I.Parameters of the bot -- MyArm M750

In the first chapter, we explore the selling points of the product and its design philosophy, giving you a panoramic view of the high-level understanding of the product. Now, let's move on to the second chapter – Robot Parameter Description. This section will be the key to understanding the technical details of the product. A detailed understanding of these technical specifications will not only help you fully understand the advanced and practical nature of our products, but also ensure that you can use these technologies more effectively to meet your specific needs.

1 Product Specifications

1.1 Machine Parameters

Specifications	Parameter
Model	myArm M750
DOF	6+1
Horizontal Reach Range	750
Total span	1500mm
Self-weight	3.2kg
Power Specifications	24V5A
Repeatability	±1mm
Accuracy	5 - 8mm
Working load	Rated 500g, peak 1Kg
Number of servos	8
Servo type	Industrial-grade high-precision digital servo motor
Rotation capacity	+/- 180°
End effector	Parallel gripper, optional camera adaptation
USB connection	Type-C
Atom end	5*5 LED light matrix
Communication frame rate	>50Hz

1.2 Software Basic Function Support

Function/Development Environment	Usage
Joint Movement	Yes
Cartesian Movement	Yes
Wireless control	Yes
Emergency stop	Yes
Windows	Yes
Linux	Yes
MAC	Yes
ROS	Yes
Python	Yes
myblockly	Yes
mystudio	Yes
Serial Port Control Protocol	Yes

2 Control core parameters

2.1 Master Controller Spec Sheet

Indicators	Parameters
Master Control	M5Stack-basic
Master Model	ESP32
CPU	240MHz dual core. 600 DMIPS、520KB SRAM。 Wi-Fi, dual-mode Bluetooth
Bluetooth	2.4G/5G
Wireless	2.4G 3D Antenna
Enter	IN1, IN2, IN3, IN4, IN5, IN6
Output	OUT1, OUT2, OUT3, OUT4, OUT5, OUT6

2.2 Secondary Controller 1 Spec Sheet

Indicators	Parameters
Auxiliary Control	Atom
Auxiliary Control Model	ESP32
Auxiliary controller core parameter	240MHz dual-core. 600 DMIPS，520KB SRAM。 Wi-Fi, dual-mode Bluetooth
Auxiliary controller flash	4MB
LCD display	2.0"@320*240 ILI9342C IPS panel, max brightness 853nit
Type C	*1

2.3 Secondary Controller 2 Spec Sheet

Indicators	Parameters
Auxiliary Control	Pico
Auxiliary Control Model	ESP32
Auxiliary controller core parameter	240MHz dual-core. 600 DMIPS，520KB SRAM。 Wi-Fi, dual-mode Bluetooth
Secondary controller flash	4MB
TypeC	*1

3 Structural Dimension Parameters

！ This chapter is in millimeters of distance and degrees of angle.

3.1 Product Dimensions and Workspace

3.2 Base Mounting Dimensions

The base needs to be flanged and can be fixed to the corresponding mounting base using M6 screws.
Before use, please confirm that the installed base can bear 3 times the weight of the body to prevent damage to the product caused by loosening of the product due to the increase in movement speed during use.

Figure 1 Front view of the base

3.3 End of arm

The end of the arm is compatible with LEGO component holes and threaded holes.

3.4 Products

3.5 3D Model Download

M750 model download

4 Electrical Characteristic Parameters

4.1 Overview of the Electrical Interface of the Base

Figure 1 Front view of the base

Figure 2 Left side of the base

Figure 3 Right side of the base

No.	Interface name	Define	Features	Note
1	Type C	Communication Interface	Communicate with a PC	Development and use
2	Screen	Show	Use	with buttons
3	Press	Press the key A	Use	with the display
4		Press the B
5		Press the C
6	Switch	Power switch	Control the input power on and off	With light (light on)
7	DC/IO interface	GND	GND
		IN6	Digital input signal 1~6	only in NPN mode
		IN5
		IN4
		IN3
		IN2
		IN1
		24V	DC24V
8	Type C	Communication Interface	Communicate with a PC	Development and use
9	Power DC input interface	DC24V input	DC24V input
10	DC/IO interface	24V	DC24V
		OUT1	Digital output signal 1~6	only in PNP mode
		OUT2
		OUT3
		OUT4
		OUT5
		OUT6
		GND	GND
11	E-stop interface	STOP	Emergency stop circuit interface

4.1.1 Type C: The Type-C interface is used to connect and communicate with PCs and can be used by developers.

4.1.2 Screen: The screen is used to display the communication status of myArm and calibrate the robot to the starting point through a 2-inch IPS screen.

4.1.3 Keys A, B, and C are used to operate the screen in a coordinated manner.

4.1.4 Power Switch: The power switch is used to control the main power input. If it is turned off, the controller will also lose power.

4.1.5 24V output: Built-in DC24V, available for user use.

4.1.6 Digital Inputs/Outputs: Includes 6 digital input signals and 6 digital output signals for interaction with other devices and together with other devices form an important part of the automation system.

Digital Inputs/Outputs: Includes 6 digital input signals and 6 digital output signals to interact with other devices and together with other devices form an important part of the automation system.

It is important to note that the output signal is in PNP form and the input signal is in NPN form. Here is the external wiring diagram:

4.1.7 Power DC input interface: KPPX-4P R7BFDC power socket. The 24V 9.2A DC power adapter from the manufacturer can also be used to power the myCobot320.

4.1.8 The emergency stop circuit terminal is connected to the emergency stop button box and can be used to control the emergency stop of the robot.

NOTE: The emergency stop switch must be connected when using the robot and ensure that the emergency stop switch circuit is always connected.

4.2 Mechanical Wall End Electrical Interface

4.2.1 Introduction to the end of the robotic arm

A. The side interface at the end of the robotic arm is shown in Figure 2-1.

Figure 2-1 End of the robotic arm

No.	Interface name	Define	Features	Note
9	End IO interface	End Tool IO Interface	Interact with external devices	Development and use
10	End Grove Interface
11	Type C interface		It can be used to connect and communicate with the PC and update the firmware
12	End Atom	LED	For 5X5 RGB LED (G27) display and key function (G39)
13	Servo interface	Connect the servo	Connect an external device servo

4.2.2 End Interface Description

A. Table 2-1 defines the terminal IO port.

Tag name	Signal name	Features
5V0	5V	5V Power Supply
GND	GND	Motherboard power signal ground
3V3	3V3	3.3V Power Supply
G22	G22	3.3V-OUT-PIN output/3.3V-INT input
G19	G19	3.3V-OUT-PIN output/3.3V-INT input
G23	G23	3.3V-OUT-PIN output/3.3V-INT input
G33	G33	3.3V-OUT-PIN output/3.3V-INT input

Table 2-1 Terminal IO port

B. End Grove Interface: The Grove interface 4 definition is shown in Figure 2-2

Figure 2-2 End Grove Interface

C. Type C interface: It can be used to connect and communicate with the PC and update the firmware.

D. Atom: for 5X5 RGB LED (G27) display and key function (G39)

E. Servo interface: used for terminal expansion grippers, currently supporting the use of matching adaptive grippers.

5 Cartesian Coordinate System

5.1 Joint Coordinate System

The joint coordinate system is a coordinate system based on the rotation joints of the robot arm. The white dotted lines in the figure below represent the rotation axes of each joint, the red arrows represent the rotation directions of the joints, and q1-q6 represent the 1-6 joint coordinate systems.

5.2 Base Coordinate System

The base coordinate system is a coordinate system fixed at the bottom of the robot arm. Its origin and coordinate axis directions are determined when the kinematic algorithm is modeled. Generally, the origin is set at the center point of the base.

5.3 Tool Coordinate System

The tool coordinate system is a coordinate system fixed at the end of the robot arm. Its origin and coordinate axis direction are determined during the kinematic algorithm modeling. Generally, the origin is set at the center point of the flange at the end of the robot arm.

5.4 Kinematic model

The figure below shows the kinematic model of the robot arm. The position shown is the zero point on the algorithm model

5.4.1 Zero point calibration

In the kinematic model, the actual zero point has some offset on joints 2 and 3. Considering the convenience of calibration, users can align the scale line when using zero point calibration, without aligning the actual zero point on the model.

5.4.2 MDH parameters

DH parameters are used to describe the relative relationship between adjacent links:

a_i: along x_i: the distance from z_i to z_i+1
alpha_i: around x_i: from z_i to z_i+1
d_i: represents the distance from x_i-1 to x_i along z_i
θ_i: around z_i: from x_i-1 to The angle of x_i

5.4.3 MDH parameter list

Joint	alpha_i-1	a_i-1	d	theta	offset
1	0	0	173.9	theta_1	0
2	-PI/2	0	0	theta_2	-PI/2
3	0	308.315	0	theta_3	0
4	-PI/2	0	327.91	theta_4	0
5	PI/2	0	0	theta_5	0
6	-PI/2	0	197.1	theta_6	PI

II.Parameters of the bot -- MyArm C650

In the first chapter, we explore the selling points of the product and its design philosophy, giving you a panoramic view of the high-level understanding of the product. Now, let's move on to the second chapter – Robot Parameter Description. This section will be the key to understanding the technical details of the product. A detailed understanding of these technical specifications will not only help you fully understand the advanced and practical nature of our products, but also ensure that you can use these technologies more effectively to meet your specific needs.

1.Robot Specifications

Specifications	Parameter
DOF	6+1
Horizontal Reach	650
Total span	1300mm
Tare weight	1.8kg
Power Specifications	12V5A
Repeatability	±1mm
Accuracy	5 - 8mm
Working load	-
Number of servos	8
Servo Type	High-precision digital servo motor
Rotation capacity	+/- 180°
End effector	Two-finger remote control + two-button control
USB connection	Type-C
Atom end	5*5 LED Light Matrix
Communication frame rate	>50Hz

2.Control core parameters

Master Controller Spec Sheet

Indicators	Parameters
Master Control	M5Stack-basic
Main control model	ESP32
CPU	240MHz dual core. 600 DMIPS、520KB SRAM。 Wi-Fi, dual-mode Bluetooth
Bluetooth	2.4G/5G
Wireless	2.4G 3D Antenna
Input	1, 2, 3, 5, 18, 19, 21, 22, 23, 25, 26, 35, 36
Output	Shared with input
LCD Display	2.0" @ 320*240 ILI9342C IPS panel, maximum brightness 853nit
Physical keys

Secondary Controller Spec Sheet

Indicators	Parameters
Auxiliary Control	Atom
Auxiliary Control Model	ESP32
Auxiliary controller core parameters	240MHz dual-core. 600 DMIPS，520KB SRAM。 Wi-Fi, dual-mode Bluetooth
Auxiliary controller flash	4MB
LED Matrix	5*5 LED Light Matrix
LCD Display	2.0"@320*240 ILI9342C IPS panel, max brightness 853nit
Type C	*1
Auxiliary Control Extended IO	G19, G21, G22, G23, G25, G33

3.Structural size parameters

！ This chapter is in millimeters of distance and degrees of angle.

Product size and workspace

Base installation dimensions

The base needs to be flanged and can be fixed to the corresponding mounting base using M6 screws.
Before use, please confirm that the installed base can bear 3 times the weight of the body to prevent damage to the product caused by loosening of the product due to the increase in movement speed during use.

Figure 1 Front view of the base

End of arm

The end of the arm is compatible with LEGO component holes and threaded holes.

Products

3D Model Download

C650 model download

4.Electrical Characteristic Parameters

Overview of the base's electrical interfaces

Figure 4.1 Front view of the base

Figure 4.2 Left view of the base

Figure 4.3 Right view of the base

No.	Interface name	Define	Features	Note
1	Functional interface group 1	I/O interface	GPIO pin
2	Screen	Show	Use	with buttons
3	Press	Press the key A	Use	with the display
4		Press the B
5		Press the C
6	Functional interface group 2	I/O interface	GPIO pin
7	Reset button	System Reset	Reset the master
8	Type C interface		It can be used to connect and communicate with the PC and update the firmware
9	Grove interface 1
10	Functional interface group 3	I/O interface	GPIO pin
11	Grove interface 2
	Grove interface 3
12	Power DC input interface	DC24V input	DC24V input

A. The following table describes the first interface of the functional interface group:

Label	Type	Features	Note
18	I/O	GPIO18	Not available when using TF card
19	I/O	GPIO19	Not available when using TF card
23	I/O	GPIO23	Not available when using TF card
22	I/O	GPIO22
21	I/O	GPIO21
GND	P	GND
3V3	P	GPIO22
5V	P	DC 5V

B. The definitions of each interface in function interface group 2 and function group 3 are the same, and the definition of interface is as follows:

Label	Type	Features	Note
3	I/O	GPIO3	Not available when using TypeC or Grover 3
1	I/O	GPIO1	Not available when using TypeC or Grover 3
16	I/O	GPIO16	Not supported at this time
17	I/O	GPIO17	Not supported at this time
2	I/O	GPIO2
5	I/O	GPIO5
25	I/O	GPIO25	Not supported at this time
26	I/O	GPIO26	Not available when using Grover 2
35	I/O	GPIO35	Not supported at this time
36	I/O	GPIO36	Not available when using Grover 2
RST	-	Controller reset	Not supported at this time
BAT	-	BTTERY	Not supported at this time
3V3	P	GPIO22
5V	P	DC 5V
GND	P	GND

Note: I/O: This function signal contains a combination of input and output.

C.Grover interface: The following diagram shows the definition of the Grover interface:

Figure 4.4 Grover Interface 1 Definition Diagram

Figure 4.5 Grover Interface 2 Definition Diagram

Figure 4.6 Grover Interface 3 Definition Diagram

D. Screen: The screen is used to display the communication status of myArm and to move the robot to the starting point via a 2-inch IPS screen.

E. Keys A, B, and C are used to operate the screen in a coordinated manner.

F. Reset Button: Used to reset the main control system

G.Type C: The Type-C interface is used to connect and communicate with PCs and is available to developers.

Electrical interface at the end of the robotic arm

1. Introduction to the end of the robotic arm

A. The schematic diagram of the side interface at the end of the robotic arm is shown in the figure:

No.	Interface name	Define	Features	Note
13	End Atom	LED	For 5X5 RGB LED (G27) display and key function (G39)
14	Type C interface		It can be used to connect and communicate with the PC and update the firmware
15	End Grove Interface
16	End IO interface	End Tool IO Interface	Interact with external devices	Development and use
17	Servo interface	Connect the servo	Connect an external device servo

2. End interface description

A. The following table is the definition of the terminal IO port.

Tag name	Signal name	Features
5V0	5V	5V Power Supply
GND	GND	Motherboard power signal ground
3V3	3V3	3.3V Power Supply
G22	G22	3.3V-OUT-PIN output/3.3V-INT input
G19	G19	3.3V-OUT-PIN output/3.3V-INT input
G23	G23	3.3V-OUT-PIN output/3.3V-INT input
G33	G33	3.3V-OUT-PIN output/3.3V-INT input

B. End Grove Interface: The Grove Interface 4 definition is shown in the image：

C. Type C interface: It can be used to connect and communicate with the PC and update the firmware.

D. Atom: for 5X5 RGB LED (G27) display and key function (G39)

E. Servo interface: used for terminal expansion grippers, currently supporting the use of matching adaptive grippers.

5 Cartesian Coordinate System

5.1 Joint Coordinate System

5.2 Base Coordinate System

5.3 Tool Coordinate System

The tool coordinate system is a coordinate system fixed at the end of the robot arm. Its origin and coordinate axis direction are determined during kinematic algorithm modeling. Generally, the origin is set at the center point of the flange at the end of the robot arm.