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Lesson 2 Action Programming

The document outlines a step-by-step guide for programming an action group of 9 actions for the xArm 1S robotic arm to enable gripping. It details the process of connecting the arm to a computer, programming various actions, and saving the action group for future use. Each step includes specific adjustments to servo values to achieve the desired movements and actions.

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2 views

Lesson 2 Action Programming

The document outlines a step-by-step guide for programming an action group of 9 actions for the xArm 1S robotic arm to enable gripping. It details the process of connecting the arm to a computer, programming various actions, and saving the action group for future use. Each step includes specific adjustments to servo values to achieve the desired movements and actions.

Uploaded by

dracoforgemail
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lesson 2 Action Programming

1. Project Outcome

Program an action group consisting of 9 actions to allow the xArm 1S to grip.

(Note: The action programmed in this section is only for the programming learning. If you

need the standard actions, please go to the folder "Appendix/Action Group".)

2. Complete Program

2.1 Action Programming

Step 1: Turn on robotic arm and connect to computer. Double click to open the
PC software.

Step 2: Click “Action File” to open provided folder and select No.0 action group.
Click “Run-online” to updated the servo data on the left side, which is the first
action.

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Step 3: Program the robotic arm to bend forward and open the gripper. Drag
the sliders of servos of ID1, 3, 4, 5 to the value as shown in the figure:

Hold down the left mouse button and quickly click the slider to make fine adjustments.

Step 4: Click “Add Action” to add the second action into the list.

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Step 5: Lower the robotic arm a little bit and make fine adjustment of the
gripper, which are the preparation of the next step of gripping. Please drag the
servos of ID 1, 3, 4 to the value in the figure.

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Step 6: Set the close the gripper to pick up. Do not forget to add the fourth
action into the list.

Step 7: Hold the block and then raise the arm. Please adjust the position of
servo 5.

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Step 8: Adjust the servo 6 to rotate the base.

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Step 9: After reaching the designated position, lower the robotic arm and open
the gripper to put down the block.

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Step 10: Release the gripper and then put down the block.

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Step 11: Set the robotic arm to the initial position. Right-click the No.1 action,
select “Copy” and then right-click the No.8 action to paste down.

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2.2 Download Action Group

Step 1: After programming, please save the action group into your computer
for later debugging. Click “Save action file” and fill in the file name then save it
(see example below ).

Step 2: Download the action group into xArm 1S. Select number and click

button to download. There will be a beep sound if succeed to


download the action group.

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