Setting Up YuMi
Below list the steps of how to properly setup YuMi to interface with ROS using the TouchPendant. This wiki page will also show some useful functionality that is provided in the TouchPendant.
Sections
Once the YuMi has been turned on, the TouchPendant screen should be similar to Figure 1 below once the YuMi OS has been loaded. There are four buttons on this screen.
- The menu button is the button on the top left.
- On the right of menu button shows any message have been sent to the TouchPendant (messages are generally only sent from RAPID code and currently only show the user the current state of each RAPID task).
- The wide button on the top of the screen shows the event log, displaying any high-level operations that have been performed recently along with showing an errors that have popped up.
- The button on the bottom right is the quick access button, which allows for easy access to some of the basic functionality. This includes turning the motors on and off, setting manual or automatic mode, changing the max motor speeds, and a few others.
Figure 1. Home Screen.
When the YuMi is first turned on, the state and motion server tasks for each arm are started once the YuMi OS has been loaded on the TouchPendant. Before continuing below, ensure that the state and motion server tasks are in a running state and ensure that only the motion tasks and set to active. To do this, click the quick access button on the bottom right of the home screen. Once that button is pushed, a sidebar should appear on the right side of the screen as shown below in Figure 2.
Figure 2. Quick Access Sidebar.
Click the bottom button in the quick access menu sidebar (a hollow circle branching to three smaller filled circles) to bring up the active tasks list. The screen should be the same as Figure 3 below, with the tasks T_ROB_L and T_ROB_R checked, and the rest unchecked with a "Go" status. If the active task list screen does not look the same as shown below, the please follow the instructions in the section State or Motion Server Task Error below and follow the instructions listed there before continuing.
Figure 3. Active Task List.
From the home screen, click the menu button on the top left, then click Program Editor (menu screen shown in Figure 4. The screen will show the list of tasks that are on YuMi, the list should look the same as shown in Figure 5.
Figure 4. Main Menu List.
Figure 5. Task List Window.
Click on one of the motion tasks, either T_ROB_L or T_ROB_R (Figure 7 shows the screen if the T_ROB_L task is chosen), and the RAPID code for that motion task should be displayed as shown in Figure 6. To set the program pointer to the main function, first click the Debug button showed on the bottom menu bar. A sidebar should appear as shown in Figure 7. Click the button labeled PP to Main to set the program point to main for the task displayed.
Figure 6. RAPID Task Editor Window.
Figure 7. Debug Menu Sidebar.
This process will need to be repeated for the other motion task (T_ROB_L and T_ROB_R). Push the menu button on the top left, then press the Program Editor button again. Click a the other motion task from what was chosen in the previous step, then reset the program pointer to main as described above. Once this done, two windows should be open, as shown on the bottom left of Figure 8 below with the two button labeled "T_ROB_L ROS_mot..." and "T_ROB_R ROS_mot...".
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Figure 8. Two Motion Task Windows Open.
Once all of the operations listed above have been completed, then the motion tasks can be executed. To do this, press the play button located on the bottom right of the TouchPendant (not the screen). The two grippers (if YuMi was set up for two grippers, otherwise ensure YuMi has been setup correctly as described on the YuMi ROS Integration wiki page) will go through a calibration process of closing completely, then moving to 10mm and back to the closed position to indicate that grippers have been calibrated.
Occasionally, one or both of the grippers will not close completely before calibrating, thus setting the zero position incorrectly. If this occurs, click the stop button on the bottom right of the TouchPendant (not the screen), and reset the motion tasks program pointers to the main function as was done in the previous section, then press the play button on the bottom right of the TouchPendant (not the screen).
If one of the grippers does not move at all, then most likely the tasks program pointer was not set to the main function. Stop the motion tasks, set the motion tasks program pointers to the main function, then start the tasks again.
To stop the motion tasks, simply click the stop button on the bottom right of the TouchPendant (not the screen). If the user would like to re-run the tasks, first the motion tasks program pointer to their main functions, as described above, then click the play button on the bottom right of the TouchPendant (not the screen) to start the motion tasks again
During execution, if YuMi is about to reach a collision, detects contact with an external objects that is over a certain threshold, or some of the other integrated safety features are triggered, than an error screen will be displayed on the TouchPendant as shown below in Figure 9 When this happens, the task that triggered the error (most likely the T_ROB_L or T_ROB_R task) will be stopped, but the other tasks will continue to executed.
If this error was triggered by one of the motion tasks, then click the stop button, set the motion task program pointers to their main function, and click the start program to re-execute the motion tasks.
If this error was triggered by one of the state or motion server tasks, then please follow the instructions in the section State or Motion Server Task Error below and follow the instructions listed there before continuing.
Figure 9. Example Error Message.
YuMi has a built in lead through mode which initiates a gravity compensating controller on its arm(s). This allows for the arm to be manually moved, releasing the internal brakes and moving without affecting any of the internal hardware. To get to this mode, click the menu button on the top left of the screen, then click Jogging. Then screen should look similar to Figure 10 below. To enable to the lead through mode, click the button labeled Enable Lead-through at the bottom right of the Jogging window. The gravity compensating controller will then be activated on the current mechanical unit, as displayed in the Jogging window.
Figure 10. Jogging Menu.
Changing the active mechanical group can either be done by clicking the text on the right of the Mechanical unit: property shown at the top of the Jogging window, or by clicking the button on the right side of the TouchPendant (not the screen) that shows a three link robot arm on the right of two white rectangles and a white upside down T-bar.
To move the gripper on the TouchPendant, click the menu button at the top right of the screen, then click Smart Gripper. This will bring you to a screen that should look the same as below in Figure 11.
Figure 11. Smart Gripper Menu.
The left most button labeled Configuration will bring you to a screen as shown below in Figure 12. Each gripper has its own IP address that is set by sending it a command. If a gripper with the IP of a left gripper (192.168.125.40 for the left gripper, 192.168.125.30 for the right gripper) is placed on the right arm, then YuMi will recognize that gripper as still being a left gripper.
Figure 12. Smart Gripper Configuration Menu.
To change the IP of the gripper, the Right to left and Left to right buttons can be used to override the IP. The best way to do this is to turn off the other gripper (if attached), which can be done by clicking its respective button the left side of the Configuration screen in the button group labeled Power Switch. Once the other gripper is completely off, then push whichever button is active to on the right side of the screen to change the IP of the gripper. This process can be repeated for the other hand if it is necessary to change its IP.
To move the gripper on the TouchPendant, click the menu button at the top right of the screen, then click Smart Gripper. This will bring you to a screen that should look the same as in Figure 11 above.
To move one of the gripper, click its respective button on the current screen. The screen should then look the same as Figure 13 below. To decrease the amount the gripper is open, click the Job - button, and vice versa for the Job + button.
Figure 13. Gripper Manipulation Menu.
To move to a specified location, enter the desired gripper position in millimeters on the right of the Move to button, then click the Move to button. Same goes for the Grip to button, but the Grip to button will hold the specified position with the force displayed on the bottom right of the screen on the right of the label Force: (N). This force can also be adjusted by clicking on the edit box on the right of the text Force: (N).
The button on the top of the left side of the screen in the button group labeled Setup shows if the gripper is calibrated (red means not calibrated, green means calibrated). To calibrate the gripper, first jog the gripper to the closed position by using the Jog - button, then click the calibrate button on the top-right of the window. The gripper is now calibrated.
To go back to the previous screen to manipulate the other gripper, click the Close button located on the bottom right of the window.
NOTE: The gripper can be at a maximum of 25mm for the open position, and a minimum of 0mm for the closed position.
If the program stopped and the last command sent to one of the grippers is to grip inward with a force, then go the the grippers respective menu as described above, and click the Job + button to open the gripper.
If one of the state or motion server tasks (each arm has its own state and motion server task) generates an error or has the status of stopped shown in the active task list in the quick access menu, then the following steps should be taken.
To insure all of the tasks run properly the next time the motion tasks are executed, set all of the tasks (six of them) to active by clicking the quick access button on the bottom right of the screen, clicking the bottom button on the quick access sidebar (image of a large hollow circle connecting to three filled smaller circles), the checking all of the boxed on the left of the six tasks as shown below in Figure 14
Figure 14. All Tasks Set to Active.
Then click the stop button on the bottom right of the TouchPendant (not the screen). All the tasks should now have the status of "Stop" as shown in Figure 15 below.
Figure 15. All Tasks Set to Active and Stopped.
Then go through each of the six tasks in the program editor and set their program pointers to their main function, as described in the Set Program Pointer to Main Function for All Tasks section above. when resetting the program pointer for one of the state or motion server tasks, the error shown in Figure 16 may be shown. This is normal since these tasks are meant to be semi-static (running in the background) and are not generally supposed to be stopped unless an error occurs. Click the Acknowledge button on the bottom left of the screen, and continue setting the program pointers for the remaining tasks to their main functions.
Figure 16. Server Program Pointer Reset Error.
Once all of the program pointers have been set to their main function for each of the six tasks, open up the active tasks list again as described above. Set only the state and motion server tasks as active as shown in Figure 17 below, by unchecking the top two tasks (motion tasks). Click the play button on the bottom right of the TouchPendant (not the screen) to execute the four semi-static tasks. The screen should then update those four tasks to have the status of "Go" as shown in Figure 18 below.
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Figure 17. Only State and Motion Server Tasks Set as Active.
Figure 18. State and Motion Server Tasks in "Go" State.
Once this is done, then uncheck each of the state and motion server tasks, and check the motion tasks. The screen should look the same as Figure 19 below. Then click the play button on the bottom right of the TouchPendant (not the screen). Once both grippers (if using two grippers) calibrate, YuMi is then ready to connect with ROS again.
Figure 19. Only Motion Tasks Set to Active.
YuMi is now ready to connect with a computer running ROS. The following wiki page describes the final steps neccessary to connect YuMi with ROS.