Initial Setup Instructions

Guide to have your RoboKit ready for use.

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

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:

  1. Secure an area around xArm robotic arm based on the dimensions of the robot.

  2. 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.

  3. 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.

  4. 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.

  5. Once the xArm is moved to a suitable posture, close the uFactory Studio.

  6. Fix the gripper on the end of the robotic arm with 2 M6 bolts, as shown below:

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

  1. 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.

  1. Connect the RoboKit and SenseKit to the router using the ethernet cables.

  2. 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.

  3. Connect the power supplies to the RoboKit and SenseKit.

  4. Power On the RoboKit by pressing the power button.

  5. Check the IP of the xArm provided on the control box.

  6. Once the RoboKit is running. Open the command prompt window on the laptop and give the command:

ssh extend@<RoboKitIP>
  1. When prompted for password provide the password as “extend”

  2. 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
  1. When prompted for password provide the password as “extend”

  2. Power On the xArm and release the xArm safety switch.

  3. 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 NameLower LimitUpper 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 NameLower LimitUpper 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.