+
-
+
-
+
-
-
## Specifications:
| **name** | **mycobot Pro Electric Gripper** |
@@ -66,22 +64,67 @@
## Mall link
-Mall link:
-- [Taobao](https://shop504055678.taobao.com)
-- [shopify](https://shop.elephantrobotics.com/)
+Mall link:
+
+- [Taobao](https://shop504055678.taobao.com)
+- [shopify](https://shop.elephantrobotics.com/)
## How to use
1 Installing the gripper: 
-
## Specifications
| **name** | **Module suction cup** |
@@ -40,12 +38,12 @@
**Applicable objects :** suitable for objects with flat surfaces
-## Mall link:
+## Mall link:
-- [Taobao](https://shop504055678.taobao.com)
-- [shopify](https://shop.elephantrobotics.com/)
+- [Taobao](https://shop504055678.taobao.com)
+- [shopify](https://shop.elephantrobotics.com/)
- ## How to use
+## How to use
@@ -57,4 +55,103 @@ For a system incorporating a suction cup, solenoid valve, and vacuum pump, the c
In operation, when the solenoid valve is energized, it opens, allowing vacuum pressure from the pump to reach the suction cup, enabling it to grip objects. De-energizing the valve cuts off the vacuum, allowing air to flow back to the suction cup, releasing the grip on the object. This setup is efficient for automation systems requiring precise control over picking and placing items.
-[← Accessories Tools Page](../1.4-AccessoriesTools.md#pump-cup)
\ No newline at end of file
+**Installation and use**
+
+- It needs to be used with an air compressor:
+ 
+
+ 1. Insert the black plug into the row of plugs;
+
+ 2. Insert the matching red hose into the connector on the machine:
+ 
+ 3. The red button is the on/off switch, pulling it outwards turns it on, pressing it back turns the machine off:
+ 
+
+- Suction cup mounting:
+
+ 1. Connect the other end of the red hose from the air compressor to the solenoid valve connection:
+ 
+ 2. Use the clear hose that comes with the modular suction cup to connect to the connector above the solenoid valve and the hose branch of the modular suction cup respectively:
+ 
+ 
+ 3. Secure the module suction cup to the end of the robot arm with the matching screws:
+ 
+ 4. Attach the hose branch to the modular suction cup:
+ 
+
+- Electrical Connections:
+
+ 1. Connect the black wire to the GND of the robot arm base, and the red wire to any one of OUT1~OUT6, and change the pin number of the subsequent programme according to the selected interface, here we use OUT1:
+ 
+
+- Software-driven testing:
+
+ > 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.
+ 
+ 2. Modify the baud rate to 115200:
+ 
+ 3. Find `Base` in the list on the left and select the `Set Pin Out` module:
+ 
+ 4. Set `pin number` to `1` and `output` to `0`:
+ 
+ 5. Find `Time` and select the `Sleep` module:
+ 
+ 6. Set the time as desired, here it is set to `2s`:
+ 
+ 7. Repeat the above steps for the final setup as follows:
+ 
+ 8. Hold the suction cup against the object and click the green run button in the upper right corner to allow the suction cup to hold the object for 2s and then release it.
+
+- Programming Development:
+
+ > Programming Suction Cups with python
+ > [python environment download](../../../7-ApplicationBasePython/7.1_download.md)
+
+ 1. Create a new python file:
+ Right click on the desired file path to create a new python file:
+ 
+
+ > The file name can be changed as needed
+
+ 
+
+ 2. Perform function programming:
+ 
+
+ > The code is as follows:
+
+ ```python
+ from pymycobot.mycobot import MyCobot
+ import time
+
+ # Initialise a MyCobot object
+ mc = MyCobot("COM3", 115200)
+
+ # Controls suction cups closed-open:
+ # Use suction cup status interface 0 for open, 1 for closed
+ mc.set_basic_output(1, 0)
+ time.sleep(2)
+ mc.set_basic_output(1, 1)
+ time.sleep(2)
+
+ # For more information on using the interface, see the python API.
+ ```
+
+ 3. Save the file and close it, right-click on an empty space in the folder to open a command line terminal
+
+ 
+
+ Input:
+
+ ```bash
+ python ModularPump.py
+ ```
+
+ 
+
+ > You can see the suction cups close-open
+
+[← Accessories Tools Page](../1.4-AccessoriesTools.md#pump-cup)
diff --git a/1-ProductIntroduction/1.4-AccessoriesTools/1.4.3-Camera/1-CameraModulePro.md b/1-ProductIntroduction/1.4-AccessoriesTools/1.4.3-Camera/1-CameraModulePro.md
index 9151f5e..a2a702d 100644
--- a/1-ProductIntroduction/1.4-AccessoriesTools/1.4.3-Camera/1-CameraModulePro.md
+++ b/1-ProductIntroduction/1.4-AccessoriesTools/1.4.3-Camera/1-CameraModulePro.md
@@ -8,17 +8,17 @@
## Specifications
-| **name** | **myCobotPro camera module** |
-| ---------------------------- | ----------------------------------------------- |
-| model | myCobot_Pro_cameraHolder_J6 |
-| Material | photosensitive resin |
-| USB protocol | USB2.0 HS/FS |
-| lens focal length | Standard 1.7mm |
-| Field of view | about 60° |
-| supported system | Win7/8/10, Linux, MAC |
-| service life | two years |
-| a fixed way | screw fixed |
-| Use environment requirements | Temperature and pressure |
+| **name** | **myCobotPro camera module** |
+| ---------------------------- | ---------------------------------------------------- |
+| model | myCobot_Pro_cameraHolder_J6 |
+| Material | photosensitive resin |
+| USB protocol | USB2.0 HS/FS |
+| lens focal length | Standard 1.7mm |
+| Field of view | about 60° |
+| supported system | Win7/8/10, Linux, MAC |
+| service life | two years |
+| a fixed way | screw fixed |
+| Use environment requirements | Temperature and pressure |
| Applicable equipment support | ER myCobot 320 Series 
+
+# Handle COntrol
+
+## The corresponding functions of the handle buttons are as follows:
+
+### myCobot
+
+- **1**: RX direction coordinate value increases
+- **2**: RX direction coordinate value decreases
+- **3**: RY direction coordinate value decreases
+- **4**: RY direction coordinate value increases
+- **5**: X direction coordinate value increases
+- **6**: X direction coordinate value decreases
+- **7**: Y direction coordinate value decreases
+- **8**: Y direction coordinate value increases
+- **9**: Z direction coordinate value increases
+- **10**: Z direction coordinate value decreases
+- **11**: RZ direction coordinate value decreases
+- **12**: RZ direction coordinate value increases
+- **13**: Wake up the handle. After the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to wake up.
+- **14**: Check the connection status of the machine. The atom LED flashes green three times to indicate that the machine is normal; flashes red three times to indicate that the state is abnormal.
+- **X**: Press and hold the button, the jaws continue to open
+- **Y**: Press and hold the button, the jaws continue to close
+- **A**: open suction pump
+- **B**: Shut down the suction pump
+- **Left 1**: Press and hold for 2s to initialize the robot to the joint zero state.
+- **Left 2**: Press and hold for 2s, the robot stops torque output and relaxes all joints.
+- **Right 1**: Press and hold for 2s to initialize the robot to move to the initial point.
+- **Right 2**: Press and hold for 2s, the robot turns on the torque output, and all joints are locked
+
+### myArm
+
+- **1**: RX direction coordinate value increases
+- **2**: RX direction coordinate value decreases
+- **3**: RY direction coordinate value decreases
+- **4**: RY direction coordinate value increases
+- **5**: X direction coordinate value increases
+- **6**: X direction coordinate value decreases
+- **7**: Y direction coordinate value decreases
+- **8**: Y direction coordinate value increases
+- **9**: Currently not functional
+- **10**: Currently not functional
+- **11**: Currently not functional
+- **12**: Currently not functional
+- **13**: Wake up the handle. After the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to wake up.
+- **14**: Check the connection status of the machine. The atom LED flashes green three times to indicate that the machine is normal; flashes red three times to indicate that the state is abnormal.
+- **X**: Z direction coordinate value increases
+- **Y**:Z direction coordinate value decreases
+- **A**: open suction gripper
+- **B**: Shut down the suction gripper
+- **Left 1**: Press and hold for 2s to initialize the robot to the joint zero state.
+- **Left 2**: Press and hold for 2s, the robot stops torque output and relaxes all joints.
+- **Right 1**: Press and hold for 2s to initialize the robot to move to the initial point.
+- **Right 2**: Press and hold for 2s, the robot turns on the torque output, and all joints are locked
+
+## instructions
+
+### 1.Connecting devices
+
+Connect the MyCobot and handle to the computer.
+
+### 2.Install required libraries
+
+Download code: https://github.com/elephantrobotics/pymycobot
+
+Open the terminal, Enter the `pymycobot/demo/handle_control` folder, and run the following command。
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 3.Modify port number
+
+#### myCobot-pi
+
+Edit the handle_control.py file
+
+```python
+import pygame
+import time
+from pymycobot import MyCobot
+from pymycobot import PI_PORT, PI_BAUD # When using the Raspberry Pi version of mycobot, these two variables can be referenced for MyCobot initialisation
+import threading
+
+mc = MyCobot(PI_PORT, 115200)
+...
+```
+
+Finally. run the program.
+
+```bash
+python3 handle_control.py
+```
+
+#### myArm
+
+Edit the myarm_handle_control.py file
+
+```python
+import pygame
+import time
+from pymycobot import MyArm
+import threading
+# Change com7 to the port number detected by your computer
+
+mc = MyArm("/dev/ttyAMA0",115200)
+...
+```
+
+Finally. run the program
+
+```bash
+python3 myarm_handle_control.py
+```
+
+> Note: After running the program, first click the **14** button to check the machine connection status, the machine connection status is normal (if it is abnormal, you will not be able to perform other operations, please solve the abnormal connection problem first), and then click **Right 1** button, other operations can only be performed after the machine reaches the initial point.
+
+---
+
+[← Previous Page](4_drag.md) | [Next Section →](6_example.md)
diff --git a/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/5_example.md b/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md
similarity index 100%
rename from 10-ApplicationBasePython/10.1_320_PI-ApplicationPython/5_example.md
rename to 10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md
diff --git a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/4_drag.md b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/4_drag.md
index ebd06bf..cc0cfa5 100644
--- a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/4_drag.md
+++ b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/4_drag.md
@@ -20,6 +20,10 @@
+> - RAM is a type of volatile memory, meaning it requires continuous power supply to retain stored data. RAM provides random access, allowing the CPU to access any memory cell directly without the need for sequential access. Thus, RAM offers very fast read and write speeds.
+> - Flash memory is non-volatile, meaning it does not require continuous power to retain stored data. It utilizes electronic storage technology where data is programmed into memory cells. Writing to flash memory is relatively slower compared to reading, but reading operations are typically fast.
+> - RAM is volatile, while Flash memory is non-volatile, retaining data even during power loss. RAM is used for temporary storage, whereas Flash memory is used for long-term storage. RAM offers faster read and write speeds compared to Flash memory.
+
**Step 5:** Move the joints of the robot arm to specific positions. After that, press any one of the three buttons so as to stop recording and save the motion.
@@ -28,7 +32,7 @@
-> **Notice:**
+> **Notice:**
>
> **Pause**: pause the movement
>
diff --git a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_Handle_control.md b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_Handle_control.md
new file mode 100644
index 0000000..1b6a29a
--- /dev/null
+++ b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_Handle_control.md
@@ -0,0 +1,124 @@
+The movement of the machine can be controlled by the gamepad, and the grasping of objects can be realized with the gripper or the suction pump.
+
+> Note: The handle needs to be purchased separately, please consult the official customer service for details
+
+>
+
+# Handle COntrol
+
+## The corresponding functions of the handle buttons are as follows:
+
+### myCobot
+
+- **1**: RX direction coordinate value increases
+- **2**: RX direction coordinate value decreases
+- **3**: RY direction coordinate value decreases
+- **4**: RY direction coordinate value increases
+- **5**: X direction coordinate value increases
+- **6**: X direction coordinate value decreases
+- **7**: Y direction coordinate value decreases
+- **8**: Y direction coordinate value increases
+- **9**: Z direction coordinate value increases
+- **10**: Z direction coordinate value decreases
+- **11**: RZ direction coordinate value decreases
+- **12**: RZ direction coordinate value increases
+- **13**: Wake up the handle. After the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to wake up.
+- **14**: Check the connection status of the machine. The atom LED flashes green three times to indicate that the machine is normal; flashes red three times to indicate that the state is abnormal.
+- **X**: Press and hold the button, the jaws continue to open
+- **Y**: Press and hold the button, the jaws continue to close
+- **A**: open suction pump
+- **B**: Shut down the suction pump
+- **Left 1**: Press and hold for 2s to initialize the robot to the joint zero state.
+- **Left 2**: Press and hold for 2s, the robot stops torque output and relaxes all joints.
+- **Right 1**: Press and hold for 2s to initialize the robot to move to the initial point.
+- **Right 2**: Press and hold for 2s, the robot turns on the torque output, and all joints are locked
+
+### myArm
+
+- **1**: RX direction coordinate value increases
+- **2**: RX direction coordinate value decreases
+- **3**: RY direction coordinate value decreases
+- **4**: RY direction coordinate value increases
+- **5**: X direction coordinate value increases
+- **6**: X direction coordinate value decreases
+- **7**: Y direction coordinate value decreases
+- **8**: Y direction coordinate value increases
+- **9**: Currently not functional
+- **10**: Currently not functional
+- **11**: Currently not functional
+- **12**: Currently not functional
+- **13**: Wake up the handle. After the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to wake up.
+- **14**: Check the connection status of the machine. The atom LED flashes green three times to indicate that the machine is normal; flashes red three times to indicate that the state is abnormal.
+- **X**: Z direction coordinate value increases
+- **Y**:Z direction coordinate value decreases
+- **A**: open suction gripper
+- **B**: Shut down the suction gripper
+- **Left 1**: Press and hold for 2s to initialize the robot to the joint zero state.
+- **Left 2**: Press and hold for 2s, the robot stops torque output and relaxes all joints.
+- **Right 1**: Press and hold for 2s to initialize the robot to move to the initial point.
+- **Right 2**: Press and hold for 2s, the robot turns on the torque output, and all joints are locked
+
+## instructions
+
+### 1.Connecting devices
+
+Connect the MyCobot and handle to the computer.
+
+### 2.Install required libraries
+
+Download code: https://github.com/elephantrobotics/pymycobot
+
+Open the terminal, Enter the `pymycobot/demo/handle_control` folder, and run the following command。
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 3.Modify port number
+
+#### myCobot
+
+Edit the handle_control.py file
+
+```python
+import pygame
+import time
+from pymycobot import MyCobot
+import threading
+# Change com7 to the port number detected by your computer
+mc = MyCobot("com7")
+...
+```
+
+Finally. run the program.
+
+```bash
+python3 handle_control.py
+```
+
+#### myArm
+
+Edit the myarm_handle_control.py file
+
+```python
+import pygame
+import time
+from pymycobot import MyArm
+import threading
+# Change com7 to the port number detected by your computer
+
+mc = MyArm("/dev/ttyAMA0",115200)
+...
+```
+
+Finally. run the program
+
+```bash
+python3 myarm_handle_control.py
+```
+
+> Note: After running the program, first click the **14** button to check the machine connection status, the machine connection status is normal (if it is abnormal, you will not be able to perform other operations, please solve the abnormal connection problem first), and then click **Right 1** button, other operations can only be performed after the machine reaches the initial point.
+
+---
+
+[← Previous Page](4_drag.md) | [Next Section →](6_example.md)
diff --git a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/6_example.md
similarity index 100%
rename from 10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md
rename to 10-ApplicationBasePython/10.2_320_M5-ApplicationPython/6_example.md
diff --git a/10-ApplicationBasePython/README.md b/10-ApplicationBasePython/README.md
index ae0540e..f6aa970 100644
--- a/10-ApplicationBasePython/README.md
+++ b/10-ApplicationBasePython/README.md
@@ -4,7 +4,7 @@
## 
-**Python** was designed in the early 1990s by Guido van Rossum of the Netherlands Society for Mathematics and Computer Science as an alternative to a language called ABC.
+**Python** was designed in the early 1990s by Guido van Rossum of the Netherlands Society for Mathematics and Computer Science as an alternative to a language called ABC.
**Python** not only provides efficient, advanced data structures, but also can be used to do simple and effective object-oriented programming.
@@ -14,8 +14,6 @@ The interpreter of **Python** is easily extensible, and new functions and data t
**Python** can also be used for extending program languages in customizable software. **Python** has rich standard libraries and provides source or machine codes suitable for each major system platform.
-
-
## Installing Python
@@ -23,12 +21,91 @@ The interpreter of **Python** is easily extensible, and new functions and data t
- **Python** Python's official downloading address：https://www.python.org/downloads/
- [**Python** downloading and Installation Tutorial](https://python.land/installing-python#Install_Python_on_Windows) for reference only
+### 1 Download and Installation of Python
+
+Python is applicable to:
+
+- myCobot 280：
+ - myCobot 280 M5
+ - myCobot 280 PI
+ - myCobot 280 Jetson Nano
+ - myCobot 280 for Arduino
+- myCobot 320：
+ - myCobot 320 M5
+ - myCobot 320 PI
+- myPalletizer 260：
+ - myPalletizer 260 M5
+ - myPalletizer 260 PI
+- mechArm-270：
+ - mechArm-270 M5
+ - mechArm-270 PI
+
+At present, Python has two versions: `2.x` and `3.x`. These two versions are incompatible with each other. This section takes the version `3.x` as an example due to its increasing popularity.
+
+#### 1.1 Installing Python
+
+> **Notice:** Before installation, check the operation system of PC. Press right button on the `My Computer` icon and then select `Properties`. Install the corresponding Python.
+>
+> 
+>
+> 
+
+- **Go to http://www.python.org/download/ to download Python.**
+- **Click on `Downloads`, and then download begins. Tick `Add Python 3.10 to PATH`. Click on `Install Now`, and then installation begins.**
+
+
+
+
+
+
+
+- **Download and installation complete.**
+
+ 
+
+#### 1.2 Running Python
+
+Open the command prompt window (Win+R, input `cmd` and press `Enter`). Type `Python`.
+
+**Successful Installation:**
+
+
+
+This on-screen instruction means that Python is successfully installed. The prompt `>>>` means Python interactive environment. If you input a Python code to get the execution result immediately.
+
+**Error Report:**
+
+If a wrong instruction is typed, for example "pythonn", the system may report an error.
+
+
+
+> **Notice:** Generally, the error results from lack of environment configuration. Refer to **1.3 Environment Configuration** to solve problems.
+
+#### 1.3 Environment Variable Configuration
+
+Windows follows the path set by a Path environment variable in search of **python.exe** . Otherwise, an error will be reported. If you fail to tick `Add Python 3.9 to PATH` during installation, you need to manually add the path where python.exe is located into environment variable or download python again. Remember to tick `Add Python 3.9 to PATH` .
+
+Follow the steps below to add python into environment variable manually.
+
+- Right click on `My Computer` icon -->Properties ->Advanced System Settings ->Environment Variables
+
+
+
+- The environment variables include user variables and system variables. For user variables, users can utilize their own downloaded programs via `cmd` command. Write the absolute path of the target program into the user variables.
+
+
+
+
+
+- After the configuration, open the command prompt window (Win+R; input `cmd` and press `Enter`), and type `Python`.
+
+
**Preconditions for use：**
-- **M5** series version， the bottom **M5Stack-basic** is programmed to miniRobot , select the **Transponder** function, and the end **ATOM** is programmed to the latest version of atomMain (the factory default has been programmed)
+- **M5** series version， the bottom **M5Stack-basic** is programmed to miniRobot , select the **Transponder** function, and the end **ATOM** is programmed to the latest version of atomMain (the factory default has been programmed)
- **Pi \ jetsonnano** series, **ATOM** burns the latest version of **atomMain** (factory default already burnt)
---
-[← Previous Chapter](../5-BasicApplication/5.2-ApplicationUse/5.2.1-myblockly/320m5/1-myBlocklyFirstUse.md) | [Next Page →](../10-ApplicationBasePython/10.2_320_M5-ApplicationPython/1_download.md)
\ No newline at end of file
+[← Previous Chapter](../5-BasicApplication/5.2-ApplicationUse/5.2.1-myblockly/320m5/1-myBlocklyFirstUse.md) | [Next Page →](../10-ApplicationBasePython/10.2_320_M5-ApplicationPython/1_download.md)
diff --git a/2-ProductFeature/2.1_320_M5_product/2.1.4-ElectricalCharacteristicParameter.md b/2-ProductFeature/2.1_320_M5_product/2.1.4-ElectricalCharacteristicParameter.md
index b7d903c..3471891 100644
--- a/2-ProductFeature/2.1_320_M5_product/2.1.4-ElectricalCharacteristicParameter.md
+++ b/2-ProductFeature/2.1_320_M5_product/2.1.4-ElectricalCharacteristicParameter.md
@@ -1,48 +1,11 @@
# Electrical characteristic parameter
-## 1 Base electrical interface overview
+## 1 Base electrical interface overview
Figure 1 Front view of a base
-
-
-Figure 2 Left side of the base
-
-
-
-Figure 3 Right side of the base
-
-| Number | Interface | Definition | Function | Remarks |
-|:----:|:--------------:|:---------:|:-----------------:|:----------------:|
-| 1 | Type C | Communication Interface | Communicate with PC | development use |
-| 2 | screen | displaying | Use with buttons | |
-| 3 | button | button A | Use with the display | |
-| 4 | | button B | | |
-| 5 | | button C | | |
-| 6 | switch | 电源开关 | 控制输入电源通断 | 带灯（通电灯亮） |
-| 7 | DC/IO interface | GND | GND | |
-| | | IN6 | Digital input signal 1~6 | Input only in NPN mode |
-| | | IN5 | | |
-| | | IN4 | | |
-| | | IN3 | | |
-| | | IN2 | | |
-| | | IN1 | | |
-| | | 24V | DC24V | |
-| 8 | Type C | Communication Interface | Communicate with PC | development use |
-| 9 | Power DC input interface | DC24V input | DC24V input | |
-| 10 | DC/IO interface | 24V | DC24V | |
-| | | OUT1 | Digital output signal 1~6 | output only in PNP mode |
-| | | OUT2 | | |
-| | | OUT3 | | |
-| | | OUT4 | | |
-| | | OUT5 | | |
-| | | OUT6 | | |
-| | | GND | GND | |
-| 11 | Emergency stop interface | STOP | Emergency stop circuit interface | |
-
-
#### 1.1 Type C ：Type C interface is used to connect and communicate with the PC, available for developers.
#### 1.2 Screen ：Screen is used to display the communication status of myCobot and calibrate the robot move to starting point with a 2-inch IPS screen.
@@ -51,6 +14,14 @@ Figure 3 Right side of the base
#### 1.4 Power switch ：Power switch is used to control the main power input. If it is switched off, the controller is also powered off.
+
+
+Figure 2 Left side of the base
+
+
+
+Figure 3 Right side of the base
+
#### 1.5 24V output ：Internal DC24V, available for users.
#### 1.6 Digital input/output: includes 6 digital input signals and 6 digital output signals for interaction with other devices, and together with other devices constitute an important part of the automation system.
@@ -67,8 +38,140 @@ It should be noted that the output signal is in PNP form, and the input signal i
#### 1.8 Emergency stop circuit terminal is connected to the emergency stop button box, which can be used to control the emergency stop of the robot.
-> **Notice**: The emergency stop switch must be connected when the robot is in use, and make sure that the emergency stop switch circuit is always connected.
-
+> **Notice**: The emergency stop switch must be connected when the robot is in use, and make sure that the emergency stop switch circuit is always connected.
+
+| Number | +Interface | +Definition | +Function | +Remarks | +
|---|---|---|---|---|
| 1 | +Type C | +Communication Interface | +Communicate with PC | +development use | +
| 2 | +screen | +displaying | +Use with buttons | ++ |
| 3 | +button | +button A | +Use with the display | ++ |
| 4 | +button B | +|||
| 5 | +button C | +|||
| 6 | +switch | +power switch | +Control input power on/off | +With light (power on light) | +
| 7 | +DC/IO interface | +GND | +GND | ++ |
| IN6 | +Digital input signal 1~6 | +Input only in NPN mode | +||
| IN5 | +||||
| IN4 | +||||
| IN3 | +||||
| IN2 | +||||
| IN1 | +||||
| 24V | +DC24V | +|||
| 8 | +Type C | +Communication Interface | +Communicate with PC | +development use | +
| 9 | +Power DC input interface | +DC24V input | +DC24V input | ++ |
| 10 | +DC/IO interface | +24V | +DC24V | ++ |
| OUT1 | +Digital output signal 1~6 | +output only in PNP mode | +||
| OUT2 | +||||
| OUT3 | +||||
| OUT4 | +||||
| OUT5 | +||||
| OUT6 | +||||
| GND | +GND | +|||
| 11 | +Emergency stop interface | +STOP | +Emergency stop circuit interface | ++ |
Figure 1 Front view of a base
-
-
-Figure 2 Left side of the base
-
-
-
-Figure 3 Right side of the base
-
-| Number | Interface | Definition | Function | Remark |
-| :------: | :---------: | :----------: | :--------: | :------: |
-| 1 | Type C | Communication Interface | communicate with PC | development use |
-| 2 | MircoHDMI | HDMI1 | use to connect a screen | |
-| 3 | HDMI2 | | | |
-| 4 | speaker, headphone jack | speaker, headphone jack | | |
-| 5 | Type C | Communication Interface | communicate with PC | development use |
-| 6 | Switch | Switch | control input power on and off | With lights (lights on) |
-| 7 | DC/IO interface | GND | GND | |
-| | | IN6 | Digital input signal 1~6 | Input only in NPN mode |
-| | | IN5 | | |
-| | | IN4 | | |
-| | | IN3 | | |
-| | | IN2 | | |
-| | | IN1 | | |
-| | | 24V | DC24V | |
-| 8 | Emergency stop interface | S TOP | emergency stop circuit interface | |
-| 9 | indicator light | Main Control Power indicator | feedback master power-on status | |
-| 10 | SD card slot | SD card slot | use to replace SD card | |
-| 11 | USB2.0 | USB2.0*2 | Can be connected to external devices or U disk shion | |
-| 12 | USB3.0 | USB3.0*2 | External device or U disk | |
-| 13 | network port | Ethereum | Ethernet port communication | |
-| 1 4 | DC / IO interface | 2 4V | D C24V | |
-| OUT1 | digital output signal1 to 6 | P NP mode only | | |
-| OUT2 | | | | |
-| OUT3 | | | | |
-| OUT4 | | | | |
-| OUT5 | | | | |
-| OUT6 | | | | |
-| GND | GND | | | |
-| 15 | Power DC Input interface | DC24V | power input | |
-
#### 1.1 Type C ：Type C interface is used to connect and communicate with the PC, available for developers.
#### 1.2 MircoHDMI ：MircoHDMI interface is an HDMI D-type interface, which is connected to the monitor. HDMI interface 1 is recommended as HDMI interface 2 is prioritized.
#### 1.3 Power switch : Power switch is used to control the main power input. If it is switched off, the controller is also powered off.
+
+
+Figure 2 Left side of the base
+
#### 1.4 Digital input/output: includes 6 digital input signals and 6 digital output signals for interaction with other devices, and together with other devices constitute an important part of the automation system.
Built-in I/O power supply, voltage 24V, single output maximum 0.2A. External power supply is not supported.
@@ -70,13 +34,185 @@ It should be noted that the output signal is PNP form, the input signal is NPN f
#### 1.7 Power DC input interface : It uses KPPX-4P R7BFDC power socket. The 24V 9.2A DC power adapter provided by the manufacturer can also be used to power myCobot320.
+
+
+Figure 3 Right side of the base
+
#### 1.8 USB ：USB interface is an interface for data connection with serial standards 2.0 and 3.0. Users can use the USB interface to copy program files, or use the USB interface to connect peripherals such as mouse and keyboard.
-#### 1.9 Network port ：Network port is the port for network data connection. Users can use the Ethernet interface for communication and interaction between the PC and the robot system, and for Ethernet communication with other devices.
+#### 1.9 Network port ：Network port is the port for network data connection. Users can use the Ethernet interface for communication and interaction between the PC and the robot system, and for Ethernet communication with other devices.
+
+| Number | +Interface | +Definition | +Function | +Remark | +
|---|---|---|---|---|
| 1 | +Type C | +Communication Interface | +communicate with PC | +development use | +
| 2 | +MircoHDMI | +HDMI1 | +use to connect a screen | ++ |
| 3 | +HDMI2 | ++ | + | + |
| 4 | +speaker, headphone jack | +speaker, headphone jack | ++ | + |
| 5 | +Type C | +Communication Interface | +communicate with PC | +development use | +
| 6 | +Switch | +Switch | +control input power on and off | +With lights (lights on) | +
| 7 | +DC / IO interface | +GND | +GND | ++ |
| IN6 | +Digital input signal 1~6 | +Input only in NPN mode | +||
| IN5 | +||||
| IN4 | +||||
| IN3 | +||||
| IN2 | +||||
| IN1 | +||||
| 24V | +DC24V | ++ | ||
| 8 | +Emergency stop interface | +S TOP | +emergency stop circuit interface | ++ |
| 9 | +indicator light | +Main Control Power indicator | +feedback master power-on status | ++ |
| 10 | +SD card slot | +SD card slot | +use to replace SD card | ++ |
| 11 | +USB2.0 | +USB2.0*2 | +Can be connected to external devices or U disk shion | ++ |
| 12 | +USB3.0 | +USB3.0*2 | +External device or U disk | ++ |
| 13 | +network port | +Ethereum | +Ethernet port communication | ++ |
| 14 | +DC / IO interface | +24V | +DC24V | ++ |
| OUT1 | +digital output signal1 to 6 | +PNP mode only | +||
| OUT2 | +||||
| OUT3 | +||||
| OUT4 | +||||
| OUT5 | +||||
| OUT6 | +||||
| GND | +GND | ++ | ||
| 15 | +Power DC Input interface | +DC24V | +power input | ++ |
Figure 4 Side view of the end of the robotic arm
@@ -85,14 +221,12 @@ Figure 4 Side view of the end of the robotic arm
Figure 5 Side view of the end of the robotic arm
-
-| Number | Interface name | Definition | Function | Remark |
-| :------: | :-------: | :----: | :----: | :-----: |
-| 16 | Atom | Led + Led + button | Status view/drag to teach | |
-| 17 | M8 aviation socket | End tool IO interface | Interact with external devices | |
-| 18 | Type C | Communication Interface | Communicate with PC | Update Atom firmware using |
-| 19 | Grove | | | developers use |
-
+| Number | Interface name | Definition | Function | Remark |
+| :----: | :----------------: | :---------------------: | :----------------------------: | :------------------------: |
+| 16 | Atom | Led + Led + button | Status view/drag to teach | |
+| 17 | M8 aviation socket | End tool IO interface | Interact with external devices | |
+| 18 | Type C | Communication Interface | Communicate with PC | Update Atom firmware using |
+| 19 | Grove | | | developers use |
#### 2.1 End-tool IO interface: This is a tool I/O diagram, and the myCobot 320 robot provides one input and two outputs.
@@ -102,19 +236,19 @@ Built-in I/O power supply, voltage 24V, single output maximum 0.2A. External pow
The definition of each tool I/O port is shown in the following table. It should be noted that both the input and output of the tool I/O are PNP types, and the wiring mode is the same as the bottom output interface.
-| Number | Signal | Explanation | Matchable Color of M8 Line |
-| :------: | :------: | :-----------------------: | :--------------------------: |
-| 1 | GND | DC24V negative pole | White |
-| 2 | OUT1 | Tool output interface 1 | brown |
-| 3 | OUT2 | Tool output interface 2 | green |
-| 4 | 485A | reserved, undeveloped | yellow |
-| 5 | 24V | DC24V positive | Ash |
-| 6 | IN1 | Tool input interface 1 | pink |
-| 7 | IN2 | unavailable | blue |
-| 8 | 485B | reserved, undeveloped | purple |
+| Number | Signal | Explanation | Matchable Color of M8 Line |
+| :----: | :----: | :---------------------: | :------------------------: |
+| 1 | GND | DC24V negative pole | White |
+| 2 | OUT1 | Tool output interface 1 | brown |
+| 3 | OUT2 | Tool output interface 2 | green |
+| 4 | 485A | reserved, undeveloped | yellow |
+| 5 | 24V | DC24V positive | Ash |
+| 6 | IN1 | Tool input interface 1 | pink |
+| 7 | IN2 | unavailable | blue |
+| 8 | 485B | reserved, undeveloped | purple |
#### 2.2 Atom：Atom is used for 5X5 RGB LED to display the state of the robot arm and key function (used when the robot performs the drag teaching)
---
-[← Previous Page](../2.2_320_PI_product/2.2.3-MechanicalStructureParameter.md)| [Next Page →](../2.2_320_PI_product/2.2.5-CoordinateSystem.md)
\ No newline at end of file
+[← Previous Page](../2.2_320_PI_product/2.2.3-MechanicalStructureParameter.md)| [Next Page →](../2.2_320_PI_product/2.2.5-CoordinateSystem.md)
diff --git "a/4-FirstInstallAndUse/4.1-Pi/4.1.1-\344\272\247\345\223\201\346\270\205\345\215\225.md" "b/4-FirstInstallAndUse/4.1-Pi/4.1.1-\344\272\247\345\223\201\346\270\205\345\215\225.md"
index 34b4f27..515a50a 100644
--- "a/4-FirstInstallAndUse/4.1-Pi/4.1.1-\344\272\247\345\223\201\346\270\205\345\215\225.md"
+++ "b/4-FirstInstallAndUse/4.1-Pi/4.1.1-\344\272\247\345\223\201\346\270\205\345\215\225.md"
@@ -2,21 +2,21 @@
## 1 Product List Picture
-
+
Each product is numbered and detailed to ensure you can accurately refer to your listing.
## 2 Product Standard List Comparison Table
-| Serial number | Product |
-|------------|-----------------|
-| 1 | MyCobot 320 Pi Robotic Arm |
-| 2 | Product Brochure |
-| 3 | Product kit, including USB-Type C, jumper, M6*35, cup head hexagon, fully threaded, stainless steel screws |
-| 4 | Micro HDMI Cable |
-| 5 | 24V, 9.2A supporting power supply |
-| 6 | Flat base |
-| 7 | Clamp holder |
+| Serial number | Product |
+| ------------- | ----------------------------------------------------------------------------------------------------------- |
+| 1 | MyCobot 320 Pi Robotic Arm |
+| 2 | Product Brochure |
+| 3 | Product kit, including USB-Type C, jumper, M6\*35, cup head hexagon, fully threaded, stainless steel screws |
+| 4 | Micro HDMI Cable |
+| 5 | 24V, 9.2A supporting power supply |
+| 6 | Flat base |
+| 7 | Clamp holder |
**Note:** After the packaging box is in place, please confirm that the robot packaging is intact. If there is any damage, please contact the logistics company and the supplier in your region in time. After unpacking, please check the actual contents in the box according to the item list.
diff --git "a/4-FirstInstallAndUse/4.1-Pi/4.1.3-\345\274\200\346\234\272\346\243\200\346\265\213.md" "b/4-FirstInstallAndUse/4.1-Pi/4.1.3-\345\274\200\346\234\272\346\243\200\346\265\213.md"
index 1c517a4..37fba53 100644
--- "a/4-FirstInstallAndUse/4.1-Pi/4.1.3-\345\274\200\346\234\272\346\243\200\346\265\213.md"
+++ "b/4-FirstInstallAndUse/4.1-Pi/4.1.3-\345\274\200\346\234\272\346\243\200\346\265\213.md"
@@ -6,14 +6,13 @@ myCobot weights 3.3 kg. Due to the fact that the center of gravity will change a
#### Base Interface Size
-* The base fixing holes act as the interface between robot and other bases or planes. The specific hole size is shown in the figure below. There are 4 countersunk holes with a diameter of 4.5 mm, which can be fixed with M6 bolts.
+- The base fixing holes act as the interface between robot and other bases or planes. The specific hole size is shown in the figure below. There are 4 countersunk holes with a diameter of 4.5 mm, which can be fixed with M6 bolts.
-
+
- The end is mounted with flange and is compatible with both LEGO component holes and screw threaded holes. Please make sure that there are corresponding threaded holes on the fixed base before installing.
-
-#### *Before the installation, please confirm:*
+#### _Before the installation, please confirm:_
- The environmental condition meets the requirements listed in Section 2.2.4.3.1 above.
- The installation position is no smaller than the working range of the robot, and there is enough space for installation, use, maintenance and repair.
@@ -23,19 +22,19 @@ myCobot weights 3.3 kg. Due to the fact that the center of gravity will change a
- After confirming the above, please move the robot to the base installation table, adjust the robot position, and align the fixing holes of the robot base with the holes on the base mounting table. After aligning the holes, align the screws with the holes and tighten them.
-> **Notice:** When adjusting the position of the robot on the base installation table, do not pushing or pulling the robot directly on the base installation table to avoid scratches. When manually moving the robot, do not applying external force to the fragile parts of the robot body, so as to avoid unnecessary damage to the robot.
+> **Notice:** When adjusting the position of the robot on the base installation table, do not pushing or pulling the robot directly on the base installation table to avoid scratches. When manually moving the robot, do not applying external force to the fragile parts of the robot body, so as to avoid unnecessary damage to the robot.
- **For more installation details, scan the code to watch the video:**
+**For more installation details, scan the code to watch the video:**
-
+
## 2 External cable connection
Before operation, confirm that you have read **Chapter 1 Safety Instructions** to ensure safe operation. At the same time, connect the power adapter with the robotic arm, and fix the base of the robotic arm on the table. The connection method is shown in Figure 3-1.
-
+
- Figure 3-1 Location of the power connector
+ Figure 3-1 Location of the power connector
myCobot must be powered on with an external power supply to provide sufficient power:
@@ -45,27 +44,27 @@ myCobot must be powered on with an external power supply to provide sufficient p
- Plug Type: R7B
- 
+ 
**Note that you cannot just use the TypeC plugged into the M5Stack-basic for power.** Use an officially adapted power supply to avoid damage to the robotic arm.
The use case diagram is shown in the following figure: (Please carefully align it with the use case diagram for connection)
-
+
-
+
-
+
| Product | @@ -10,7 +10,6 @@SHA256 Hash |
| myCobot 320 PI | ubuntu 18.04 | @@ -25,7 +24,6 @@
@@ -113,19 +108,19 @@
- **According to the robot to configure the system**
-
- - Press the shortcut key Ctrl+Alt+T to open the terminal，enter `python3 ~/deployment/one_click.py` to open ER-tools
-
+
+ - Press the shortcut key Ctrl+Alt+T to open the terminal，enter `python3 ~/deployment/one_click.py` to open ER-tools
+
-
+
- Select the corresponding robot model， click **一键更新全部**，wait until it done
-
+
**Note: When updating pymycobot & ros1 & ros2, the update will fail due to network instability, it is recommended to update separately**
-
+
-
+
-
+
- If you do not need to update all softwares, click the corresponding software button
-
- 
\ No newline at end of file
+
+
diff --git a/8-FilesDownload/8.1_320_PI_Files/8.5_PublicityMaterial.md b/8-FilesDownload/8.1_320_PI_Files/8.5_PublicityMaterial.md
index 7fa731d..62f2b04 100644
--- a/8-FilesDownload/8.1_320_PI_Files/8.5_PublicityMaterial.md
+++ b/8-FilesDownload/8.1_320_PI_Files/8.5_PublicityMaterial.md
@@ -1,12 +1,17 @@
# Product Brochure
-| Robot | Brochure |
-| :---------: | :--------------:|
+| Robot | Brochure |
+| :------------: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
| myCobot 320 PI | [download](https://download-elephantrobotics.oss-cn-shenzhen.aliyuncs.com/Product_software/myCobot/%E4%BA%A7%E5%93%81%E7%94%BB%E5%86%8C/%E4%BA%A7%E5%93%81%E7%94%BB%E5%86%8CmyCobot320pi20221013.pdf) |
-
# Product Video
+
+