View source for DIY 6-Axis Servos Control Palletizing Robot Arm Model for Arduino UNO MEGA2560

[[Image:SainSmart 6.jpg|thumb|300px|'''SainSmart DIY 6-Axis Servos Control Palletizing Robot Arm''']]
==Introduction==
SainSmart DIY 6-Axis Servos Control Palletizing Robot Arm Model for Arduino UNO MEGA2560

*Simulate real palletizing robot arm structure
*PVC material, CNC processing
*Adopts MG996 55g metal gear servo 4pcs
*Active joint bearing connection
==Preparations==
*Arduino UNO board       x1
*SainSmart sensor shield x1
*DC Power supply         x1
*USB cable               x1
*Connect wire                    x2
*SainSmart DIY 6-Axis Servos Control Palletizing Robot Arm x1
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[[Image:DIY6A4.png |thumb|none|600px|]]
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==Detail Step to Getting Start==
Step1.Give number to each servo and Mark the cable
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[[Image:DIY6A5.jpg |thumb|left|400px|'''Servo Number 1-6''']]
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[[Image:DIY6A6.png |thumb|none|400px|'''CableNumber  1-6''']]
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Step2.Upload the test  code to Arduino UNO

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[[Image:DIY6A1.png |thumb|none|600px|]]
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Choose the .ino file and open it by Arduino IDE 
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Choose"Arduino UNO" "COM UNO" on Arduino IDE
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Click  ''verify''  then  Click ''upload'' 
Make sure upload the test code successful

Step 3.Connect the 6-Axis Robot Arm to Arduino UNO

 <nowiki>
  myservoA.attach(3);  //  Control waist (A) port number is   3    
  myservoB.attach(5);  //  Control lorearm（B）port number is 5    
  myservoC.attach(6);  //  Control  Forearm（C）port number is 6
  myservoD.attach(9);  // Control Forearm rotation (D) port number is 9
  myservoE.attach(10); // Control wrist（E）port number is 10 wrist
  myservoF.attach(11); // Control wrist rotation (F) port number is 11
 </nowiki>
Define 1-6 servo to Arduino  digital PIN3、PIN5、PIN6、PIN9、PIN10、PIN11
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[[Image:DIY6A8.png |thumb|none|600px|]]
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The Robot Arm need a External DC-5V Power Supply
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*DONT USE THE Adruino POWER PINS!
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==OPERATION==
The Robot Arm have three work mode！
*Automatic operation
*Computer serial port control
*Standstill 
 <nowiki>
String mycommand="";    /// Serial capture   #auto: automatic operation  #com: computer serial port control  #stop: standstill
static int mycomflag=2; // #auto：2 automatic operation  , #com： 1  computer serial port control    #stop：0  standstill 
 </nowiki>
you can change  work mode by write the different number to ''mycomflag''
 <nowiki>
void setup() 
{ 
  pinMode(13,INPUT);
  pinMode(12,INPUT);  
  Serial.begin(9600);
  myshow=0;
  mycomflag=2;         // the  ARM default  state: 2 automatic operation
  myservoA.attach(3);  //  Control waist (A) port number is   3    
  myservoB.attach(5);  //  Control lorearm（B）port number is 5    
  myservoC.attach(6);  //  Control  Forearm（C）port number is 6
  myservoD.attach(9);  // Control Forearm rotation (D) port number is 9
  myservoE.attach(10); // Control wrist（E）port number is 10 wrist
  myservoF.attach(11); // Control wrist rotation (F) port number is 9
  </nowiki>
When you want control the Arm by serial port 
Let ''mycomflag=1''
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[[Image:DIY6A10.png |thumb|none|600px|]]
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And open the serial monitor let the boud rate = 9600
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[[Image:DIY6A11.png |thumb|none|600px|]]
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''If you post data with a, it means that the first servo data, such as serial port 85a''
''If you post data with b, it means that the second servo data, such as serial port 85b''

==RESOURCE==
*[http://s3.amazonaws.com/s3.image.smart/download/101-20-127/Robot%20Arm/DX_4axis/DX_6axis.rar Test code]
*[http://s3.amazonaws.com/s3.image.smart/download/101-20-127/20-014-304.zip 20-014-304]
*Buy [http://www.sainsmart.com/robotics/robot-arm/diy-6-axis-servos-control-palletizing-robot-arm-model-for-arduino-uno-mega2560.html it] now!
*Watch the [https://youtu.be/BDbg6lRWgZ4 Video]