BLUEPRINTLAB Reach Alpha Use and care manual
REACH SYSTEM
INTEGRATION MANUAL
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CONTENTS
1BENCH SETUP AND ACCEPTANCE TEST...........................................................................................................3
1.1 BENCH TEST...........................................................................................................................................3
1.1.1 PHYSICAL INTERFACING ....................................................................................................................3
1.1.2 REACH CONTROL...............................................................................................................................4
1.2 ACCEPTANCE TESTs ...............................................................................................................................6
1.2.1 RANGE OF MOTION TEST..................................................................................................................6
1.2.2 MASTER ARM TEST (IF APPLICABLE) .................................................................................................8
2PRODUCT OVERVIEW....................................................................................................................................11
2.1 PRODUCT FEATURES ...........................................................................................................................11
2.2 REACH PRODUCT CODES.....................................................................................................................12
3SINGLE & DUAL FUNCTION MANIPULATORS................................................................................................13
3.1 SPECIFICATIONS ..................................................................................................................................13
3.2 INTERFACING.......................................................................................................................................14
4REACH ALPHA 5 ............................................................................................................................................16
4.1 DIMENSIONS AND COORDINATES.......................................................................................................16
4.2 SPECIFICATIONS ..................................................................................................................................17
4.3 INTERFACING.......................................................................................................................................18
5PLATFORM INSTALLATION............................................................................................................................20
5.1 Hardware Mounting Setup..................................................................................................................20
5.2 ALPHA SERVICING OVERVIEW.............................................................................................................22
5.3 MODULE REPLACEMENT .....................................................................................................................23
6REVISION HISTORY........................................................................................................................................25
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
1 BENCH SETUP AND ACCEPTANCE TEST
1.1 BENCH TEST
Prior to vehicle integration activities, a bench level test is recommended. This builds familiarity from the
ground up and assists with product acceptance. The following procedure walks through the bench setup
procedure.
You Will Need
✓Reach Alpha Product
✓Supplied Break-Out Board, Power Cable and USB-MicroUSB Cable
✓Reach Control Software
✓PC or Laptop running Windows
1.1.1 PHYSICAL INTERFACING
STEP 1
Remove the manipulator and stand from the transport case and place on the bench. Loosen the mount locking
nut, rotate the manipulator 90 degrees to the upright position, align the pins and retighten.
STEP 2
STEP 3
Connect the Impulse Connector to the base of the manipulator.
Screw to secure.
1) Plug the micro-USB into the Break-out board.
2) Attach power connection.
(1)
(2)
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STEP 4
STEP 5
Plug the USB end into the computer.
Turn on the power at the wall socket. The red LED on the
breakout board will illuminate.
This completes the mechanical setup procedure.
1.1.2 REACH CONTROL
Reach Control will be provided to you digitally via email as well as on a USB within the Hard Carry Case.
1) Install Reach Control.
2) Open Reach Control > Settings (Cog Icon) > Ports > Add.
Click the new Port. Name your device. Select the Com Port (eg. COM48) that the arm is
communicating on.
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3) Click Settings (Cog Icon) > Device
Select the existing device (or click add if none exist). Select the name of the port just created. Select
the type of manipulator (eg. Reach Alpha 5).
4) If the Alpha is setup correctly, the 3D model in the background will update to reflect the physical
position of the manipulator.
5) Navigate the 3D model with the following mouse operations:
•Rotate View –Left mouse + Drag.
•Translate View –Right mouse + Drag.
•Zoom –Scroll wheel.
6) The Device is now connected. Continue to 1.2 Acceptance Test.
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
1.2 ACCEPTANCE TESTs
1.2.1 RANGE OF MOTION TEST
1) On the control panel in the bottom right of Reach Control, click the velocity button. Directional arrows
will appear on the 3D model.
2) Click Settings (Cog Icon) > Display > Feedback. The monitoring panel will open at the bottom of the
screen. Clicking on any of the graphs will bring up the numeric values for each joint.
3) Making sure it is safe to do so, use the directional arrows in the 3D model of the arm to rotate each
joint.
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
4) All Alpha products are shipped with a virtual obstacle to prevent collision with the ‘floor’ under the
base of the manipulator.
5) Move each joint for a few seconds in each direction. Ensure movement is as expected and
corresponds with control input.
This completes the Range of Motion Test.
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
1.2.2 MASTER ARM TEST (IF APPLICABLE)
1) Set up the Master Arm with the stand
provided.
2) Connect Master Arm to the computer via
USB.
3) Once powered, the Master Arm buttons will flash blue.
4) Open Reach Control, Settings (Cog Icon) > Ports > Add.
Assign the new port a Name and select the comm port the Master Arm is communicating on. Ensure
half duplex is selected.
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
5) Settings (Cog Icon) > Control.
If there is no Master Arm option underneath Spacemouse, click Add.
Assign the new Control port a name. Set ‘Port’ to the name of your Master Arm port. Set ‘Device’ to
the name of the Slave arm you wish to control.
6) The Master Arm is now ready to control the slave manipulator.
Making sure it is safe to do so, press the Master Arm Pause Button to activate the Master Arm. Blue
lights should become solid.
Double tap the Pause Button to deactivate.
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consent from The Blueprint Laboratory and not to be used in any unauthorised way. © The Blueprint Laboratory Pty Ltd 2021
7) Move each Master Arm joint through its full range of motion. Note: Axes A & B are controllable from
the Master Arm Joystick.
Check that:
a. The corresponding joint on the slave arm responds.
b. The joint moves in the correct direction.
c. The motion of slave to master is a 1-to-1 ratio.
d. The motion is smooth and complete.
8) Press and hold the stow button, ensure the arms stows completely. Release the button to stop the
movement.
Repeat for the deploy button.
9) Whilst moving the arm, press and hold the pause button, ensuring the arm stops responding whilst
the button is held down. Releasing the button will engage movement again.
This completes the acceptance test for the Alpha and Master Arm.
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