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更换配件myblockly使用图片为英文版本
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neckprotecter authored May 29, 2024
2 parents 484c80a + 7a407ec commit 71b088d
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136 changes: 102 additions & 34 deletions 1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/1-AdaptiveGripper.md
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Expand Up @@ -59,7 +59,7 @@ Mall link:
If the video fails to load, please click the link below to view the video.
[Installing Vidio](https://www.youtube.com/watch?v=RPKjV0IuP5E)

**Installation and use**
### **Installation and use**

- Clamping jaws mounting：

Expand All @@ -80,9 +80,9 @@ If the video fails to load, please click the link below to view the video.

<br>

**myCobot Pro 320 Instructions for use**
### **myCobot Pro 320 Instructions for use**

- Programming development (python)：
#### Programming development (python)：

> Programming and development of the jaws using python:
> [python environment download](../../../7-ApplicationBasePython/7.1_download.md)
Expand Down Expand Up @@ -135,37 +135,105 @@ If the video fails to load, please click the link below to view the video.

> You can see the jaws open-close-open

- Programming Development (myblockly):

> Programming and development of the jaws using myblockly:
> [myblockly download](../../../5-BasicApplication/5.2-ApplicationUse/myblockly/320pi/2-install_uninstall.md)
> Note that before developing with myblockly, you need to have run `mc.set_gripper_mode(0)` with a python program to set the jaws to 485 mode.

1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用1.png)
2. Modify the baud rate to 115200
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用2.png)
3. Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用3.png)
4. The drag module is attached under the `initialise mycobot` module, modify the degree of spread and speed as required, here it is set to `70`.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用4.png)
5. In `Time`, select `Sleep` module
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用5.png)
6. Set the time to `2 seconds` to allow time for the jaws to move.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用6.png)
7. Repeat the selection of the `Set Jaw Value` and `Sleep` modules to change the `Set Jaw Value` opening level to `0`.
![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用7.png)
![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用8.png)
8. Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用9.png)
9. Modify status to `open' and speed to `70'.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用10.png)
10. Click on the green running icon in the upper right corner to see the jaws `open-close-open` in motion

<!-- 2 Development with SDK
- [Blockly]()
- [Python]()
- [C++]() -->
#### Programming Development (myblockly):

> Programming and development of the gripper using myblockly:
> [myblockly download](../../../5-BasicApplication/5.2-ApplicationUse/5.2.1-myblockly/320pi/2-install_uninstall.md)

- **Port Passthrough Mode Method 1:**

1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用1.png)
2. Modify the baud rate to 115200.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用2.png)
3. Find `Gripper` in the list on the left and select the `Set Gripper Mode` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用3.png)
4. Drag and drop under the `init` module and select `Transparent Transmission`.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用4.png)
5. In `Loops`, select `repeat` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用5.png)
6. Set the times to `3 times`.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用6.png)
7. In `Gripper`, select the `Set Gripper State` module, put it in the `repeat` module, set it to open at 20 speed, and the gripper type to Adaptive Gripper.
![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用7.png)
![alt text](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用8.png)
8. In `Time`, find the `Sleep` module and set the time to 2s, the purpose is to give the gripper time to make a movement.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用9.png)
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用10.png)
9. In `Gripper`, select the `Set Gripper State` module, put it in the `repeat` module, set it to close at 20 speed, and the gripper type to Adaptive Gripper.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用11.png)
10. In `Time`, find the `Sleep` module and set the time to 2s, the purpose is to give the gripper time to make a movement.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用12.png)
11. Final flowchart and code.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用13.png)

```python
from pymycobot.mycobot import MyCobot
import time

mc = MyCobot('/dev/ttyAMA0', 115200)
mc.set_gripper_mode(0)
for count in range(3):
mc.set_gripper_state(0,20,1)
time.sleep(2)
mc.set_gripper_state(1,20,1)
time.sleep(2)
```
12. Click on the green running icon in the upper right corner to see the jaws `open-close-open` in motion.

- **Port Passthrough Mode Method 2:**
1. The process framework is the same as method 1, except that the `Set Gripper Mode` module is replaced by `Set Gripper Value`.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用14.png)
2. Final flowchart and code.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用15.png)

```python
from pymycobot.mycobot import MyCobot
import time

mc = MyCobot('/dev/ttyAMA0', 115200)
mc.set_gripper_mode(0)
for count in range(3):
mc.set_gripper_value(10,50,1)
time.sleep(2)
mc.set_gripper_value(90,50,1)
time.sleep(2)
```

- **IO Control Mode:**
> Note: When switching back to IO mode from pass-through mode, you need to power off and restart the machine before you can use IO mode normally.
1. Setting the `Set Gripper Mode` module to Port Mode.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用16.png)
2. Again select the `repeat` module and loop through it three times.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用17.png)
3. In `ATOM IO` select the `Setting IO value` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用18.png)
4. Set the IO port to 33 with a value of 0.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用19.png)
5. In `Time` select the `Sleep` module.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用20.png)
6. Setting time to 2s.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用21.png)
7. Repeat the selection of the `Setting IO value` and `Sleep` modules, noting the change of IO number and the change of value.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用22.png)
8. Final flowchart and code.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/1-AdaptiveGripper/myblockly使用23.png)
```python
from pymycobot.mycobot import MyCobot
import time

mc = MyCobot('/dev/ttyAMA0', 115200)
mc.set_gripper_mode(1)
for count in range(3):
mc.set_digital_output(33, 0)
time.sleep(2)
mc.set_digital_output(33, 1)
time.sleep(2)
mc.set_digital_output(23, 0)
time.sleep(2)
mc.set_digital_output(23, 1)
time.sleep(2)
```

---

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5 changes: 1 addition & 4 deletions 1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/2-ElectricGripper.md
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Expand Up @@ -122,9 +122,6 @@ mc.set_eletric_gripper(0)
time.sleep(3)
```

<!-- 2 Development with SDK
- [Blockly]()
- [Python]()
- [C++]() -->
---

[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/3-PneumaticGripper.md)
46 changes: 27 additions & 19 deletions 1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/3-PneumaticGripper.md
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Expand Up @@ -98,21 +98,32 @@
> To test if the jaws are available after installation, use myBlockly.
> [myblockly 下载](../../../5-ProgramingApplication-myblockly-uiflow-mind/5.1-myblockly/5.1.1-myBlocklyFirstUse.md#myblockly下载安装)
1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证0.png)
2. Modify the baud rate to 115200:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证1.png)
3. Find `Base` in the list on the left and select the `Set Pin Out` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证2.png)
4. Set `pin number` to `1` and `output` to `0`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证3.png)
5. Find `Time` and select the `Sleep` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证4.png)
6. Set the time as desired, here it is set to `2s`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证5.png)
7. Repeat the above steps for the final setup as follows:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证6.png)
8. Click on the green run button in the top right corner to see the jaws close-open once.
1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证0.png)
2. Modify the baud rate to 115200:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证1.png)
3. Find `Base` in the list on the left and select the `Set Pin Out` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证2.png)
4. Set `pin number` to `1` and `output` to `0`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证3.png)
5. Find `Time` and select the `Sleep` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证4.png)
6. Set the time as desired, here it is set to `2s`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证5.png)
7. Repeat the above steps for the final setup as follows:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/3-PneumaticGripper/myblockly验证6.png)
8. Final code:
```python
from pymycobot.mycobot import MyCobot
import time

mc = MyCobot('/dev/ttyAMA0', 115200)
mc.set_basic_output(1, 0)
time.sleep(2)
mc.set_basic_output(1, 1)
time.sleep(2)
```
9. Click on the green run button in the top right corner to see the jaws close-open once.

- Programming Development:

Expand Down Expand Up @@ -167,9 +178,6 @@

> Clamping jaws can be seen closed-open

<!-- 2 Development with SDK
- [Blockly]()
- [Python]()
- [C++]() -->
---

[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper) | [Next Page →](../1.4.1-Gripper/4-FlexibleGripper.md)
47 changes: 32 additions & 15 deletions 1-ProductIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/4-FlexibleGripper.md
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Expand Up @@ -119,21 +119,36 @@ Special Reminder ⚠️: Regarding pressure maintenance, both positive and negat
> To test if the jaws are available after installation, use myBlockly.
> [myblockly download](../../../5-ProgramingApplication-myblockly-uiflow-mind/5.1-myblockly/5.1.1-myBlocklyFirstUse.md#myblockly下载安装)
1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证0.png)
2. Modify the baud rate to 115200:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证1.png)
3. Find `Base` in the list on the left and select the `Set Pin Out` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证2.png)
4. Set `pin number` to `1` and `output` to `0`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证3.png)
5. Find `Time` and select the `Sleep` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证4.png)
6. Set the time as desired, here it is set to `1s`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证5.png)
7. Repeat the above steps for the final setup as follows:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证6.png)
8. Click on the green run button in the top right corner to see the jaws close-open once.
1. After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证0.png)
2. Modify the baud rate to 115200:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证1.png)
3. Find `Base` in the list on the left and select the `Set Pin Out` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证2.png)
4. Set `pin number` to `1` and `output` to `0`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证3.png)
5. Find `Time` and select the `Sleep` module:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证4.png)
6. Set the time as desired, here it is set to `1s`:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证5.png)
7. Repeat the above steps for the final setup as follows:
![](../../../resources/1-ProductIntroduction/1.4/1.4.1-Gripper/4-FlexibleGripper/myblockly验证6.png)
8. Final code:
```python
from pymycobot.mycobot import MyCobot
import time

mc = MyCobot('/dev/ttyAMA0', 115200)
mc.set_basic_output(1, 0)
time.sleep(1)
mc.set_basic_output(2, 1)
time.sleep(1)
mc.set_basic_output(1, 1)
time.sleep(1)
mc.set_basic_output(2, 0)
time.sleep(1)
```
9. Click on the green run button in the top right corner to see the jaws close-open once.

- Programming Development:

Expand Down Expand Up @@ -188,4 +203,6 @@ Special Reminder ⚠️: Regarding pressure maintenance, both positive and negat

> Clamping jaws can be seen closed-open

---

[← Accessories Tools Page](../1.4-AccessoriesTools.md#gripper)
4 changes: 1 addition & 3 deletions ...tIntroduction/1.4-AccessoriesTools/1.4.1-Gripper/5-flexible_electric_gripper.md
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Expand Up @@ -25,9 +25,7 @@
| fixed method | screw |
| Use environment requirements | atmospheric and atmospheric pressure |
| control interface control | Serial / IO Control |
| Applicable equipment | ER myCobot 320 M5
ER myCobot 320 Pi
ER myCobot Pro 600 |
| Applicable equipment | ER myCobot 320 M5、ER myCobot 320 Pi、ER myCobot Pro 600 |

**Flexible gripper:** used for gripping objects

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