Initial Setup Instructions

Guide to have your RoboKit ready for use.

Follow the setup instructions as per the robot available for you:

The uFactory studio can be used on the Windows laptop used for running the AMAS VR app. Please follow the steps mentioned in xArm manual to use the xArm Studio.

The components of the hardware package are designed to offer the user a plug and play experience. To perform the assembly of the hardware components please follow the instructions in this chapter. The following image shows the contents of the uFactory xArm box:

For assembling the xArm robotic arm connect the components as per the following diagram:

Now follow the following steps:

Secure an area around xArm robotic arm based on the dimensions of the robot.
When the xArm is in the zero position, the gripper will interfere with the installation surface, and therefore the arm has to be moved before attaching the robot.
Connect the xArm robotic arm to the PC using the ethernet cable. Configure the IPv4 setting on the PC to be in the same network as the xArm.
Use the uFactory Studio, which is a xArm default graphical user application for controlling the robotic arm, to move the robotic arm to a posture suitable for installing the gripper during installation. \textbf{Note:} The uFactory studio can be used on the Windows laptop used for running the AMAS VR app. Please follow the steps mentioned in xArm manual to use the xArm Studio.
Once the xArm is moved to a suitable posture, close the uFactory Studio.
Fix the gripper on the end of the robotic arm with 2 M6 bolts, as shown below:

Connect the robotic arm and the gripper with the gripper connection cable:

All the Connections need to be as per block diagram:

Connect the RoboKit to the control box ethernet cable to using the Ethernet to USB converter.

Connect the RoboKit and SenseKit to the router using the ethernet cables.
Configure the router settings to give network access to the IP’s of RoboKit and SenseKit. The default IPs of the RoboKit and SenseKit can be found on their cases. Skip this step if using the router provided by Extend Robotics.
Connect the power supplies to the RoboKit and SenseKit.
Power On the RoboKit by pressing the power button.
Check the IP of the xArm provided on the control box.
Once the RoboKit is running. Open the command prompt window on the laptop and give the command:

ssh extend@<RoboKitIP>

When prompted for password provide the password as “extend”
In the terminal give following commands:

echo \export XARM_IP=<IP written on the control box>" >> ~/.bashrc

e.g.,

echo “export XARM_IP=192.168.1.212” >> ~/.bashrc
sudo poweroff

When prompted for password provide the password as “extend”
Power On the xArm and release the xArm safety switch.
The AMAS system operates on the joint limits as shown below for xArm6 and xArm7. If any of the joint is outside of these limits, please use the uFactory GUI to move the joint back into the limit.

For xArm6:

Joint Name	Lower Limit	Upper Limit
Joint 1	-150	150
Joint 2	-60	90
Joint 3	-100	0
Joint 4	-150	150
Joint 5	30	178
Joint 6	-150	150

For xArm7:

Joint Name	Lower Limit	Upper Limit
Joint 1	-178	178
Joint 2	-125	125
Joint 3	-178	178
Joint 4	-6	178
Joint 5	-178	178
Joint 6	30	178
Joint 7	-178	178

The initial setup is now finished. Follow the instructions on the next page for further guidelines on starting and running the RoboKit.

The hardware package components are designed for a plug-and-play experience. Follow these instructions for the initial setup:

Attach the SenseKit to the tripod and place it in a convenient location based on your use case.
Connect the RoboKit to the control box of the UR e Series robot using an Ethernet cable.

Note: Use the Ethernet to USB connector to connect the cable to the RoboKit.

Ensure all connections are as per the block diagram.

Connect the router power supply and power on the router.
Connect the RoboKit and SenseKit to the router using Ethernet cables.
Configure the router settings to give network access to the IP addresses of the RoboKit and SenseKit. Find the IP addresses on the case or based on changes made by the user.
Connect the power supplies to the RoboKit and SenseKit.
Check that the emergency stop is released and power on the UR e Series robot. Wait for the teaching pendant to finish loading.
Once the mechanical assembly is complete and the robot is powered on, connect the provided flash drive to the teach pendant USB port.
To install the URCaps, go to the Settings Tab and navigate to URCaps.
Press the "+" button to add the UR caps from the USB.

Select 'usbdisk' to view the available URCaps and install the 'externalcontrol-1.0.5.urcap' URCap.

externalcontrol-1.0.5.urcap

Restart the robot.
After the URCap installation, go to Settings, then System, and then Network. Change the Network method to Static Address and assign the following:
- IP Address: 11.0.0.1
- Subnet Mask: 255.255.255.0

Click Apply and Exit.
In the installation tab on the teach pendant, navigate to the URCaps section. Select External Control and set the following parameters:
- Remote Host IP: 11.0.0.2
- Port: 50002
- Host Name : "Control from RoboKit"

Use the teaching pendant to move the Joint 4 to a location other than 0 degree before starting the AMAS app to avoid singularity at the start of the program. The suggested starting position is shown as below with corresponding joint values.

The AMAS system operates on the joint limits as shown below. If any of the joint is outside of these limits, then the system will not work. Please use the teaching pendant to move the joint back into the limit.

Joint Name	Lower Limit	Upper Limit
Joint 1	-170	170
Joint 2	-170	0
Joint 3	0	170
Joint 4	-170	170
Joint 5	-170	170
Joint 6	-170	170

Steps to enable the Remote Control Mode:
- Go to the Settings on the teaching Pendant
- Go to System -> Remote Control
- Click on the Enable
- Exit the Setting. A new mode of operation icon will appear on the top right. Select Remote Control.

The initial setup is now finished. Follow the instructions on the next page for further guidelines on starting and running the RoboKit.

The hardware package components are designed for a plug-and-play experience. Follow these instructions for the initial setup:

Attach the SenseKit to the tripod and place it in a convenient location based on your use case.
Connect the RoboKit to the control box of the UR CB Series robot using an Ethernet cable.

Note: Use the Ethernet to USB connector to connect the cable to the RoboKit.

Ensure all connections are as per the block diagram.\

Connect the router power supply and power on the router.
Connect the RoboKit and SenseKit to the router using Ethernet cables.
Configure the router settings to give network access to the IP addresses of the RoboKit and SenseKit. Find the IP addresses on the case or based on changes made by the user.
Connect the power supplies to the RoboKit and SenseKit.
Check that the emergency stop is released and power on the UR e Series robot. Wait for the teaching pendant to finish loading.
Once the mechanical assembly is complete and the robot is powered on, connect the provided flash drive to the teach pendant USB port.
To install the URCaps, go to the Settings Tab and navigate to URCaps.
Press the "+" button to add the UR caps from the USB.

Select 'usbdisk' to view the available URCaps and install the 'externalcontrol-1.0.5.urcap' URCap.

externalcontrol-1.0.5.urcap

Restart the robot.
After the URCap installation, go to Settings, then System, and then Network. Change the Network method to Static Address and assign the following:
- IP Address: 11.0.0.1
- Subnet Mask: 255.255.255.0

Click Apply and Exit.
In the installation tab on the teach pendant, navigate to the URCaps section. Select External Control and set the following parameters:
- Remote Host IP: 11.0.0.2
- Port: 50002
- Host Name: "Control from RoboKit"

The AMAS system operates on the joint limits as shown below. If any of the joint is outside of these limits, then the system will not work. Please use the teaching pendant to move the joint back into the limit.

Joint Name	Lower Limit	Upper Limit
Joint 1	-170	170
Joint 2	-170	0
Joint 3	0	170
Joint 4	-170	170
Joint 5	-170	170
Joint 6	-170	170

To ensure the control script launches on the autostart of the UR robot, the following additional steps must be completed.
- Click the Program Robot button
- Click on Load Program button
- Select extend.urp from the external USB drive and click the open button.
- Save the program in the home directory by clicking File -> Save
- Navigate to the installations tab and go to Load/Save tab
- Click on Save as and save the installation as "extend"
- After the installation is saved successfully, it should appear as the current installation

The initial setup is now finished. Follow the instructions on the next page for further guidelines on starting and running the RoboKit.

The components of the hardware package are designed to offer the user a plug and play experience. To perform the assembly of the hardware components please follow the instructions in this chapter.

The following image shows the contents of the Dobot CR-A series robot box:

For assembling the Dobot robotic arm connect the components as per the following diagram:

Now follow the following steps:

Secure an area around dobot robotic arm based on the dimensions of the robot.
Connect the dobot robotic arm to the PC using the ethernet cable. Configure the IPv4 setting on the PC to be in the same network as the dobot control box.
Download the latest version of Dobot sudio from the official website.
Using the Dobot Studio, connect to the arm and enable the robot.

The Dobot studio can be used on the Windows laptop used for running the AMAS VR app. Please follow the steps mentioned in Robot manual to use the Software.

Once the arm is enabled, move it to a posture suitable for installing the gripper and then disable the robot.

Please make sure that the robot is mounted in the correct orientation as specified in the diagram below.

If you are using a ROBOTIQ 2F-85 gripper with the dobot, you will also receive a box with the following content:

Using the supplied fasteners, mount the Gripper mounting flange to robotic arm and the gripper to the flange. Once mounted connect the gripper with the gripper connection cable:

Once the gripper is connected, enable the robot and initialize the gripper using the Robotiq 2F-85 plugin.

Please make sure that the tool IO version is V6.3.1.1 or later (Older version might trigger Overcurrent alarms and disable the robot)

Make sure that the collision is enabled and the robot is within the following joint limits:
Joint Name Lower Limit Upper Limit
Joint 1
-170
170
Joint 2
-100
45
Joint 3
-160
0
Joint 4
-145
145
Joint 5
-170
170
Joint 6
-170
170
Before the next steps, make sure no alarms are raised in the software except for the emergency kill switch (if pressed).
Switch the robot control mode to TCP/IP and close the software.
Disconnect the ethernet from the computer and follow the instruction and block diagram for the connections:

Connect the power supply for the Router, Robokit and Sensekit.
Check the labels on the Robokit and connect the the correct ethernet port to the Router using the provided cables.
Check the Sensekit model specific instructions, and make the necessary connections for the camera and connect the sensekit to the routers well.
Configure the router settings to give network access to the IP addresses of the RoboKit and SenseKit. Find the IP addresses on the case or based on changes made by the user.
Check that the emergency stop is released for the robot.
Once all connections are made, first switch on the robot control box and wait for the dobot control box to start.
Start the robokit and sensekit, and check the ethernet indicator leds on both the ports of robokit are showing activity.
If everything is connected the robot brakes will release, and if the gripper is connected, will also be initialized.

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