Hello World

If you have ArfBotOS running and want to test out the robot, follow the instructions below to create your first program. Additionally, you will need to have tuned the drives and mastered the robot before proceeding. Please follow the relevant procedure located in the sub-folders of the Robots directory. For the AR4 robot, those documents are located here.

HMI

ArfBotOS host a web-based HMI to make it convenient to program and control from any device. If you followed the installation procedure, the website for ArfBotOS should be http://arfbot:8080/webvisu.htm

Homing

Navigate to the the HMI and enable the robot by pressing the Enable button on the top left. This will send the enable signal to the Teensy drive controller.
Make sure the robot has enough space to move and home the robot by pressing the Home button. Once the robot finishes homing the green Homed light will illuminate.
Once the robot is homed it should end up with all axes at the 0 degree position. Note: change Flag 44 on the Programs screen if you would like the robot to take pose 2 after homing.

Jogging

Navigate to the JOGGING screen and notice the Pose buttons on the left side. There are 5 dedicated position registers for storing pose positions. Two of these positions are initialized when ArfBotOS boots for the first time. Press Pose 1 to move the robot. Note: the pose positions can be found on the PROGRAMS screen in Stored Positions 34-38
Enable the jog function from the SMC_GroupJog2 faceplate by pressing the Enable button. The Busy light will illuminate indicating the function block is ready.
Switch to the TCS (Tool Center Point) coordinate system using the CoordSystem dropdown.
Press the Forward[0] button to move the TCS in the X+ position. See the list below for the other axes.

Forward[0] X+
Forward[1] Y+
Forward[2] Z+
Forward[3] P+ (pitch)
Forward[4] Y+ (yaw)
Forward[5] R+ (roll)

*Note: if you are unfamiliar with Euler angles, study this page. Additionally, search Youtube and other sites on information about 6-axis robot coordinate systems.

Demo Programs

On initialization for the first time, ArfBotOS will load demo programs into the memory. Hint: you can delete and modify these programs as you like. You can restore ArfBotOS back to factory by clearing Flag 49 and restarting.

From the Main HMI screen, select the PCS1 Corners program and press start.
The robot will begin moving to the PCS_1 Coordinate system and will run the TCP along all for corners and the return to Pose 2.