EoAT Setting

RoArm-M2-S EoAT Setting

The RoArm-M2-S's EoAT (End of End Thing) is shipped with the "clamp" mounting configuration, but the RoArm-M2-S's EoAT supports both types of mounting configurations. Therefore, this tutorial describes how to change the mounting structure of the EoAT.

Setting EoAT Types

If you want to change the EoAT from the "clamp" to "wrist", you need to change the EoAT types.

{"T":1,"cmd":0}

• 1: indicates this command is CMD_EOAT_TYPE, which is for setting EoAT types.
• mode: indicates the EEMode value, changes according to the EoAT types.
  • 0: indicates EEMode is 0 when the EoAT is "clamp".
  • 1: indicates EEMode is 1 when the EoAT is "wrist"

Note: if the EoAT structure changes, the EEMode value should be changed accordingly.

If you will not be changing the EoAT structure for a long time and need to automatically set EEMode to 1 every time you power up, you can enter the following command:

{"T":222,"name":"boot","step":"{\"T\":1,\"mode\":1}"}

The RoArm-M2-S demo includes a Flash filesystem section that can be used to store some settings and task files. The task file named boot is automatically run at boot, see the tutorial on how to operate the FLASH filesystem. The command here will add a JSON command that sets the EEMode value to 1 to the boot task file.

Set "Wrist" Joint Dimensions

Note: this command is only applicable when the EEMode is 1.

{"T":2,"pos":3,"ea":0,"eb":20}

• The command is CMD_CONFIG_EOAT and is used to set the dimensions of the End-of-Arm Tooling (EoAT) at the "wrist" joint.
• pos: Choose a position number based on the assembly hole used on the end joint for expansion parts, as shown in the diagram:
  • 0: Set pos to 0 when there's no expansion or no assembly hole on the end joint edge.
  • 1: Set pos to 1 when the expanded part uses an assembly hole with a diameter of 3.2mm.
  • 2: Set pos to 2 when the expanded part uses an assembly hole with a diameter of 4.2mm.
  • 3: Set pos to 3 when the expanded part uses an assembly hole with a diameter of 10.2mm.
• ea: Horizontal distance in millimeters between the expanded part's endpoint on the end joint and the assembly hole. Specific measurements depend on the assembly size of the expanded part.
• eb: Vertical distance in millimeters between the expanded part's endpoint on the end joint and the assembly hole. Specific measurements depend on the assembly size of the expanded part.

Explanation: When these values are set, the endpoint of the robotic arm will correspondingly change. For instance, if you insert a screwdriver into an assembly hole with a 4.2mm diameter, the length of the screwdriver is 20mm, and you set pos to 2, ea to 0, and eb to 20, all movements controlled by the endpoint coordinates of the robotic arm will be based on the tip of the screwdriver, not the original endpoint of the arm.

Set the Maximum Torque of the "Clamp" Joint

{"T":107,"tor":200}

• 107: Indicates that this instruction is CMD_EOAT_GRAB_TORQUE, which is used to set the maximum torque of the "Clamp" joint.
• tor: the value of maximum torque. When the value is 200, the maximum torque is equal to 20% of the maximum torque of the servo; when the value is 1000, the maximum torque is equal to the maximum torque of the servo.