Writing and painting

1 What is the scope of work

The working range is the distance that can be reached when the mechanical arm is fully extended, known as the arm length, and also known as the working space. It refers to the space that the robot can reach without installing the end effector.

2 How to confirm the initial point of writing and drawing

• Open Elephant Luban

• Click to enter the "WorkSpace"

• Select the corresponding serial port,click“Connect”, after the connection is successful, you can see the prompt text next to the button

• Click“Home”,let the machine adjust the joint to the zero position

• Through the control panel, control the machine arm to press the drawing board gently with the pen tip, as shown in the following figure

• Record the Cartesian space coordinate value of the current manipulator as the initial point of painting

3 Which tool to use to generate tracks

• Download Elephant Luban and install

• Double-click the icon to open Elephant Luban

• After opening the software, select the language first. After selecting, click "Next" to enter the machine configuration

• Select "Signaturepen" or "Watercolorpen" according to the actual installed tool, and click "Finish"

• After the machine configuration is completed, click "Drawing" to enter the track generation page

• When you enter this page for the first time, there will be instructions. Follow the instructions and click "Next"

• In this page, there are preset basic graphics that can be used directly

• You can also choose to import the required image. After the image is imported, Elephant Luban will automatically perform vector processing on the image

• Move the processed image to the white sector area, that is, move the image to the working range of the manipulator

• After confirming the image position, click "Next"

• Select the image first, and then click "Create Toolpath"

• Input the "Speed", "Pen Up Height","Pen Down Height" and "Init Pos" in sequence, and click "Save" after setting

• After the path is created,click “Generate G-code and Preview” and you can see the actual effect of the track

• Click "Export" to save the generated track.

4 How to use the generated track

There are two ways to track: 1 Used directly in the Elephant Luban workspace 2 Play tracks using myBlockly

• How to send tracks in Elephant Luban workspace

  • Click "Export" and select "Load G-code to Workspace"

  • Enter the work area and see the actual effect of the track. Click "X" to close the preview window

  • Select the corresponding serial port and click "Connect". After the connection is successful, you can see the prompt text next to the button

  • Click“Home”,let the machine adjust the joint to the zero position

  • Click "Send to machine" to send the generated track to the machine and let the machine start writing and drawing

• How to play tracks with myBlockly

  • Click "Export" and select "Load G-code to Workspace"

  • Save nc file

  • Double-click to open myBlockly

  • Switch machine type, select serial port and baud rate

  • After switching the machine type, there will be a prompt pop-up window, which can be closed directly

  • Drag the building block for programming, as shown in the figure below

  • Click the building block, select the track file, and complete the programming

  • Click“Run”,and you can play the track