A teach-and-replay pick-and-place system for loading razor blades onto coating racks using the Rotrics DexArm robot arm.

1. Install Python 3.8+ if not already installed

2. Install dependencies:

   pip install -r requirements.txt
   

3. Connect DexArm via USB

python blade_loader_gui.py

• Select the correct COM port from the dropdown
• Click Connect
• The arm will be set to Pneumatic module (suction cup) automatically

• Use the Jog Controls to move the arm above your blade stack
• Click Set Approach (hover) - this is where the arm goes before/after picking
• Lower the arm to touch the top blade
• Click Set Pick (down) - this is where suction activates

• Use the Suction Test buttons to verify:
  • GRAB picks up a blade
  • RELEASE drops it
  • Adjust Grab delay if suction isn't establishing (try 0.8-1.0s)

For each hook on your curved rack:

1. Jog the arm above the hook
2. Click Add Approach (hover position)
3. Lower the arm so the blade slot aligns with the hook
4. Click Add Hook (drop position)
5. Repeat for all hooks

Tip: Go in order! Hook 0, then Hook 1, etc.

• Click START CYCLE
• Watch the magic happen!
• Use PAUSE to temporarily stop
• Use STOP to abort (arm returns home)

Positions are saved to blade_positions.json and loaded automatically. You can back this up or share it. Example structure:

{
  "pick": {"x": 150.0, "y": 200.0, "z": -50.0},
  "pick_approach": {"x": 150.0, "y": 200.0, "z": 0.0},
  "hooks": [
    {"x": -50.0, "y": 280.0, "z": -30.0},
    {"x": -25.0, "y": 290.0, "z": -30.0},
    {"x": 0.0, "y": 295.0, "z": -30.0},
    {"x": 25.0, "y": 290.0, "z": -30.0}
  ],
  "hook_approaches": [
    {"x": -50.0, "y": 280.0, "z": 0.0},
    ...
  ]
}

The controller uses these commands:

• M888 P2 - Set pneumatic module
• M1112 - Go home
• G1 F2000 X_ Y_ Z_ - Move to position
• M1000 - Suction ON (pump in)
• M1002 - Suction release
• M1003 - Pump off
• M114 - Get current position