MASTER ARMINTEGRATION MANUAL

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VERSION 2.0

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Contents

1 OVERVIEW 3

2 INTERFACING 3

2.1 MECHANICAL 3

2.2 ELECTRICAL 3

2.3 SOFTWARE 4

3 OPERATION 4

3.1 4DOF MASTER ARM MAPPING (PRODUCT CODE RM-5201) 4

3.2 5DOF MASTER ARM MAPPING (PRODUCT CODE RM-5202) 5

3.3 BUTTON OPERATION 5

4 QUICK START GUIDE 6

4.1 YOU WILL NEED 6

4.2 QUICK START GUIDE 6

5 NOTES 8

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The Reach System Master Arm is a one-to-one scale controller for the Reach System and Reach System Mini product range. Compared to alternative control solutions it offers the most intuitive way of remote operation where precise control is required. Connected to a Reach System manipulator, the velocity of the master arm directly sets the velocity of the manipulator allowing for the ability to control multiple axes simultaneously. It’s a straight forward setup, and the following steps will get you up and running quickly.

The Master Arm features a standard ¼-20 UNC camera tripod thread to allow for the adoption of the wide range of standard camera accessories available.

The Master Arm connects to the host computer via a standard USB 2.0 connection. The supplied cable is a USB A to 4 pin Lemo 0T Connector.

1 Overview

2 Interfacing

2.2 Electrical

2.1 Mechanical

Figure 1 Mounting Dimensions

Electrical SpecificationsVoltage 5V

Current 400mAh

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Serial SpecificationsBaud 115200 bits/s

Word Length 8 bits (including parity)

Parity None

Stop Bits 1

3 Operation

The entire RS1 range transmit and receive data over a Serial connection with the following specifications:

2.3 Software

The 4DOF Master Arm is designed to control a 4 DOF slave manipulator such as the Reach 5 Mini (“R5M“ RS1-5001) or Reach 5 (“R5” RS2-5001). The default mapping is as shown in Figure 2.

Note: The rotate function of the handle is used for ergonomic reasons only and does not provide control input to the slave manipulator.

3.1 4DOF Master Arm (Product Code RM-5201) Mapping

Figure 2 - Default Joint Mapping for 4DOF Master Arm and R5M

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Button Functions (A) Pause (B) Deploy (C) StowRelease Starts Output Stops Deploying Stops Stowing

Hold Pauses Output Starts Deploying Starts Stowing

Double Press Stops Output Moves to Deploy Pos Moves to Stow Pos

Hold + Pause (A) - Sets Deploy Pos Sets Stow Pos

The buttons on the hand of the Master Arm are used for pausing, stowing, and deploying the slave manipulator according to the diagram below:

The 5DOF Master Arm is designed to control a 5 DOF version of the Reach 5 Mini (Probe Version) (RS1-5002). In this arrangement the joystick is not used by default.

3.2 5DOF Master Arm (Product Code RM-5202) Mapping

Figure 3 – Default Joint Mapping for 5DOF Master Arm and R5M-Probe

3.3 Button Operation

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4 Quick Start Guide

4.1 You Will Need

4.2 Quick Start Guide

• Master Arm Controller• USB to RS232 LEMO cable• ¼-20 UNC camera mount• Windows Computer with USB Port• Reach Control Installed

Prior to following these steps, please ensure you are familiar with the content of the Reach System integration manual (separate document) and have set up your Reach System manipulator correctly by following the Bench Test procedure. The following steps apply once your manipulator is setup and powered on.

STEP 1

STEP 2

Plug the LEMO connector into the Master Arm.

Mount the Master Arm to the camera mount using the ¼-20 UNC thread and ensure it is secure.

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STEP 3

STEP 4

STEP 5

Plug the cable into the PC/Laptop running Reach Control via a USB Port.

Open the Reach Control CONNECTIONS Panel and create a connection for the Master Arm, then enable it.

In the VEHICLE SETUP panel, assign the Master Arm to a slave.

Note: You can determine the correct COM port via Device Manager, or by comparing the COM port list before and after plugging the Master Arm in.

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STEP 6

Hold the Master Arm handle and press the pause button once to start controlling. From here, all functionality is per Table 1 on Page 5.

When unplugging the LEMO connector from the Master Arm, simply pull the connector outwards (ensuring that the red lines are aligned). Do not twist the connector during this motion

5 Notes