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Copy file name to clipboardExpand all lines: 2-ProductFeature/2.1_320_M5_product/2.1.4-ElectricalCharacteristicParameter.md
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Figure 1 Front view of a base
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#### 1.1 Type C ：Type C interface is used to connect and communicate with the PC, available for developers.
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> This interface is only used for updating pico firmware, not as a general programming communication interface.
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#### 1.2 Screen ：Screen is used to display the communication status of myCobot and calibrate the robot move to starting point with a 2-inch IPS screen.
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Built-in I/O power supply, voltage 24V, single output maximum 0.2A. External power supply is not supported.
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It should be noted that the output signal is in PNP form, and the input signal is in NPN form. The following is the external wiring diagram:
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It should be noted that the output signal is in PNP form, and the input signal is in NPN form. The following is the external wiring diagram:
#### 1.7 Power DC input interface : It uses KPPX-4P R7BFDC power socket. The 24V 9.2A DC power adapter provided by the manufacturer can also be used to power myCobot320.
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#### 2.1 End-tool IO interface: This is a tool I/O diagram, and the myCobot 320 robot provides one input and two outputs.
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> Accessory and Atom end tool interface use does not support hot swapping.
- Cost of using a security function at a low level.
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- Lo-fi does not conform to the use of robot performance parameters.
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---
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## **Robot Motion Control Guide and Usage Restrictions**
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### **Basic Usage Guidelines**
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**myCobot 320 Usage Guidelines**
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-**Payload Capacity:** Please note that the myCobot 320 has a rated payload of 1 kilogram. To ensure the normal operation of the robotic arm, avoid exceeding the rated payload to prevent potential damage.
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-**Power Supply:** For stable power supply to the robotic arm, use only the original matching power adapter. Do not replace or modify the power supply for safety reasons.
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-**Disassembly and Maintenance:** When disassembling or performing maintenance on the robotic arm, strictly follow the guidance provided by the official after-sales support. Unauthorized modifications, such as connecting sensors, welding, or short-circuiting IO pins, are not recommended.
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-**Operating Environment:** To ensure the normal functioning of the robotic arm, place it in a dry and temperature-appropriate environment. Avoid exposing the robotic arm to damp or high-temperature conditions.
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-**Joint Limitations:** The robotic arm is equipped with joint limit functions. Avoid moving the robotic arm beyond its movable range to prevent potential damage or safety issues.
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-**Fixation and Prevention of Falls:** Before operating the robotic arm, ensure it is securely fixed. During operation, be cautious to prevent falls or interference from unexpected situations.
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-**Firmware Flashing:** Choose firmware carefully and only use firmware provided by the official source. Using unofficial firmware may lead to unnecessary issues.
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**Note:** For your safety and the well-being of the robotic arm, it is recommended to adhere to the above usage guidelines. Any actions, such as overloading or modifying the robotic arm, that result in damage and are not guided by official after-sales support will not be covered by the robotic arm's warranty. If you have further questions, feel free to contact our official after-sales support.
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### **Robot Motion Control Instructions**
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myCobot 320
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**Joint Limitations are as Follows:**
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|**Joints**|**Range**(°) |
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| ---------- | ------------ |
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| J1 | ±165° |
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| J2 | ±165° |
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| J3 | ±165° |
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| J4 | ±165° |
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| J5 | ±165° |
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| J6 | ±175° |
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The range of Cartesian space (coordinates) is as follows:
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| axis |**Cartesian Space Range**(mm) |
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| -------- | ----------------------------- |
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| x | -350~350 |
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| y | -350~350 |
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| z | -41~524 |
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| rx\ry\rz | +179° |
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**Note: The above data is for reference only. During the actual operation of the robotic arm, certain positions or orientations may lead to self-interference due to the inherent structure of the robotic arm. For instance, at a specific position, while individual joints may not exceed their limits, it could result in a collision between the J2 and J3 joints of the robotic arm.**
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### Robot Motion Control Tips:
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**myCobot ##Motion Control Suggestions:**
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-**Before controlling the robotic arm's motion, ensure you know the specific angles/coordinates of the target position. Exercise caution while controlling the robotic arm's motion.**
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-**During the debugging phase, try to avoid running the robotic arm at high speeds to prevent potential harm to yourself and the robotic arm. It is recommended to use lower motion speeds.**
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-**To prevent self-interference (collisions between the robotic arm's own joints), ensure that the robotic arm does not collide during its motion.**
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**Note:** We recommend following the above motion control suggestions to minimize potential risks. Please be aware that if damage to the robotic arm is caused by personal use issues, warranty services will no longer apply. If you have any questions or need support, feel free to contact our official after-sales support. We will be happy to assist you in ensuring the safe operation of the robotic arm.
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### How to Properly Perform Robot Motion Control
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When unsure about the target position's angles/coordinates, you can use the following method:
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Use a Python script to obtain:
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```python
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# Importing the Official Python API
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from pymycobot.mycobot import MyCobot
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# Importing the Time Module
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import time
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# Setting up Serial Connection, Serial Port, Baud Rate
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# Raspberry Pi Version
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mc = MyCobot('/dev/ttyAMA0', 1000000)
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# M5 version, specific serial port number needs to be checked in Device Manager
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mc = MyCobot('COM0', 1000000)
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# Set a slight waiting time, 0.5 seconds
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time.sleep(0.5)
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# Release all joints of the robotic arm, please support the robotic arm by hand
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mc.release_all_servos()
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# Set waiting time, can be adjusted as needed; at this point, the robotic arm can be moved to the target position
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time.sleep(5)
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# Power on the robotic arm and fix it in the target position
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mc.power_on()
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# Read the coordinate information and angle information of the current position and output to the console
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print('Coordinates:', mc.get_coords())
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print('Angles:', mc.get_angles())
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```
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Obtained using [myBlockly](https://chat.openai.com/c/www.baidu.com):
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By utilizing the rapid movement feature in myBlockly, you can explore the motion range of the robotic arm, confirming the operational workspace of the robotic arm.
> ① When using the robot arm, turn the emergency stop knob clockwise to keep the emergency stop switch released;
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> ② In case of abnormal movement of the arm, please press the emergency stop switch in time, and hold the arm steady to place the fall.
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> ③ When resuming the use of the arm after the emergency situation has ended, turn the emergency stop knob clockwise to release the emergency stop switch and re-power the arm.
Copy file name to clipboardExpand all lines: 5-BasicApplication/5.1-SystemUsageInstructions/320m5/4.2.2.1-micro_controller.md
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| <imgsrc="../../../resources/3-UserNotes/3.1-SafetyInstructions/danger.png"alt="img-1"width="100"height=“100” /> | This operation has been performed before the default robot is delivered. You do not need to repeat the operation. Incorrect use of this function may cause damage to the robot. If your robot works without abnormal conditions, **please do not use it**. Thank you for your cooperation. |
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|------------------------|-------------------|
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> **Before performing a zero calibration, allow the machine to return to zero and check for any deviation in the zero attitude. If there is, then perform zero calibration; if not, zero calibration is not required.**
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> You can use pythonAPI to make the joints reach the zero position: ```send_angles(degrees, speed)```, where degrees is a floating-point list with [0,0,0,0,0,0,0,0] representing the zero position of the six joints, and speed is the speed at which the joints are moving, which takes the values of 0 to 100.
Copy file name to clipboardExpand all lines: 5-BasicApplication/5.2-ApplicationUse/5.2.1-myblockly/320m5/3-interface_description.md
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And then we select the initialization model as `myCobot 320`, the port connected to my computer is `COM8`, and the baud rate is `115200`
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> The com port number is not fixed, you need to choose according to the actual port number of the individual PC connection
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> How to choose the corresponding port number: by unplugging the usb cable on the side of the M5stack to see if there is any change in the corresponding port number to choose, unplugged in both cases there is a change in the com port is the machine's communication serial port.
Copy file name to clipboardExpand all lines: 5-BasicApplication/5.2-ApplicationUse/5.2.1-myblockly/320m5/README.md
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**myBlockly** is similar in function/design to MIT's children's programming language Scratch.
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When using **myBlockly**, users can build code logic by dragging modules. The process is like building blocks.
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When using myBlockly, users can build code logic by dragging modules. The process is like building blocks.
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From the user's perspective, **myBlockly** is a simple and easy-to-use visual tool for generating code. From a developer's perspective, **myBlockly** is a text box that contains the code entered by the user.
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From the user's perspective, myBlockly is a simple and easy-to-use visual tool for generating code. From a developer's perspective, myBlockly is a text box that contains the code entered by the user.
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The process of generating code into the text box is the process of the user dragging it in **myBlockly**.
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The process of generating code into the text box is the process of the user dragging it in myBlockly.
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## The operating systems supported by myBlockly are as follows:
Copy file name to clipboardExpand all lines: 5-BasicApplication/5.2-ApplicationUse/5.2.2-mystudio/320m5/3-flash_firmwares.md
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# Burn and update firmware
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**[myStudio Video tutorial](https://www.bilibili.com/video/BV1Qr4y1N7B5/)**
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> Customers get the machine does not need to be burned in non-essential cases, the factory has already been burned, only a few cases need to be burned.
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> For example: minirobot corresponding to the need to burn the scene of the LCD screen does not light up, burn the Arduino program needs to be switched to python program control, Atom firmware corresponding to the need to burn the scene of the joints can not be locked, Atom lights do not light up and so on.
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