ZA6
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INDUSTRIAL ROBOT Tormach® has developed an industrial robot arm to add to our line of CNC mills, lathes, plasma tables, and routers. The robot is controlled via PathPilot™, Tormach’s award-winning CNC user interface. The underlying trajectory planning and motion control is handled by ROS, an opensource robot operating system with tens of thousands of active developers worldwide. Access to the underlying code is provided to all customers, allowing participation in the range of research opportunities offered by the ROS ecosystem. KEY FEATURES PathPilot™ user interface • PathPilot is user-friendly, making programming easier and faster to learn. Learn how to create robot programs with minimal effort. • Similar layout to PathPilot interface on other Tormach CNC machines. Familiarity with PathPilot on one piece of equipment allows users to go between Tormach CNC equipment even more intuitively. • Web-based user interface simulator (hub.pathpilot.com) Powered by ROS (Robot Operating System) • The most popular platform for robotics research (over 4,000 academic papers cite “ROS: an opensource Robot Operating System” (Quigley et al., 2009)) • Vibrant community development effort (For detailed statistics, see http://download.ros.org/downloads/metrics/metrics-report-2018-07.pdf) Robust industrial hardware • The Tormach robot is an industrial tool that’s been made exceptionally easy to use. It utilizes solid metal casting, servo motors and drives, and harmonic gear reducers. Robot programs are written in Python • For beginners or for writing simple programs, PathPilot includes an intuitive, graphical, block-based programming system called “conversational.” • The visual block-based programs are actually Python underneath, so when your program is ready for the next level, you can continue coding directly in Python without rewriting from scratch • For users familiar with Python, robot programs are easy to understand and modify • Python users can easily extend robot programs to interact with the file system or the outside world • For example: • Import time, time.sleep(.5) to delay an action 0.5 seconds • Import csv, with open(‘eggs.csv’, ‘rb’) as csv file to read in position values from a csv file, or write out values to a csv file • Import usb.core, usb.util, more complex python code here to read data from a USB scale to use the robot to measure the weight of an object TECHNICAL SUPPORT Tormach offers remote technical support via email, phone, and video chat. Support is limited to mechanical issues and software issues when the machine is controlled via the default software installation. Customers are free to modify the source code in a sandbox, but ROS research and code modification is outside the scope of Tormach’s free technical support. We are happy to consult with customers that require ROS support or training, although we won’t do consulting engi

SPECIFICATIONS WEIGHT JOINT RANGES JOINT SPEEDS DIGITAL INPUTS DIGITAL OUTPUTS PRODUCT ROADMAP Teachmode programming through PathPilot™ GUI, Python POWER SUPPLY TOOL FLANGE Tormach offers software upgrades at no cost as they become available. In addition, Tormach is working on developing the following: o Computer vision/visual servoing o Integration with Mimic/ Maya/Blender animation software for robot programming o ZA2, a small trainer robot for under $5,000 that will work on the same user interface/operating system VIDEOS ZA6 Robot QuickTips Python Programming: youtu.be/xPSEzN2nErg...