DexArm Blade Loader

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

Architecture

• Backend: Python FastAPI server handling DexArm serial communication
• Frontend: React + Vite + Tailwind CSS for a modern, responsive UI

Quick Start

1. Start the Backend

cd backend
pip install -r requirements.txt
python main.py

The API server will start on http://localhost:8000

2. Start the Frontend

cd frontend
npm install
npm run dev

Open http://localhost:5173 in your browser.

How to Use

1. Connect

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

2. Home the Arm

• Click HOME to initialize the arm position

3. Teach Pick Position

• Use Jog Controls or FREE MOVE to position the arm
• Click Set in the Pick Location card

4. Set Safe Height

• Jog to a safe Z height (clearance for moves)
• Click Set in the Safe Height card

5. Teach Hook Positions

For each hook on your rack:

1. Position the arm above the hook
2. Click Add in Hook Drop Points
3. Repeat for all hooks

6. Run Cycle

• Click START to begin the pick-and-place cycle
• Use Pause to temporarily stop
• Use Stop to abort

API Endpoints

Endpoint	Method	Description
/api/ports	GET	List available serial ports
/api/status	GET	Get current status and positions
/api/connect	POST	Connect to DexArm
/api/disconnect	POST	Disconnect
/api/home	POST	Move to home position
/api/jog	POST	Jog the arm
/api/pick/set	POST	Set pick location
/api/safe-z/set	POST	Set safe height
/api/hooks/add	POST	Add hook position
/api/cycle/start	POST	Start pick-and-place cycle

Files

dexarm-blade-loader/
├── backend/
│   ├── main.py              # FastAPI server
│   ├── dexarm_controller.py # Core DexArm control
│   ├── requirements.txt     # Python dependencies
│   └── blade_positions.json # Saved positions (auto-created)
├── frontend/
│   ├── src/
│   │   ├── App.tsx          # Main UI component
│   │   ├── hooks/useApi.ts  # API hook
│   │   └── lib/utils.ts     # Utilities
│   └── package.json
└── README.md

Requirements

• Python 3.8+
• Node.js 18+
• DexArm with Pneumatic module

G-Code Reference

Command	Description
M888 P2	Set pneumatic module
M1112	Go home
G1 F2000 X_ Y_ Z_	Move to position
M1000	Suction ON
M1002	Release air
M1003	Pump off
M84	Disable motors (free move)
M17	Enable motors (lock)
M893	Read encoder position