5. Using the DRAWING function

    The overall process:

Step 1. Installing the pen

    (1) Install the pen-holder module and the pen.
        •Fix the pen holder to the end of the robotic arm.
        •Tighten the jackscrew with M1.5 hex key, and fix the pen holder on the end motor shaft of the robotic arm.
        •Insert the pen into the holder from top.
        •Tighten the nut of the holder.

Step 2. Set the pen height

    We need to set the height of the pen first before drawing. Please follow the below instruction:
        •Connect the power supply and USB cable of Mirobot, and press the switch on button on the base.
        •Open the Mirobot Studio software. Confirm there is "CONNECTED" in the upper left corner, switch to the DRAWING panel, then click "HOMING" to reset the robotic arm.
        •After the manipulator back to the homing position, click the Z- button to adjust the height of the pen tip until it just touches the paper.
        •When the pen is closer to the paper, you can set the Step to "1".
        •The value of Z axis shall between around -10 and 35. Be careful not to over-adjust the Z axis position lower than it need to be, or the pen tip would hit the desktop too hard, interrupt the pen from moving and even cause damages to the joints.
        •When the pen tip is just touches the paper, click Set Pen Height button to set this pen height for the DRAWING function. c

Step 3. Letting the manipulator draw

    After setting the pen height, the right panel will be automatically switched from “Pen Set” to the “Pattern Selection" panel sector.
    •To add a graph from existing files, you can either choose an example from the Examples in the upper right “Pattern Selection" panel sector, or insert a graph by click Insert button. The graph you have chosen should be shown in the center canvas.