turtlebot硬件安装手册

IMPORTANT SAFETY INSTRUCTIONSPLEASE READ ENTIRE MANUAL PRIOR TO USE – SAVE THESE INSTRUCTIONSCAUTION: Avoid potential personal injuries and property damage!●Please read through these instructions completely to be sure you’re comfortable with this easy install process. ●Do not use this product for any purpose not explicitly specified by manufacturer.●Manufacturer is not responsible for damage or injury caused by incorrect assembly or use.●If you do not understand these instructions or have doubts about the safety of the installation, assembly or use of this product, contact Customer ServiceThis product conforms to and should be properly grounded in compliance with requirements of the current National Electrical Code or codes administered by local authorities.All electrical products may present a possible shock or fire hazard if improperly installed or used. This product may bear the mark of a Nationally Recognized Testing Laboratory and should be installed in conformance with current local and/or the National Electrical Code.Legrand AV Inc. and its affiliated corporations and subsidiaries (collectively, “Legrand”), intend to make this manual accurate and complete. However, Legrand makes no claim that the information contained herein covers all details, conditions, or variations. Nor does it provide for every possible contingency in connection with the installation or use of this product. The information contained in this document is subject to change without notice or obligation of any kind. Legrand makes no representation of warranty, expressed or implied, regarding the information contained herein. Legrand assumes no responsibility for accuracy, completeness or sufficiency of the information contained in this document.©2020 Legrand AV Inc. All rights reserved. SANUS is a Legrand brand. SANUS and the SANUS logo are trademarks of Legrand.Legrand AV INC. 6436 City West Parkway; Eden Prairie, MN 55344 USA1025682 03/20Before getting started, let’s make sure this product is perfect for you!Replace Trim Plate。

Dobot视觉套件安装指南文档版本：V1.0发布日期：2018-09-12深圳市越疆科技有限公司版权所有©越疆科技有限公司2019。

保留一切权利。

非经本公司书面许可，任何单位和个人不得擅自摘抄、复制本文档内容的部分或全部，并不得以任何形式传播。

免责申明在法律允许的最大范围内，本手册所描述的产品（含其硬件、软件、固件等）均“按照现状”提供，可能存在瑕疵、错误或故障，越疆不提供任何形式的明示或默示保证，包括但不限于适销性、质量满意度、适合特定目的、不侵犯第三方权利等保证；亦不对使用本手册或使用本公司产品导致的任何特殊、附带、偶然或间接的损害进行赔偿。

在使用本产品前详细阅读本使用手册及网上发布的相关技术文档并了解相关信息，确保在充分了解机器人及其相关知识的前提下使用机械臂。

越疆建议您在专业人员的指导下使用本手册。

该手册所包含的所有安全方面的信息都不得视为Dobot的保证，即便遵循本手册及相关说明，使用过程中造成的危害或损失依然有可能发生。

本产品的使用者有责任确保遵循相关国家的切实可行的法律法规，确保在越疆机械臂的使用中不存在任何重大危险。

越疆科技有限公司地址：深圳市南山区留仙大道3370号南山智园崇文区2号楼9-10楼网址：/目的本手册介绍了Dobot视觉套件说明和安装指南，方便用户了解和使用。

读者对象本手册适用于：•客户工程师•销售工程师•安装调测工程师•技术支持工程师修订记录符号约定在本手册中可能出现下列标志，它们所代表的含义如下。

危险警告注意说明1. 视觉套件说明 (1)概述 (1)1.2视觉套件清单 (1)1.3相机参数说明 (1)1.4光源参数说明 (2)1.5相机镜头参数 (3)2. 安装指南 (4)安装相机 (4)安装Dobot Magician (13)安装Dobot M1 (13)1. 视觉套件说明概述图像处理系统通过设置图像（视觉套件获取）的色度（Hue）、饱和度（Saturation）、亮度（V alue）、特征大小来提取图像的特征，并把图像坐标转换成机械臂坐标传送给机械臂，利用机械臂完成智能分拣。

Turtlebot3+ubuntu20.04+ROSnoetic环境搭建使⽤turtlebot3 burger进⾏实验，PC机已经安装好了ubuntu20.04环境PC端安装ROS noetic安装源sudo sh -c 'echo "deb /ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'增加keysudo apt-key adv --keyserver 'hkp://:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654更新sudo apt update安装sudo apt install ros-noetic-desktop-full环境设置source /opt/ros/noetic/setup.bash安装相关ROS依赖包sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \ros-noetic-rosserial-python ros-noetic-rosserial-client \ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers安装turtlebot3软件包sudo apt install ros-noetic-dynamixel-sdksudo apt install ros-noetic-turtlebot3-msgssudo apt install ros-noetic-turtlebot3树莓派环境安装使⽤SD Card Formatter格式化SD卡使⽤Raspberry Pi Image导⼊ubuntu系统⽂件解决⿏标延迟电脑打开安装树莓派系统的TF卡，在根⽬录下找到cmdline.txt⽂件，打开编辑，在第⼀⾏的最后输⼊⼀个空格，添加⼊：usbhid.mousepoll=0使⽤HDMI和显⽰屏，安装系统ubuntu20.04系统（会⽐较慢，像是卡住，需要耐⼼等待）启⽤sshsudo ps -e | grep ssh #检查SSH服务有没有开启sudo apt-get update #先更新源sudo apt-get install openssh-server安装并配置ROS(noetic)环境安装并构建TurtleBot3软件包sudo apt install ros-noetic-rosserial-python ros-noetic-tfsudo apt install ros-noetic-hls-lfcd-lds-driversudo apt install ros-noetic-turtlebot3-msgssudo apt install ros-noetic-dynamixel-sdkcd ~/catkin_ws/src/git clone -b noetic-devel https:///ROBOTIS-GIT/turtlebot3.gitcd ~/catkin_ws/src/turtlebot3rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/cd ~/catkin_ws && catkin_make -j1source ~/.bashrc使⽤rosdep安装依赖项sudo apt install python3-rosdep2 ros-noetic-rosbashcd ~/catkin_ws && rosdep update && rosdep install --from-paths src --ignore-src -r -yUSB端⼝设定官⽅⽂档操作rosrun turtlebot3_bringup create_udev_rulescd ~/catkin_ws/src/turtlebot3/turtlebot3_bringupsudo cp ./99-turtlebot3-cdc.rules /etc/udev/rules.d/sudo udevadm control --reload-rulessudo udevadm triggeropenCR设置不进⾏这⼀步，后续rosrun会报checksum error，仍然按照官⽅⽂档进⾏，需要注意的是wget https:///ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 在进⾏这⼀步时，会connect refuse，按照⽹上其他改host ip映射也不⾏，于是选择⼿动去下载。

IMPORTANT:The Sun Blade X3-2B was previously named the Sun Blade X6270M3server.The product name change does not indicate any change in system features or functionality.This guide describes the minimum steps you must perform to install your server into a supported chassis and power it on for the first time.For a list of documentation for this server,see “Documentation for This Product”at the end of this document.Front Panel DescriptionFigure Legend Server Front Panel Features1Locate LED (white).Press button to identify server.2Ready to Remove LED (blue).Full power removed.3Service Action Required LED (amber).A fault condition has occurred.4OK/Power LED (green).Modes:•SP booting -fast blink,0.125second on,0.125second off.•Standby power -blink,0.1second on,2.9seconds off.•Host booting -slow blink,0.5second on,0.5second off.•Full power -steady on.5Power button.Press briefly to toggle server between standby and full power.Caution -Pressing the Power button for more than 4seconds when in full power initiates immediate shutdown to standby power.This can cause data loss.6NMI button -for Oracle Service use only.7Serial number label.8Two USB 2.0ports.9Universal connector port (UCP).Used for multi-port (dongle)cable.10-13Hard drives (HDDs)or solid state disks (SSDs).Sun Blade X3-2B (formerly Sun Blade X6270 M3)Getting Started GuideBasic Installation TasksThe following tasks describe the basic installation process for the server.For detailed installation information, see the Sun Blade X3-2B Server Installation Guide.▼Review Safety InformationBefore performing an installation,refer to the Safety and Compliance Guide(online)and the Important Safety Information for Sun Hardware System s(in the system accessory kit).▼Review Supported Hardware and Software and Identify Known IssuesReview the Sun Blade X3-2B Product Notes for information on supported software and hardware and any known issues for the server.▼Install Optional ComponentsOptional server components(for example,DIMMs or hard drives)might be packaged and shipped separately. Install these components prior to installing the server into the system chassis.For component installation procedures,refer to the Sun Blade X3-2B Service Manual.▼Insert the Server Into a Chassis1.Verify that the Sun Blade6000modular system chassis is powered on.2.Make sure that the fans are operating and the OK/Power LED illuminates a steady-on green light.If an amber service LED is illuminated on any chassis components,refer to the Sun Blade X3-2B Service Manual for information on how to identify and correct the faults.3.At the front of the chassis,locate the slot that you want to install the server in and remove the filler panel.To unlock the filler panel,squeeze the release levers on the end of filler panel ejector arm.To eject the filler panel,rotate the lever fully outward.To remove the filler panel,pull it out of the chassis.Caution–Thermal over-temperature.Do not operate the chassis with empty slots for more than60seconds.Always insert a filler panel into an empty slot to reduce the possibility of chassis shutdown.If you are not installing a server into a slot,do not remove the slot filler panel.4.Open both of the server ejector levers,and position the server vertically so that the ejectors are on theright.To unlock the ejector levers,squeeze the lock latches located on the end of the ejector levers.5.Carefully,slide the server into the slot until the server stops(see1).6.To completely seat the server in the chassis,rotate both ejector levers inward until the levers lock intoplace and are flush with the face of the server.(see2).Standby power is applied to the server and the service processor(SP)boots.As the SP boots,the OK/Power LED blinks rapidly(125ms on,125ms off).Note–The SP can take several minutes to boot.7.Verify that the SP has finished booting and that the server has successfully powered-on to standby mode.When the server is in standby mode,the OK/Power LED blinks slowly(0.1second on and2.9seconds off).Note–If the chassis power is insufficient,the server OK/Power LED remains off.For information on troubleshooting LED states,refer to the Sun Blade X3-2B Service Manual.▼Set Up Software and Firmware Using Oracle System AssistantThis is the easiest method for setting up the server.If Oracle System Assistant is included with the server,you can use it to update to the latest available firmware and software,configure key server settings,and install a supported operating system.For more information,refer to the server’s OS-specific installation guide.Note–You can also use Oracle ILOM and Oracle Hardware Management Pack to set up the server.For more information about these tools,or for information about how to use Oracle System Assistant,refer to the Sun Blade X3-2B Administration Guide.1.Install the server in the chassis,see“Insert the Server Into a Chassis”on page2.2.To access Oracle System Assistant,set up a local connection to the server by attaching the multi-port cableto the server’s universal connector port(UCP)and do the following:■Attach the monitor to the video connector on the multi-port cable.■Attach the keyboard and mouse to one of the USB ports on the multi-port cable.Note–You can also access Oracle System Assistant by using Oracle ILOM.Refer to the instructions in the Sun Blade X3-2B Administration Guide.3.Press the power button on the server front panel.Full power is appled to the server.The server boots and POST messages appear on the monitor.4.Watch the screen and when the Oracle System Assistant message appears,press the F9key.The Oracle System Assistant application boots and the main screen appears.e Oracle System Assistant to perform the following ordered tasks:6.(Optional)Connect to Oracle ILOM.If you want to use Oracle ILOM to perform server management tasks,you can connect either through the Oracle ILOM CMM or the server SP.For instructions on connecting to ILOM,refer to the Sun Blade X3-2B Installation Guide .▼Set Up an Operating System and DriversThe following table provides additional options for installing or configuring an operating system (OS).System tools,drivers,and firmware are accessible using Oracle System Assistant.If you do not have access to Oracle System Assistant,you can download what you need from Oracle.For download procedures,refer to the Sun Blade X3-2B Installation Guide .Service and Technical SupportIf your system requires service,you might need to supply your hardware serial number.The server serial number is on the front of the server.You can also use the Oracle ILOM web interface,the Oracle ILOMcommand-line interface (use the command:show /SYS),or Oracle System Assistant to get the server serial number.For service and technical support,go to:/us/support/contact-068555.htmlStepTaskOracle System Assistant Screen1Set up Oracle System Assistant network connection.Configure Network 2Get software and firmware updates.Get Updates 3Update Oracle ILOM,BIOS,disk expander,or host bus adapter (HBA)firmware.Update Firmware4Configure Oracle ILOM.Configure Hardware >Service Processor Configuration 5Configure RAID.Configure Hardware >RAID Configuration6Install Linux or Windows operating system (OS)or Oracle VM software.Install OSFor information on installing other operating systems,see “Set Up an Operating System and Drivers”on page 5.What do you want to do?Which OS do you want to configure or install?Use this tool or documentationConfigure a preinstalled OS Solaris OS or Oracle VMSun Blade X3-2B Installation Guide Install an OSOracle VM,Windows or Linux OS Oracle System Assistant Solaris OS or VMware ESXInstallation Guide for the OS Install OS drivers Any supported OSInstallation Guide for the OSDocumentation for This ProductThe following table lists the order of the tasks that you might perform when installing a new system andprovides the title of the relevant document.This documentation is available with Oracle System Assistant,but the most up-to-date documents,including translations of some documents,are available at:/pls/topic/lookup?ctx=SunBladeX3-2BFrom the web site,you can select your language for available translated versions of the documentation.Documentation CommentsOracle is interested in improving the product documentation and welcomes your comments and suggestions.You can submit comments by going to this link:/goto/docfeedbackTasksDocument TypeReview safety information.Safety and Compliance GuideImportant Safety Information for Sun Hardware SystemsReview any known issues and workarounds.Product Notes Cable and power on the server.Connect to service processor and configure network settings.Installation GuideInstall and configure supported operating systems.Refer to the appropriate OS installation guide for the OS that you want to install.Update firmware,monitor alerts,set remote access and redirection,and view component status and event logs.Oracle ILOM 3.1Documentation Library Remove and replace hardware components,troubleshoot and isolate server problems.Service ManualOracle x86Server Diagnostics Guide Perform server administration tasks and view server-specific ILOM information.Administration GuideCopyright ©2012,Oracle and/or its affiliates.All rights reserved.Copyright ©2012,Oracle et/ou ses affiliés.Tous droits réservés..Part No.: E20883-02Mfg No.: 7052903July 2012Y ou can scan the Quick Response (QR) code with your mobile device to go to the product documentation.。

ABB机器人视觉安装硬件图文教程
A 以太网
B 从客户电源接入到网关和摄像头的24V 电源
C 网关和控制器机柜服务端口（内部）之间的以太网连接
D 网关和主计算机服务端口之间的以太网连接
安装顺序：
如图连接下列部件和线缆。

操作
1 确保控制器电源开关已经关闭。

将Ethernet 电缆从控制器机柜服务端口（内部）连接到交换机上四个Ethernet 接口中的一个。

2
通过控制器机柜上的电缆密封套将Ethernet 电缆从每个摄像头连接到交换机上的任何可用的Ethernet 接口。

3
小心地剥掉20 毫米绝缘，将电缆捆扎在电缆密封套上的接地片上。

4 通过控制器机柜上的电缆密封套将24 VDC电源电缆从每个摄像头连接到24 VDC电源。

小心地剥掉20 毫米绝缘，将电缆捆扎在电缆密封套上的接地片上。

ABB机器人操作手册(中文版)MODULE ModuleNamePROC ProcedureNameStatement1;Statement2;...ENDPROC...ENDMODULE/ This is a single line comment/+ This is amulti-line comment +/num a := 10; / Assign 10 to variable aMoveL p1,v100,z10,tool0; / Assign parameters to MoveL instructionMoveL p1,v100,z10,tool0; / Move linearly to position p1 with velocity v100, zone z10 and tool tool0MoveJ p2,v50,fine,tool0; / Move joint to position p2 with velocity v50, zone fine and tool tool0MoveC p3,p4,v75,z5,tool0; / Move circularly from position p3 to position p4 with velocity v75, zone z5 and tool tool0 IF condition THEN / If condition is true, then execute statement1Statement1;ELSE / If condition is false, then execute statement2Statement2;ENDIFWHILE condition DO / While condition is true, repeat statementStatement;ENDWHILEFOR num i FROM 1 TO 10 DO / For i from 1 to 10, repeat statementStatement;ENDFORnum x := Sin(30); / Assign the sine of 30 degrees to variable xnum y := Add(10,20); / Assign the result of adding 10 and 20 to variable yABB操作手册(中文版)概述ABB是一种先进的工业，可以用于各种制造、物流、服务等领域的自动化应用。

焊机信号连接线通信控制器信号连接线CAN 总线机器人控制柜CAN总线图 1硬件配置需要注意的是，通信控制盒上可以选择通信ID 和波特率，ID 可以由用户自由选择，但是波特率必须转动到，然后在软件配置中需要配置与控制盒相同的ID 与波特率，如图 2所示，号选择为9，波特率选择为52上方的Baud Rate 列表可知控制盒的波特率为500 kbps 。

123设备，填写与奥泰通信控制盒所显示波特率数值（设备，在右边的界面点击CANopen I/O21213设备，填写奥泰通信控制盒所显示节点ID数值（具体数值说明见第一章）CANopen I/O映射，勾选“始终更新变量”；21122.3.2 Codesys工程自主配置工程配置主要包含添加库，设备，变量和程序，以及任务，具体操作如下：Codesys的库里面添加Step_ARC库：123单击新生成的CANbus设备，在添加设备界面中，双击选择“CANopen_Manager 同样的单击新生成的CANopen_Manager 设备，在添加设备界面中，双击选择123添加完毕后的设备如下：右键单击“Application”，选择“添加对象”—“程序组织单元”，在添加程序组织单元界123右键单击“任务配置”，选择“添加对象”—“任务…”，在添加任务界面中，填写名称为AWTest，然后双击生成的AWTest任务，修改优先级为2，间隔为t#20ms，单击“Add Call AWTest程序文件添加到该任务中：123 4CANbus设备，填写与奥泰通信控制盒所显示波特率数值（500000），双击CANOpen_Manager设备，在右边的界面点击CANopen I/O映射，选择总线循环任务为AWTest；21213设备，填写奥泰通信控制盒所显示节点ID数值（具体数值说明见第一章）I/O映射”选项完成输出映射，下拉滚动条，完成输入映射，并勾选始终更2113 212。