Click the Backup drop down menu, then click Create Backup.
Instructions for creating and restoring from system backups is shown below. It is advised to create a system backup after setting up the controller using the instructions above. Whenever major changes are going to be done to the YuMi system (adding/deleting large amounts of code, changing system configurations, etc), be sure to create a system backup before going ahead and making the modifications.
From this menu, the operator mode can be changed between automatic and manual mode as described in the section below.Ĭomments on Creating and Restoring from Backups Under the text Motor On/Off, click the on On button to turn the motors on. Click the top-most button (looks likean outlined YuMi) to pull up the Operator Panel. This will open a sidebar on the right of the screen. To turn the motors on, click the quick access menu button located at the bottom left of the TouchPendant screen. Occasionally, when YuMi is started up, the motors will be set to an off state. RobotWare Services (RWS) - Position control When it finishes restarting, open RobotStudio, and add the following scripts (all of them located in yumi_hw/rapid/) to each of the tasks specified: File Next, create the following set of tasks: TaskĪfter creating the tasks shown in the table above, restart the YuMi via the FlexPendant. You'll first need to create a set of signals to be triggered via the RWS API: Task Manual firmware setup Externally Guided Motion (EGM) - Velocity control YuMi should now have the required software, packages, and controller settings neccessary to communicate with an external computer. ** Part 14b - This option should be enabled by default since YuMi has two arms that collaborate * Part 3 - This repo was made based on the RobotWare version 6.03.02
If the SmartGripper package is not installed, then install it.Then click the RobotWare Add-Ins button and find the SmartGripper package.Check which version is installed and make sure it is the newest version *.Click the RobotWare button if it is not currently displaying.Go to the _Add-In_s tab found at the top of the RobotStudio window.
First you will need to check which software version is installed and install the Smart Gripper add-on package if you have not done so yet. Now your computer running RobotStudio has access to the YuMi controller. Part 8 - Controller Tab > Access Group > Request Write Access Click the Grant button in the popup window on the FlexPendant screen.Request Write Access from YuMi (more information below).
Turn on YuMi and wait for the home screen to come up on the FlexPendant.To make sure the steps below will work properly, you need to check that the most up to date software has been loaded onto YuMi and the Smart Gripper package has been added as well.