asks for a response from the PC Hence the PC can supply commands to the Manus ARM every 60 ms However it is not required to respond to the request with an answer The answer is requested for only for synchronization purposes If you do provide answer it overrules overrides commands send earlier When no answer is provided prior send packages and parameters commands remain active The table below gives an overview of all commands packages ANSWER PC Contents of package no answer 2 status bytes Warning Error or fold status Read message Orientation of axis 1 to 3 6 bytes MSB and LSB of axis 1 to 3 Orientation of axis 4 to 7 8 bytes MSB and LSB of axis 4 to 7 Selection of cbox0 Free Selection of cbox1 Desired displacement of axis 0 to 7 Selection of cbox4 Desired displacement of joint 0 to 7 Selection of cbox5 Fold out Selection of cbox6 Fold in The timing of an answer is not critical Be aware that you first have to select a control box before you can send any movement command So if you are in start up mode cbox0 and you want to make Cartesian movements you first have to go select cbox0 Cartesian mode After this you need a second command to activate Cartesian movements Speed values in a package selecting a control box cbox are ignored Example The communication between the PC and the Manus ARM could for example look like Time Communication ms 20 The
37. ion or if you are concerned about using it or something else please do not hesitate to contact us see for address below The employees of Exact Dynamics and their retailers wish you a lot of success with your new The ARM unit You may expect to work with it for many hours without any problems Please read this manual first You will see that many tips are given which facilitate safe and easy use Please note that The ARM unit may only be transported in the suitcase which has been delivered with The ARM unit with the original foam parts Exact Dynamics can only be contacted regarding the originally delivered parts For adjustments delivered by other companies please contact these companies EXACT DYNAMICS B V Einsteinstraat 6 c NL 6902 PB ZEVENAAR THE NETHERLANDS Tel 31 0 316 334114 Fax 31 0 316 331327 Email info exactdynamics nl Web www exactdynamics nl Table of Contents or inama PREFACE 1 THE ARM UNIT MANIPULATOR 0 cc cceccccceeeeeeeeeseneeeeeeeeeneeeseeeseneenesneones 1 1 1 EHEAR VEUM ee ace cates ere adledieseeeseet EEEE E E E E 1 1 2 CFS of TS RUNG cc eats esses ects tees cee EE A a O D N E RNE eei 5 1 3 MY PN EA EE E E E N EE E E E NE E E S AE A T 2 TRANSPORT amp INSTALLATION cccccccccccceeeeeeceeseeeeneeeesenecnscneseeeoneneeseneoes 9 2 1 Transport MINS UNG OURS goss se ster pecs esse Sec sete eee dee Slee neces tence ocey eee TER 9 2 2 installation ISU CUOING gcc nected Seceahde 6 ieeude
38. it 1 a Does The ARM unit still start up yes no 1 60 Can The ARM unit still move yes no 1 c Are the wires plugs connected correctly yes no The ARM User s manual 500 012 1 009 Chapter 7 Customer services 54 2 a 2 b 2 C 2 d 2 6 2 f 2 9 oe What is the condition of The ARM unit when more problems occur Multiple answers are possible What mode is The ARM unit in when the problems occur o 6 o 7 o 8 o J 9 o 2822 10 o Cess h o es 12 o no display o unknown What does the system show when the problems occur O 113 O B 14 O 15 O 16 O 17 O 18 EE L EE O 19 O 20 O 21 o no display o unknown o complete malfunction At which movements do the problems occur o left right o up down o drinking o high low control o wrist o gripper o foldin o fold out o away from you o towards you o unknown What is the weight in the gripper when the problems occur o 500 gram o 1kg o 1 5kg o no loose object for ex a door o none OthenWise 2 5246 246422642222 4655 In what position is the gripper situated when the problems occur o low at the ground o middle o high above the head o otherwise Do the problems occur right after The ARM unit is mounted on the wheelchair yes no Are the accumulators well charged when the pr
39. ke vibrations G forces etc have to be avoided It is not allowed to let somebody else than the user operate the ARM while the user is in the wheelchair or near the ARM The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator 8 2 Transport amp Installation oo Dynami 2 1 Transport instructions The ARM unit may only be transported in the original suitcase it came in and packed with the original foam parts The figures below show the location of the parts and units of the ARM unit in the suitcase Keypad Cable Display Computerbox ARM unit Lit Location of parts in the suitecase Location of the ARM unit in the suitcase Transport or storage at temperatures higher than 60 C or lower than 20 C can cause damage to the electronics and electro mechanics and is therefore not allowed 2 2 Installation instructions 2 2 1 Attaching and detaching The ARM unit to the wheelchair The ARM unit manipulator is a mobile manipulator which is suited for coupling to a wheel chair Also in non mobile situations i e in a fixed environment The ARM unit can be used very well For attaching The ARM unit to its environment a universal coupling system has been developed The ARM unit can be easily attached and detached to the lift unit The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 9 Attaching the ARM to the support unit rr ynam WARNING A Take the following steps to attach
40. l electrotechnical maintenance Checking good functioning of and if useful and necessary cleaning and or replacing of main cable all cables keyboard and display unit cable connections components General Testing total system on good functioning maintenance reporting preparing transportation Helpdesk support telephone max 8 hours per year The ARM User s manual 500 012 1 009 Chapter 7 Customer services 53 7 2 Questionnaire for repair of The ARM unit ort ynam To get a clear picture of the problems which could occur with The ARM unit we have drafted this form This way it will be possible for us to execute repair quicker and with more efficiency For this reason it is necessary for you to answer the questions well defined so that we will have as many information as possible which is important for the repair Thank you in advance Exact Dynamics b v A GENERAL 1 The ARM unit number e a 2 Date ee ca E E ee 3 What problems do you have 4 a What have you tried yourself to solve these problems 4 6 Did you use the manual to find a solution yes no 4 c Have you had these problems before yes no 4 d If yes how many times was The ARM unit returned for this _ times D Did a problem situation occur before the problems showed up for example collision a fall driving in the rain O yes O no B CONDITION OF THE ARM UNIT 1 How is the present condition of The ARM un
41. l warmed up CY plates are available e Ladle out soup is often a problem the best solution is to use a special cup with spout Please note never manipulate the cutlery in your mouth Hot food and hot beverages may injure you when spilled over you Therefore consuming hot food and hot beverages using the ARM are forbidden unless you are using a special designed dinner plates soup plates cups mugs and glasses which prevent spilling To drink the gripper of the ARM unit with cup has to approach you from a side Then when the cup mug glass is just in front of your mouth use the drinking mode of the ARM to drink Note that it is safer to use a straw WARNING A N The ARM may not be used for manipulating sharp hot heavy objects and or hazardous liquids and gasses Neither may it be used to handle objects which may cause injuries to people animals or cause damage to objects or the ARM itself 1 3 Safety For safety reasons many precautions were taken such as e The motor power has been maximised by maximising the current e There is an operating system with a feedback for controlling speed gears and position The display shows a sign if something is wrong e Inthe Cartesian mode the display beeps when the gripper arrives a forbidden area e To move The ARM unit the joystick or the concerning button of the keypad has to be pushed continuously The ARM unit will stop immediately when leaving the button or the joystick e The
42. m on and off In case of continuing error warn your local distributor WARNING A If the ARM is switched off any object which is in the gripper will be released and will fall out Remove any object from the gripper before switching the gripper off The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 35 oer inama 6 The PC CAN Control Transparent mode This chapter describes the installation and use of the transparent mode for the Manus ARM robotmanipulator 6 1 Controlling the Manus ARM by a PC through CAN bus The transparent mode for the Manus ARM robotmanipulator allows you to control the movements of the Manus ARM by an IBM compa tible PC The PC and Manus ARM communicate through a CAN bus Controller Area Network It is a bus for serial communication de veloped by Bosch supports distributed real time control systems with a high safety level Tow types of CAN busses exist basicCAN and fullCAN The trans parent mode applies basicCAN bus which is supported by the Philips CAN controller PCA 82C200 This bus consists of three wires Ground CAN and CAN The baudrate on this bus is 250 Kbits sec For more information on CAN buses please refer to http www caninfo com It is not possible to simultaneously use the transparent mode and another input device like a keypad of joystick to control the ARM In the case you want to be able to flexibly select an input device transparent mode keypa
43. ments see section 6 8 1 and section 6 8 2 Example Suppose the User I O processor has send to followng package to the PC while in Joint control box cbox4 _ID__ Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 oxs5o 1 3 fj 41 14 7 3 ft 5 This package should be interpreted as follows e Byte has the value 1 indicating a warning message The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 45 e Byte 2 has the value 3 indicating that the warning m blocked motor e Byte 3 amp 4 contain the position of axis 1 The value of these bytes are 11 MSB and 14 LSB respectively So the current orientation of axis 1 is 11x 256 14 x 0 1 283 e Byte 5 amp 6 contain the position of axis 2 The value of these bytes are 7 MSB and 3 LSB respectively So the current orientation of axis 1 is 7 x 256 3 x 0 1 179 5 e Byte 7 amp 8 contain the position of axis 3 The value of these bytes are 5 MSB and 6 LSB respectively So the current orientation of axis 3 is 128 6 6 8 6 Tips amp tricks for advanced users Velocity behavior of the ARM Carefully analyzing the control method of the ARM using transparent mode shows that the Mathematical processor 1s controlling the ARM on the basis of a velocity input That is user position input e g a value of p mm from the User I O processor is added to the desired position of the ARM every 20 ms
44. nction wished for can be activated by pushing a key and hold this key until the corresponding graphical symbol appears Besides that it is possible to choose a different speed for The ARM unit arm and a different scan velocity for the display The scan velocity is a measurement for the velocity in which the symbols pass by on the display Errors and warnings will reflect with underlined letters 5 2 Starting The ARM unit single switch control The ARM unit can only be started when all system parts have been installed correctly The following parts should be connected to the processor box Power supply wheelchair batteries The ARM unit arm Single switch Display unit According to the procedure shown below The ARM unit can be started with the single switch control e Turn the on off switch in the on position the on of indication LED is turned on e Wait until The ARM unit has installed itself the gripper has opened and again partly shut The display shows during the starting procedure the symbol as shown below oer inama O O O O aa O o 5 3 Using single switch control After the startup cycle The ARM unit will move to the main control cycle In this cycle the main menu will be scanned This means that repeatedly new menu letters will appear on the display A menu can be selected by pushing a key when the appropriate menu letter appears Each menu consists of at least 1 movement option Movements can b
45. ng D Gyan A special menu has been made with functions which facilitate drinking These functions act on low velocity The available functions in this menu are 0 00 0 0 0 0 0 0 0 000 0 symbol 1 symbol 2 symbol 3 symbol 4 0 00000 00 0 000 00000 0 Symbol 5 Symbol 6 symbol 1 Drinking movement towards you symbol 2 Drinking movement away from you Symbol 3 Slowly moving upwards symbol 4 Slowly moving downwards symbol 5 Slowly moving away from you symbol 6 Slowly moving towards you 5 3 3 Menu for folding in and out U The menu for folding in and out contains the symbols for folding The ARM unit in and out and for the operation of the high low unit The symbols are symbol 1 symbol 2 symbol 3 Symbol 4 symbol 1 Folding out of The ARM unit symbol 2 Folding in of The ARM unit Symbol 3 Moving upwards with the high low unit of The ARM unit The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 31 symbol 4 Moving downwards with the high low unit of The ARM unit Gyan 5 3 4 Control menu for joint movements J In the menu for joint movements you can aim for the shoulder upperarm forearm wrist and gripper separately After the menu for joint movements has been reached the J symbol will appear on the display The menu consists of 7 different symbols for each of the axles These symbols are the eyes of the dice After each passing movement for a certain axle the symbol
46. ng the ARM using keypad or joystick 25 AT ama Scheme joystick control Gripper Axis P Gripper open Gripper close s AX S AS Drink up Axis 1 amp Gripper Axis N Grippe Axis 3 amp Up Dow open close y Axis Axis 5 amp Axis Drink down Axis Axis Axis Axis Axis Axis Drink Joint Cartesian U Foldin out Eroni Gripper Gripper s Lef Right Fold in Flat Dow Bac High Foldin out N Grippe menu open clos y Yaw pien Pitch amp Fold out Roll Roll Yaw Yaw Pitch Dow The ARM User s manual 500 012 1 009 Chapter 4 Operating the ARM using keypad or joystick 26 oer TE 5 The single switch control 5 1 The single switch control The principle of the single switch control is that all available operating functions of The ARM unit can be operated with one and the same key For the single switch control the 4x4 matrix keyboard can be used however every other single switch will function Each key can be used to operate The ARM unit The operating functions of The ARM unit are placed in different menu s which are marked with letters on the display The menu s appear one at a time on the display and a menu can be activated by pushing on the key as soon as the menu letter appears on the display Within a menu a submenu can be defined again marked with etters or a set with available operating functions which are marked with graphic symbols The symbols appear one at a time on the display and the operating fu
47. nt in time In case of the Fold Out mode cbox5 or the Fold in mode cbox6 only the ID of the package 1s defined The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 49 The next routine displays the status on the screen reads the Statusuef the PC keyboard and prints help on the screen In the function CANINIT then 82C200 CAN chip from Philips is initialized For details is referred to the data sheets of the replacement of this chip SJA 1000 The transmission routine codes the message its length the ID and the retrieve flag rtr into two bytes LSB and MSB In the MSB the ID of the message is stored The variable ident is divided by eight to fit in the range of a byte e g 0x350 gt OxFF but 0x350 8 0x6A In the LSB a part from the identity is stored along with the retrieve semaphore and the length of the message Next a counter in the code limits the time to wait for the CAN chip to be ready to send the message If the this chip is ready in time the two bytes mentioned above are sent to the CAN chip and directly afterwards the actual data of the message and the command to sent the package over the bus The receive routine works similar 6 12 FAQ software Frequently Asked software Questions are Q When Manus turns into an error state a solution is to reboot the Manus computerbox Is there another solution A No in an error state Manus computerbox needs to be rebooted manuall
48. oblems occur yes no Do you have any further remarks The ARM User s manual 500 012 1 009 Chapter 7 Customer services 59 oer inama 7 3 Warranty terms Advanced Robot Manipulator ls WARRANTY PERIOD Warranty on manufacturing errors of the specified equipment is applicable for an one year period 2 CONDITIONS The user is responsible for 2 1 Use of the equipment correctly in accordance with the operating instructions of Exact Dynamics 2 2 Keep records of the equipment usage and performance and made them available to the Service Engineers of Exact Dynamics on request 2 3 Not make any alteration addition or attachment to the equipment except with the written consent of Exact Dynamics which shall not be unreasonably withheld 2 4 The user will deliver or send the failing equipment prepaid in its original suitcase to the premises of Exact Dynamics 3 RESPONSIBILITIES EXACT DYNAMICS 3 1 Replace or repair components as necessary at no charge during the warranty period Parts for which replacements have been supplied become the property of Exact Dynamics Replacement parts are either new or equivalent to new but will be in good working order 3 2 Exact Dynamics will deliver or send the serviced or repaired equipment to the premises of the user in a safe state and ready for use J3 Exact Dynamics shall not be held responsible for a Any loss damage accident of injury caused by any defect failure or breakdown of the s
49. of this unit is to connect the ARM to the lift unit or directly to the wheelchair bed table mobile base or other base The support unit also has an ergonomic handle with which you can take The ARM unit easily off Support unit Support unit attached to the base of ARM and the Iift unit The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator AT inama Lift unit With the lift unit The ARM unit can be moved in vertical direction on 25 cm 10 The lowest position is to grab things from the floor And when it is folded in the lift unit is in this position When folding out the lift unit automatically moves into his upper position Lift unit Lift unit attached to the support unit and ARM Selector box It is not possible to operate the ARM using two or more input devices such as joystick keypad transparent mode simultaneously If you want to be able the flexibly select a single input device when you have two of more input devices available you need a selector box Selector box The function of the selector switches S1 S2 and S3 shown in this figure may vary differ on your selector box An input device must be selected prior to switching on the ARM by setting the appropriate buttons on the software selector box Also a button for remotely switching the ARM on and off is available This switch will only work when the POWER ON OFF switch on the form panel of the computer box is on Th
50. on The program will only run with the PC CAN card provided by Exact Dynamics If you apply a third party PC CAN card you have to adapt modify the source code of the file pecan c on you hard disk and compile it or write your own driver For more information on the use of the demo program and structure of the source code pecan c see section 6 11 The base address of the CAN card is 0x300 which can not be changed The card dos not support interrupt programming For details please refer to the source code file pecan c provided 39 6 7 The control structure of the ARM ov nami The control system of Manus ARM consists of three micro processors see Figure 6 2 Delta positions Motor torques 20 ms loop 10 ms loop MANUS COMPUTER BOX MANUS ARM UNIT ee O E S E E E 7 eS a ee a A0 gt Mm gt A2 gt USER I O MATHEMATICAL CONTROL I O PROCESSOR 43 gt PROCESSOR PROCESSOR ay 800186 lt gt 800592 i a A6 gt nt EXTERNAL CAN BUS lt 80C552 calculated position measured angles Figure 6 2 The control structure of the Manus ARM consists of three processors The main processor is a Intel 80C186 processor and is referred to as the Mathematical processor This processor handles safety checking co ordinate transformations in Cartesian mode and calculates the required motor torques via a PI controller based on velocity inputs The set points of the math
51. onnect an input device to the computer box Make sure the ARM is folded in Make sure the lift unit is in its lowest position Switch on the ARM oo gt During startup the display unit O shows the following symbol 000 00 00 O00 O Next The ARM unit will execute a start up test The gripper will close The display unit gives a beep after the starting test has been finished In the case you use a keypad the folding out symbol is shown on the display unit OO OO O00 O00 oo OO O O Next The ARM unit can be used following the instructions as described in chapter 3 The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 13 wm Sunes 2 2 4 Dimensions of The ARM unit In the picture below the mechanical dimensions of The ARM unit can be found re Fy The ARM User s manual 500 012 1 009 Chapter 2 Transport amp Installation 14 eT inama 3 Operation of The ARM unit 3 1 Tips for efficient use Use the Lift unit preferably only in the utmost High or utmost Low position When The ARM unit is not used for a considerably time then fold it in and switch The ARM unit off In case a high force should be delivered for example for opening a refrigerator then a blocked motor signal can occur This means that the motor can not deliver the required force This signal warns the user that the force which is asked for is 0000 too high O O 0000 O O 0000
52. pecified equipment or part thereof b Any failure defect or breakdown whatsoever caused directly or indirectly by the misuse of the specified equipment or any part thereof or by the operation thereof otherwise than by a duly authorised operator in accordance with the direction of the manufacturer or by negligence on the parts of any servant or agent of the user or by consequence of warlike operations riot civil commotion fire storm tempest inevitable accident or any cause event of circumstance beyond the control of Exact Dynamics c Any loss damage or what so ever by transportation 4 EXCLUSIONS 4 1 Warranty is contingent upon proper use of all equipment and does not cover equipment which has been modified without the approval of Exact Dynamics or which has been subjected to unusual physical or electrical stress 4 2 Exact Dynamics shall be under no obligation to furnish warranty repair if adjustment repair or parts replacement is required because of accident neglect misuse failure of electrical power air condition humidity control transportation or causes other than ordinary use if the equipment is maintained or repaired or if attempts to repair or service the equipment are made by other than Exact Dynamics or its agents without prior approval of Exact Dynamics If warranty repair is required in the opinion of Exact Dynamics as a result of causes stated above such repairs will be made by Exact Dynamics and a separate c
53. re is a mechanical safety by means of the slip couplings e The ergonomic design is responsible for the friendly shapes and forms Safe use of The ARM unit requires a few things of the user The user is also responsible for safe use of The ARM unit Exact Dynamics is not responsible for any damage or harm caused by unsafe use of The ARM unit The ARM User s manual 500 012 1 009 Chapter 1 The ARM unit Manipulator eT Dinamis When using The ARM unit the following prescriptions have to be considered WARNING A The ARM unit may not be used to put something in or on the body An operation failure could lead to dangerous situations The following list shows a few examples e itis not allowed to smoke or to work with fire e itis not allowed to give an injection e donot move food in the mouth but position the food just in front of the mouth and eat by moving your head The ARM unit cannot be used for lifting and moving objects heavier than 1 5 kg The ARM unit may not be used to lift or move objects with hot substance Do not push more than one button at the time Do not handle sharp objects with The ARM unit It is not allowed to operate the wheelchair with The ARM unit The ARM may not be used for manipulating sharp hot heavy objects and or hazardous liquids and gasses Neither may it be used to handle objects which may cause injuries to people animals or cause damage to objects or the ARM itself 1 3 1 Limitations of
54. re programmed path with a fixed velocity which can not be changed The only control you have is to continue or stop folding in 6 8 5 Position feedback In the Cartesian control box cbox1 and Joint control box cbox4 the position of the ARM is send by the User I O processor to the PC In Cartesian control box cbox1 the position is defined in Cartesian The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 44 coordinates In Joint control box cbox4 the position is d fimedin joint coordinates angles As explained before the User I O processor first sends two informa tion packages at t 20ms and t 40ms These information packages should be interpreted as follows PE 0x350 axis1 Y 6 LSB Z 8 LSB _ _ 0x360 axis4 Roll axis6 LSB 8 LSB _ The identifier ID of the package determined how the remaining bytes of the package should be interpreted Of the package with identifier 0x350 the first 2 bytes provide the sta tus of the ARM Byte 1 determines whether the package contains a message warning or error Byte 2 determines which status warning of error message it is see section 3 3 The remaining bytes 3 to 8 give position information consisting of a MSB Most Significant Byte and a LSB Least Significant Byte Byte x MSB of the position Byte x 1 LSB of the position The combined value of these two bytes provides the position in incre
55. rotation warning will occur in older ARM versions which show a limited rotation of axis 1 ARM s with serial number 98 04 01 XX or higher which are black have no rotation limitations on axis 1 Folded Unfolded Gripper is ready initializing Absolute measuring is ready E error O 80C552 error 4 _ 2 General Message 3 Error not defined Move without user input error see section 6 8 6 6 10 PCCAN EXE The transparent mode of the Manus ARM comes with a demo DOS program pccan exe It is a 16 bit DOS application Its source code pecan c is also provided see next section Once the program pecan exe has been started the following com mands are available The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode A 8 ean for help o nee Or guit o for printing of the positions in actual controlbox O for mode switch L for cartesian Control 2 TOY SEE Zero 4 for Joint control roe TOE Told wom rot Or Told in q a for Al or X depending the mode w s for A2 or Y depending the mode e d for A3 or Z depending the mode r f for A4 or yaw depending the mode t g for A5 or pitch depending the mode y h for A6 or roll depending the mode u j for gripper open close A7 hye for lire unit up down AO Pressing any other key will stop movements except fold in fold out 6 11 PCCAN C The program pecan exe will only run wi
56. t is automatically started in the cartesian menu 5 3 1 Operating menu for rectangular movements X a Operating menu for the arm positioning A Within the A submenu of the X menu the following 6 menu options can be found 0 0 00 00 0 000 000 00 0 00 00 000 0 0 0 0 Symbol 1 Symbol 2 Symbol 3 Moving to the left of Moving tothe right Moving away from The ARM unit of The ARM unit you The ARM User s manual 500 012 1 009 Chapter 5 The single switch control O oOo O Symbol 4 Moving towards you of The ARM unit 29 0000 AT Tamu 0 0 0000 0 0 symbol 5 Symbol 6 Symbol 7 Moving upwards of Moving downwards to operating menu The ARM unit of The ARM unit for wrist movements b Operating menu for the wrist movements P Within the wrist menu the following movement symbols can be found Symbol 5 Symbol 6 Symbol 7 Symbol 1 Rotation to the right in the flat surface of the gripper of The ARM unit Symbol 2 Rotation to the left in the flat surface of the gripper of The ARM unit Symbol 3 Rotation upwards of the gripper of The ARM unit Symbol 4 Rotation downwards of the gripper of The ARM unit Symbol 5 Twist movement to the right of the gripper of The ARM unit Symbol 6 Twist movement to the left of the gripper of The ARM unit symbol 7 Go to operating menu for arm positioning X The ARM User s manual 500 012 1 009 Chapter 5 The single switch control 30 5 3 2 Operating menu for drinki
57. th the PC CAN card provided by Exact Dynamics If you apply a third party PC CAN card you have to adapt modify the source code of the file pecan c and compile it or write your own driver The source code starts with all the definitions of the addresses of the CAN chip Next the controlboxes warnings and eventually the maximum and minimum increments of displacements are defined Then the structure of a package is defined consisting of an ID a retrieve bit rtr a length indicator len and the bytes containing the actual command parameter The main sub routine is in an endless loop consisting of receiving decoding transmitting and reading the PC keyboard In the decode procedure a switch structure based on the ID of the package is used to decode a package If the ID equal 0x350 the status of the ARM is evaluated Gripper ready Absolute angles ready Next the Most Significant Byte MSB and the Least Significant Byte LSB are read representing the angles of axis 1 2 and 3 If the ID equals 0x360 the LSB and MSB represent the angles of axis 4 5 and 6 If the ID is not equal to 0x350 or 0x360 the package is decoded using a switch structure based on the active control box cbox of the ARM In Joint and Cartesian mode the desired rotations displacements are copied into the returning message as speed If a certain value of desired rotation of a given axis is kept constant then this results in a desired speed constant displaceme
58. y Q Do I have to set up a request to Manus before I am able to send him commands A No after the computer of Manus has been powered on questions form the 80C552 processor will automatically appear on the CAN bus What does A0 mean AO is the control of the optional lift unit of the ARM An input of 1 means the lift unit goes to lower position 0 lift unit stops moving 1 the lift unit goes to higher position gt Why must I send the foldin command twice to fold the ARM The first command is to enter the fold in control box the second command is used to activate the ARM to folding in This has to be done for every change of controller box gt Q Why does Manus keep on moving without sending input over the CAN bus A The user input is not automatically reset by the 80C552 Cbox0 needs to be selected to reset al the inputs or speed 0 has to be commanded for all inputs Q Why does Manus keep on moving after selecting cbox0 A When selecting cbox0 all user inputs will be reset For this reason position errors will not increase anymore However an The ARM User s manual 500 012 1 009 Chapter 6 The PC CAN Control Transparent mode 50 existing position error will not be set to 0 These r swiktisuin non zero torques on the motors hence the ARM is moving Q The ARM does not fold in why A Folding in is not allowed in the prohibited area as described in the The ARM Us
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