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1M23N19904

RBT-1

Operation Manual G-ROBOTS RBT-1

Operation Manual

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Contents of RBT-1 Operation Manual

1. Introduction ....................................................................7

1.1. When You Think It Is Operating Incorrectly 7

2. For Safe Use ....................................................................8

3. List of Goods .................................................................... 10

4. Part Names and Outline of IDs........................................... 11

4.1. Part Names of Servo and List of IDs 11

4.2. Servo(RS301CR､RS302CD) 12

4.3. Processing Unit『RPU-11』 14

4.3.1. Outline of RPU-11................................................................................................14

4.3.2. Part Names ..........................................................................................................15

4.4.2 Charger (LBC-3E5)..................................................................................................18

4.4.3 Mounting/Removal of Battery.................................................................................19

4.4.4 How to Charge Battery............................................................................................21

4.5 Transceiver 22

4.5.1. Part Names of Controller (RRC-T11).....................................................................22

4.5.2. Part Names of Receiver (RRC-R11) .......................................................................23

4.5.3. Pairing.....................................................................................................................24

4.5.4. Checking of Communication Circumstances and Buzzer .....................................24

5. Operation with Motion Editor ....................................... 25

5.1. System Requirements of Motion Editor 25

5.2. Installation of Motion Editor 27

5.2.1. How to Install Motion Editor...............................................................................27

5.2.2. How to Uninstall Motion Editor..........................................................................30

5.2.3. Reminder When Motion Editor is Reinstalled....................................................30

5.2.4. Types of Data and Where to Save It....................................................................31

5.2.5. Sample Data.........................................................................................................32

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5.3. Installation of DirectX 33

5.3.1. Update DirectX, using Windows Update. ...........................................................34

5.3.2. When Windows Update is Not Applicable...........................................................34

5.4. Connection between PC and RPU-11 35

5.4.1. Confirmation of Serial Port on PC ......................................................................35

5.4.2. Connection of RPU-11..........................................................................................38

5.5. Start and End of Motion Editor 39

5.5.1. Start of Motion Editor..........................................................................................39

5.5.2. Making New Projects ...........................................................................................40

5.5.3. End of Motion Editor ...........................................................................................41

5.6. Default Setting for Motion Editor 42

5.7. Communication with Robot 43

5.8. Synchronous Mode 44

5.9. Project tree 45

5.9.1. Display of Project Tree...............................................................................................45

5.9.2. Deletion of Displays .............................................................................................45

5.10. Pose Editing 46

5.10.1. What is the Pose? ..............................................................................................46

5.10.2. Pose Editor Area................................................................................................46

5.10.3. Pose Editing by Inputting Angles.....................................................................49

5.10.4. Pose Editing in 3D Viewer area........................................................................51

5.10.5. Pose Making with Pose Capture Function.......................................................53

5.11. Motion Making 55

5.11.1. Outline of Motions ..................................................................................................55

5.11.2. 'Replay Mode' and 'Edit Mode' ..........................................................................56

5.11.3. Addition of Poses ...............................................................................................57

5.11.4. Moving of Poses .................................................................................................58

5.11.5. Deletion of Poses................................................................................................58

5.11.6. Replacement of Poses ........................................................................................59

5.11.7. Addition and Deletion of Options .....................................................................60

5.11.8. Making of Poses in Motion................................................................................61

5.11.9. Execution of Motions.........................................................................................63

5.11.10. Saving and Loading of Motions ........................................................................64

5.12. Scenario Making 65

5.12.1. Outline of Scenarios................................................................................................65

5.12.2. 'Replay Mode' and 'Edit Mode' ..........................................................................66

5.12.3. Addition of Motions ...........................................................................................67

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5.12.4. Moving of Motions .............................................................................................68

5.12.5. Deletion of Motions ...........................................................................................68

5.12.6. Replacement of Motions....................................................................................69

5.12.7. Execution of Scenarios ......................................................................................70

5.12.8. Saving and Loading of Scenarios......................................................................71

5.13. Trimming Adjustment 72

5.13.1. What is the Trimming Adjustment?...........................................................................72

5.13.2. Start of Trimming Mode....................................................................................72

5.13.3. Making of Trimming Data ................................................................................72

5.13.4. Saving and Transfer of Trimming.....................................................................73

6. Auto Play Mode ............................................................. 74

6.1. Outline of Auto Play Mode 74

6.2. Data Transfer 74

6.2.1. Motion Slot/Scenario Slot ....................................................................................74

6.2.2. Repetition of Scenarios ........................................................................................75

6.2.3. G Sensor ...............................................................................................................75

6.3. Data Transfer 76

6.4. Execution of Auto Play 77

6.4.1. Independent Auto Play (Controller Power-Off) ..................................................77

6.4.2. When Controller is used ......................................................................................77

7. Operation mode ............................................................. 78

7.1. Outline of Operation Mode 78

7.2. Controller's Pairing 78

7.2.1. What is the Pairing? ............................................................................................78

7.2.2. Pairing Procedure ................................................................................................78

7.2.3. Caution for Pairing ..............................................................................................79

7.3. Switch to Operation Mode 79

7.4. Controller's Automatic Power-Off 79

7.5. Setting of Controller 80

7.5.1. Left Stick (Moving) ..............................................................................................80

7.5.2. Right Stick (Controlling Center of Gravity)........................................................81

7.5.3. Start......................................................................................................................82

7.5.4. Mode .....................................................................................................................82

7.5.5. Special Function Keys (SELECT､F1､F2) ...........................................................82

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7.5.6. Operation Keys (Arrow Keys,【1】-【4】,【L1】-【L3】,【R1】- 【R3】).....83

7.6. Setting of Controller 84

7.6.1. How to Set Up Controller ...........................................................................................84

7.6.2. Transfer of Controller Setting .............................................................................85

7.6.3. Standard Setting..................................................................................................85

8. Definition of Events....................................................... 86

8.1. Outline of Events with G Sensor 86

8.2. Definition of Postures 86

8.3. Setting of Corresponding Motions in Auto Play Mode 87

8.3.1. Posture..................................................................................................................89

8.3.2. Specified Range....................................................................................................89

8.3.3. Specified Time......................................................................................................90

The robot begins timing when the detection value of G sensor is within the range specified in 8.3.2, which means the robot is in a predefined posture. When the specified time designated with【Time】passes, the robot starts motions specified with【Assign】. .........................................90

8.3.4. Allocation..............................................................................................................90

8.3.5. Standard Setting..................................................................................................91

8.4. Transfer of Settings 92

8.5. Setting of G Sensor, Active/Inactive 93

8.5.1. Setting of Each Motion ........................................................................................93

8.5.2. Setting of Each Scenario......................................................................................93

8.5.3. Setting in Operation Mode ..................................................................................94

9. Changing Servo Settings ............................................... 95

9.1. Outline 95

9.2. Parameter Setting Screen for Servo 95

9.2.1. ID and Name........................................................................................................97

9.2.2. Part .......................................................................................................................97

9.2.3. Version..................................................................................................................97

9.2.4. ID ..........................................................................................................................97

9.2.5. Transmission Speed .............................................................................................97

9.2.6. Limit Angle (R/L) .................................................................................................97

9.2.7. Margin ..................................................................................................................98

9.2.8. Slope .....................................................................................................................98

9.2.9. Punch....................................................................................................................98

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10. Self-Diagnosis Function............................................... 99

10.1. Connection between PC and RPU-11 with Communication Software 99

10.2. Start and Connection of RPU-11 102

10.3. Inspection Items 104

10.3.1. Buzzer Test ......................................................................................................104

10.3.2. LED Test ..........................................................................................................104

10.3.3. Operation Check for Servo..............................................................................105

10.4. Confirmation of Sensor Output Value 107

10.4.1. BT (battery) .....................................................................................................107

10.4.2. GS-X: Y: Z (G sensor) .......................................................................................107

10.4.3. GY-X: Y (gyro) ..................................................................................................108

10.4.4. CT (Controller) ................................................................................................108

10.5. Sensor Output Mode 108

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1. Introduction Thank you very much for purchasing our product. Please note that we can’t guarantee the

movements of the robot because, as a hobby kit that you assemble, its performance might be greatly affected by the assembly method. Also, we may not be able to answer your questions exactly. Please be forewarned.

A personal computer is needed to operate this product, and this manual assumes that you can

manage the basic operations of the computer. However, please note that we can’t answer questions or inquiries concerning your personal computer or Windows(r) system software. What you need to prepare separately

The following things are needed separately to operate this product. ★ Personal computer Computer with Microsoft(r) WindowsXP(r) Please refer to page 25 for the recommended operation environment. ★ Four AAA batteries The batteries are used as a power source for the transmitter (RRC-T11).

1.1. When You Think It Is Operating Incorrectly Please make sure that you have assembled the product and are operating it properly by checking the operation manual and the assembling instructions again. If operation seems impossible, please send a letter, fax or e-mail with the detailed description of the failure to our service department. After we investigate the problem, we will inform you of our findings. Please note that we cannot always answer your questions promptly by telephone.

Contact Address: Phone: 217-398-0007 3002 N. Apollo Dr. Suite #1

Champaign, Illinois 61822 E-mail: hobbyservices@hobbico.com HP: www.hobbico.com

* In order to accommodate improvements, the specifications of this product are subject to change without prior notice. * This product is designed for the Japanese market only. If you use it in foreign countries, manufacturer support is not available. Hobby Services

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2. For Safe Use Please be aware of the following points in order to use this product safely. Before you use this product, please read through "RBT-1 operation manual" (this booklet), “LBC-3E5 manual" and "PR-4S780P manual".

Please pay special attention whenever the following symbols are used in this manual.

Sign Meaning

DANGER There is a high risk that the user or other people could be seriously or fatally injured if he or she ignores this sign and mishandles the product. The potential for property damage is also high.

WARNING There is a risk the user or other people could be seriously or fatally wounded if he or she ignores this sign and mishandles the product. The potential also exists for property damage.

CAUTION There is a small risk that the user or other people could be seriously wounded if he or she ignores this sign and mishandles this product. However, there is a risk that the user or others could be injured or property be damaged.

Mark: Prohibited Must be completed

CAUTION

Do not take the servo apart or alter it. There is a possibility of causing damage to the gear box, smoke in the servo, or the explosion of batteries if you take the servo apart or alter it.

Do not supply power except through specified batteries.

This product is designed to use the Lithium Polymer 7.4V battery made by our company. Please do not use any power sources except this.

Do not touch the servo case immediately after servo operation.

You might get burned if you touch the case of the servo just after the end of the servo operation,

because the motor and the circuit in the servo reach a high temperature.

Keep the product free from dust and water. Since the servo is not waterproof, it may short out or not function properly when it gets wet.

Meaning of Symbols

Cautions With Use

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Do not turn the servo horn forcibly.

There is a possibility that the servo will be damaged if the servo horn is forcibly turned.

Do not leave the servo locked. If the servo does not move when force is applied, do not continue attempting operation. Doing so may cause

smoke, fire, and damage.

CAUTION

Do not keep the servo in the following places. • Hot environment where the temperature goes up more than 60℃. Or a cold room

where the temperature falls below -20℃ • Places where direct sunshine strikes. • Places that have a lot of moisture. • Places with strong vibrations. • Dusty places. • Places where static electricity is generated easily. • Places an infant can reach easily.

◆ Storing the servo in those places can cause it to deform or break down, and result in an accident.

Please handle the battery 'PR-4S780P' and the special charger 'LBC-3E5' attached to RBT-1 with care, according to the attached 'PR-4S780P manual' and 'LBC-3E5 manual'.

Battery and Charger

Cautions for Storage

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3. List of Goods

Transmitter Rapid charger (RRC-T11) (LBC-3E5) Battery AC adaptor (PR-4S780P) (FAD-3)

Communication cable AC cable Mini driver CD-ROM (for RPU-11)

RBT-1(main body, receiver, and RPU-11)

Receiver (RRC-R11)

RPU-11

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4. Part Names and Outline of IDs

4.1. Part Names of Servo and List of IDs

ID: 01 Waist

ID: 04

Right Shoulder2

ID: 05

Right Elbow

ID: 07

Left Shoulder2

ID: 08

Left Elbow

ID: 18

Left Knee

ID: 12

Right Knee

ID: 16

Left Leg 3

ID: 10

Right Leg 3

ID: 13

Right Ankle

ID: 19

Left Ankle 1

ID: 15

Left Leg 1 ID: 09

Right Leg1

ID: 11

Right Leg 2

(Back of ID: 10)

ID: 14

Right Ankle 2

(Back of ID: 13)

ID: 02 head

(Back of receiver)

ID: 20

Left Ankle 2

(Back of ID: 19)

ID: 17

Left Leg 2

（ Back of ID:

ID: 03

Right Shoulder1

(Back of the receiver)

ID: 06

Left Shoulder1

(Back of the

Right Arm Left Arm

Right Leg Left Leg

Receiver（RRC-R11）

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4.2. Servo(RS301CR､RS302CD)

Fig. 4.1Servos used for RBT-1

The “servo” is a motor that is used for joints of the robot, with a circuit that controls the motor and a gear box (decelerator). The part that protrudes from the case of the servo and rotates is called the “output shaft”, and the part that is attached to the output shaft and that connects the servo with the frame of the robot is called the “servo horn”. An angle sensor is installed in the servo to measure the angle of the output shaft (direction). The position the output shaft when located at 0° is called “neutral” or “default position”. From this position, you can rotate the shaft in the 0° to ±150° range. By attaching the servo to the joints of the robot, you can move the robot such as “move the elbow joint by +90°" and “move the neck to the left by 40°". When the robot is moving or holding a certain angle, we say, “The servo’s torque is on.” or “The servo is in a state of torque ON.” On the other hand, when the servo doesn’t move or moves without resistance when outside force is applied (even though the servo is connected to a power source), we say, “The servo’s torque is off.” or “The servo is in a state of torque OFF.” Even if the servo’s torque is off, the circuit in the servo is in the operational state when the servo is connected to a power source. Therefore, you can check the position of the output shaft in case you moved it by hand. When you move RBT-1 by connecting it to PC, you can make the robot move by using this feature.

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The set of servos 'RS301CR' and 'RS302CD' used for RBT-1 is developed only for a robot, and adopts a special control method called the command method. In this method, a number called ID (alias) is set to each servo, and you can move a servo by specifying the servo’s ID number and directing it how to move. Even if it is the same servo, it doesn't move correctly when the ID number is different. Please check the type and the ID number of the servo when you assemble RBT-1 or exchange servos. A temperature sensor is built into both RS301CR and RS302CD. The temperature limit function turns the torque off automatically when the temperature rises to a certain degree. This prevents the circuit and the motor from being damaged if the servo overloads and heats up. The servo will function again when you resume power after the temperature goes down. If the servo temperature limit function has occurred, you may notice that the output shaft is more difficult to turn by hand than when the switch it off. So, if the servo stops operating while in motion, you can judge whether the temperature limit function is the cause by checking the servo’s temperature and by testing how difficult it is to rotate the shaft. RS302CD is a "standard type" that uses a gear made of resin (plastic) RS301CR is a "high torque” servo that uses a coreless motor and a gear made of metal. This is a little heavier than RS302CD, but its generating power is strong and it moves swiftly. RBT-1 uses 20 servos in total, 11 pieces of RS301CR for legs and the abdomen that support the body and 9 pieces of RS302CD for the neck and hands that don’t require a strong type of the servo. Each of RS301CR and RS302CD has two different types. One is with a 50mm wire attached, and the other is with a 100mm wire attached. If the last two letters of the product name are “F1”, it is the one with a 50 mm wire; if they are “F2”, it is the one with a 100 mm wire. Since the size of the case for both RS301CR and RS302CD is the same, either fits to the frame of RBT-1. If you use RS301CRs for all joints in the upper body, the body is little heavier, but you can get swift, powerful moves. On the other hand, if you use RS302CD, the body is lighter, but you can’t get swift moves.

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4.3. Processing Unit『RPU-11』

Fig. 4.2 Processing unit『RPU-11』

4.3.1. Outline of RPU-11 In order to move the robot, the controller that functions as the brain of the robot is needed in addition to servos that function as the muscles of the robot. The brain is the processing unit 'RPU-11', which is installed on the back of RBT-1. The data of motions and the settings of the robot can be recorded in RPU-11. RPU-11 gives the servo directions in accordance with instructions from PC and a wireless controller, or by calling up registered data automatically. By changing the rotary switch located in the center of the back of RPU-11, you can set the modes such as “connect RBT-1 to PC”, “move automatically” and “manipulate with the controller”. Please see Page 17 for the switch number and its mode. It is necessary to handle the power switch that controls all the movements of RBT-1 when you change modes or turn off the power to RBT-1. However, you can simply change the mode or restart the robot by using the Start/Stop switch on RPU-11. See Page 16.

Make sure that the cable for the PC is firmly connected when using it.

If the connector (RS232C connector) of the special cable that connects RPU-11 to your PC is not plugged in

securely, the robot may not move properly.

If the buzzer sounds out of the ordinary when starting up or the robot doesn’t accept any instructions after starting, turn off the power to RBT-1 and check how the connector is plugged.

Do not pull out the cable for the PC or cut off the power supply while transmitting data. Do not pull out the cable for the PC or turn off the power supply while transmitting data from PC to

RPU-11, using the motion editor.

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4.3.2. Part Names

Fig. 4.3RPU-11 Part Names

【 RS232C Connector 】 This connector is used for connecting PC and RPU-11 with a special cable.

【 RS485 Connector 】 This is used for connecting the main hub of RBT-1 with RPU-11.

【 Connector for Receiver 】 This is used for connecting the receiver of RPU-11.

【 Connector for LED 】 This is used for connecting the LED unit (eyes of RBT-1).

【 Connector for Gyro 】 This is used for connecting a two-axis gyro for RPU-11, which is under development. 【 LEDs for Power /Monitor 】 The LED for Power lights green when the power is supplied to RPU-11. The LED for Monitor lights when RPU-11 starts or the Start/Stop switch is pressed. 【 Buzzer 】 The buzzer sounds when RPU-11 starts or the Start/Stop switch is pressed. The buzzer also sounds while the robot is in motion if you set it to sound for particular movements when you make commands with the motion editor.

RS232C Connector

(for PC)

RS485 Connector

(For power supply and servo )

Connector for Receiver

Connector for LED

Connector for Gyro

LED for Power

Buzzer

LED for Monitor

Rotary Switch

Start/Stop Switch

G Sensor

(Built into RPU-11)

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【G Sensor 】 A three-axis G sensor is installed on the substrate of RPU-11. The direction of each axis is arranged as shown in the figure below.

Fig. 4.4 G Sensor on RPU-11

Please read “8. Definition of Events” (Page 86) about how to use the G Sensor. 【 Start/Stop Switch 】 When this switch is pressed, the torque of all servos is immediately turned off. After this, RPU-11 reactivates if you keep pressing the switch for three seconds while the robot is inactive.

Caution

Do not turn ON or OFF the power to RBT-1 while pressing the Start/Stop switch.

X (+)

Y (+)

Z (+)

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【Rotary Switch】 This switch is used for setting the mode of RPU-11. The mode of RPU-11 changes by turning the power on after tuning in to the number of the mode you want. The mode doesn't change even if you change the switch when RPU-11 is in motion until the power is turned on again. Also, the mode doesn't change even if you reactivate RPU-11 by pressing the Start/Stop switch. If you want to change the mode, turn the power on again, using the main switch of the robot. The relations between the number of the switch and the mode of RPU-11 are as follows. Switch Mode Content No.0 Motion editor mode RBT-1 moves by directions from PC. No.1 Scenario mode 1 Registered motions are executed automatically. No.2 Scenario mode 2 Ditto No.3 Scenario mode 3 Ditto No.4 Scenario mode 4 Ditto No.5 Scenario mode 5 Ditto No.6 Scenario mode 6 Ditto No.7 Scenario mode 7 Ditto No.8 Scenario mode 8 Ditto No.9 Scenario mode 9 Ditto No.10 (A) Scenario mode 10 Ditto No.11 (B) Sensor output mode The value of the sensor is displayed on PC. No.12 (C) (No function settings.) (No function settings.) No.13 (D) (No function settings.) (No function settings.) No.14 (E) Self-diagnostic mode It checks the function of RPU-11 on PC. No.15 (F) Operation mode RBT-1 is manipulated by a special controller.

Table 4-1Rotary Switches and Modes

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4.4 Battery and charger 4.4.1 Battery (PR-4S780P)

Fig. 4.5 PR-4S780P

This is a lithium ion polymer battery for RBT-1. Please use the special charger LBC-3E5 for charging. 4.4.2 Charger (LBC-3E5)

Fig. 4.6 LBC-3E5

This is a rapid charger only for PR-4S780P. Please do not use it for purposes other than charging PR-4S780P. 【 LED for the power 】 This LED lights in red when the power to LBC-3E5 is on. 【 LED indicating the charging status 】 The LED lights in red or green, depending on the charging status when PR-4S780P is connected.

Battery Connector

ＦＵＴＡＢＡ

Connector to connect to the battery

LED for the power LED displaying the charging status

ＦＵＴＡＢＡ

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4.4.3 Mounting/Removal of Battery The battery is located at the center of the robot’s waist. Turn the power off, and bend the robot forward at the waist.

Fig. 4.7 Before changing the battery

Fig. 4.8 Disconnect the battery connector

Disconnect the battery connector. It is easy to disconnect the connector by pulling it while pushing the base of the tab on the battery side.

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Fig. 4.9 Dismounting of the battery

The battery is taken out by pushing up the battery from between the legs. Push up the battery from the hole between the legs. See Fig. 4.9

Do not pull the wire of the battery. Pull neither the connector nor the wire of the battery when taking out the battery.

Push the battery through this hole.

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4.4.4 How to Charge Battery Connect the power supply of the charger LBC3E5. The power supply LED, which is at the left of the upper surface of the charger, lights in red. Next, connect the battery to be charged.

Fig. 4.10 Connection between battery and charger

If the battery that is not charged fully is connected, the LED displaying the charging status (which is at the right of the upper surface of the charger) lights in red and charging starts automatically. It takes about one or one and half hours to finish charging, depending on how much battery charge remains. When charging finishes, the LED displaying the charging status changes to green, and the LED turns off automatically if you leave it as it is.

⇒

Fig. 4.11 Display of Charging LED (While charging : in red, charging completed: green → turn off. )

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4.5 Transceiver 4.5.1. Part Names of Controller (RRC-T11)

Fig. 4.12 RRC-T11 Part Names

【Power Switch】 This is the power switch for RRC-T11. In order to prevent battery drain, the controller is designed to turn off automatically if the controller is not manipulated for five minutes — such as when the button is not pressed and the stick is not bent down. If you want to turn on again, turn off the power first and turn on again. 【Vibration Switch】 This is not used for RBT-1. 【Battery Cover】 Please put four AAA batteries inside, which are sold separately.

Power Switch

Vibration Switch（Don’t use）

Battery Cover

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4.5.2. Part Names of Receiver (RRC-R11)

【Power Supply LED】 The LED lights in red when the power is on. 【LED indicating the communication status】 The LED indicates the communication status between RRC-R11 and RRC-T11 in green. Connection Status Display of LED in the Communication Status

If it is connected Lighting If it is not connected Blinking slowly When pairing is being processed Blinking quickly

【Pairing Switch】 This is a switch to start to pair RRC-R11 with RRC-T11.

Pairing Switch

Power Supply

LED power

LED indicator

For communication status

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4.5.3. Pairing We call the work “pairing” that lets RRC-T11 and RRC-R11 recognize each other to communicate properly between them. Pairing is required when you use the controller for the first time or you run several RBT-1s at the same time. Please see Page 78 about the details of the pairing. 4.5.4. Checking of Communication Circumstances and Buzzer The buzzer of RPU-11 sounds if the connection between RRC-T11 and RRC-R11 is not confirmed at the time they have to be connected with each other. The buzzer of RPU-11 always sounds if the controller is not recognized, because the controller must always be connected in the operation mode. In the scenario mode, the decision is made whether or not the controller can be used, depending on whether the power to RRC-T11 is on at the time you switch on RBT-1. The buzzer of RPU-11 sounds when the connection is lost because the controller's power supply is cut off if you start RBT-1 with the controller ready to use. The buzzer of RPU-11 doesn't sound when the controller's connection cannot be confirmed if you start RBT-1 with the controller not used. The buzzer sounds briefly just after the robot stands straight if the controller is turned on during the time between power being turned on to RBT-1 and the robot standing straight. However, it is not abnormal.

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5. Operation with Motion Editor 5.1. System Requirements of Motion Editor The motion editor RPU11 is software used to make motions and change the settings of RBT-1. < System Requirements of Motion editor RPU11 > ･OS Windows® XP ･CPU Pentium®3 More than 800MHz

(Pentium®4, More than 1.6GHz recommended) ･Main memory 256MB or more (more than 512MB recommended) ･Video memory (VRAM) 8MB or more (more than 16MB recommended) ･HDD empty capacity 30MB or more ･CD-ROM drive Indispensable ･RS232C port One port(*) ･Display Monitor that can display with XGA

(Monitor that can display with the resolution of more than 1024×768 dots)

･Graphics chip or graphics card, and graphic driver that deals with the version after DirectX9.0c (*) If there is no RS232C port in your PC, it is possible to connect to the USB port using the USB-serial converter that is commercially available. However, please note that some USB ports or serial converters make the communication speed slow or make the communication impossible.

Cautions for System Requirements Since the motion editor RPU11 uses 3D graphics with Microsoft® DirectX® technology, the system requirements for graphics matter. Please check the specification of your PC and the way to cope with the version after DirectXR9.0c by directing your concerns to hardware makers. Even if above-mentioned system requirements are satisfied, that doesn’t guarantee that our product can run properly with all computers. The product doesn’t run properly with notebook, space-saving, compact-type, or all-in-one computers. Also, the speed of the robot’s motions displayed on the motion editor and that of the real robot might be different, depending on the performance of PC and the operating conditions of other applications.

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What should be prepared to use the motion editor and how to manipulate RBT-1 from your PC are explained below. 【Install the motion editor on PC. (Page 27 ~)】 Install the motion editor on your computer. You may need additional software to use the motion editor, depending on the settings of your computer. Whether it’s needed and how to install it are also explained here. 【Pose Editing (Page 46 ~)】 Make poses that are the basic movements of the robot. The pose means the robot’s posture at a certain time. You can make various poses by setting angles of joints. 【Motion Making (Page 55 ~)】 Make motions that are the movements of the robot. One motion consists of several poses, and is made by setting the time to move from one pose to another. In addition, you can light LEDs and sound buzzers. 【Scenario Making (Page 65 ~)】 Make scenarios, which are complex movements with several motions combined. 【Auto Play Mode (Page 74)/ Operation Mode (Page エラー! ブックマークが定義されていま

せん。)】 Store motions you make on RBT-1, and you can use them without a PC. You can configure settings for moving the robot automatically and for manipulating it with the controller.

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5.2. Installation of Motion Editor Close down all applications before installing the motion editor, including virus-checking software and resident programs. Please check the memory capacity of your computer, because more than 20MB of free space where the motion editor is installed (usually in C drive) and more than 10MB of free space to save sample data (in C drive) are required. 5.2.1. How to Install Motion Editor Put the CD-ROM that comes with the product in the CD-ROM drive of PC. CD menus (Fig. 5.1) are displayed automatically. Click【Installation of Motion Editor】. If the menus don’t appear automatically, execute Setup.exe that exists in the Setup folder of CD-ROM directly

Fig. 5.1CD Start-up Screen

Fig. 5.2 Installer Start-up Screen

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Install the motion editor according to the instructions of the installer. The standard destination to save it is C:¥Program Files¥RPU11ME¥ReF30A If all users use the PC with the motion editor, check the【Everyone】box, and if you want to set the PC to be used by only a person who sets this, check the【Just me】box. The user selection check box might not be displayed, depending on the settings of your PC.

Fig. 5.3 Selection of Destination to Save

Fig. 5.4 In the Middle of Installation

Folder to Save

User Selection

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Fig. 5.5 Completion of Installation

Please end the installer by clicking【Close】when the installation is finished.

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5.2.2. How to Uninstall Motion Editor Put the CD for the installation of the motion editor in the CD drive, and select 【Install Motion Editor】. Or, execute Setup.exe that exists in the CD. If the motion editor has already been installed, the screen of Fig. 5.6 is displayed.

Fig. 5.6 Restoration/Uninstallation of Motion Editor

If you select【Remove Motion Editor RPU11 (for RBT-1)】, the motion editor is uninstalled. Even if the motion editor is uninstalled, sample data and the data made and saved with the motion editor are not deleted. If you have any data that is no longer needed, delete it on Windows. 5.2.3. Reminder When Motion Editor is Reinstalled If the motion editor is uninstalled and you install it again, the sample project is overwritten. If you want to make your original motions by editing the sample project, you have to either change the title of the sample project before you install the motion editor or save the sample project in another place and overwrite it after you reinstall the motion editor.

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5.2.4. Types of Data and Where to Save It The data made with the motion editor is saved in the following folders as the standard setting. My Documents¥RPU11ME¥RBT-1

Each project has its own sub-folder in this folder, and files of poses, motions, and scenarios of each project are saved in it. My Documents¥RPU11ME¥RBT-1 ¥Project A ¥Pose ¥Motion ¥Scenario ¥Project B ¥Pose ¥Motion ¥Scenario ¥Project C ¥Pose ¥Motion ¥Scenario

Fig. 5.7 Folder Structure

・ Project File(*.prj) This is a file to control poses, motions, and scenarios collectively. In addition, COM ports, the communication speed and setting values of the controller and sensors are also saved in it. A project file and folders for the project are made, in which poses, motions and scenarios are saved.

・ Pose File(*.pos) This is a file to define the robot’s postures, in which the angle of each joint is saved. This is used for making poses and motions with the motion editor.

・ Motion File(*.mtn) This is a file to define the robot’s motions, in which the replay time of poses, LEDs and the buzzer is saved. This file is used to execute motions with the motion editor on PC. It is necessary to register the robot’s motions in RPU-11 if you want to move the robot automatically by registering the motions in RPU-11 or manipulate the robot with the controller.

・ Scenario File(*.sce) This is a file to define complex movements combined with motions. This is used to execute scenarios with the motion editor on your PC. It is necessary to register the robot’s motions in RPU-11 if you want to move the robot automatically or manipulate the robot with the controller.

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Files used in a certain project are necessary to be saved in the same project folder. For example, motions for the scenario of Project “A” must be saved in the motion file of Project “A”, and poses for the motion of Project “A” must be saved in the pose folder of Project “A”. If you want to use motions and scenarios made for a particular project for other projects, you have to copy poses of the motion and motions of the scenario as well. The system data necessary to operate the motion editor is saved in the same place as the motion editor, along with unique files of each project, which have the following place as the standard setting. C:¥Program Files¥RPU11ME¥RBT-1¥Data¥System

・ The system data(*.prm､*.trm､*.X､*.str､*.hex､) These are the files for trimming information on servos, the initial posture, the 3D model and the firmware of RPU-11. In regular operations, you don’t need to use these files directly.

Do not edit or delete the system data.

There is a possibility that the robot won't work properly, or the motion editor won't

start, if the system data is edited or deleted. 5.2.5. Sample Data When the motion editor is installed, the sample data is saved in the following folder. You can’t change the place the sample data is saved when the system is installed. My Document¥RPU11ME¥RBT-1¥Standard Action¥StandardAction.prj

My Document¥RPU11ME¥RBT-1¥Sample01¥Sample01.prj In the “Standard Action”, the same projects as those built into RPU-11 with shipment are saved. The motions for those projects are made at a slow speed and are highly stable. Therefore, it is advisable to use this data until you get used to RBT-1. In “Sample 01”, movements that are faster and more dynamic than the “Standard Action” are registered. However, since it has no advantage over “Standard Action” in stability, it is necessary to adjust motions, depending on situations such as the floor surface. It is recommended to refer to the “Sample 01” when you make new motions after going through the basic operations. The data of both “Standard Action” and “Sample 01” is also saved on CD. If you select【Display Sample Data】on the CD menu, the sample data of CD is displayed. Please copy it if necessary.

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5.3. Installation of DirectX DirectX9.0c or its newer version is required to use the motion editor. If you are not sure about the version of DirectX installed in your PC, you can check it with DirectX diagnostic tool. First, select【Specify the file name, and execute it (R)】from the start menu of Windows. The Fig. 5.8is displayed. Then, enter "Dxdiag" into the name field, and click 【OK】. If the message of Fig. 5.9 is displayed, click 【OK】 and move on to the next step.

Fig. 5.8 Specify the file name and execute it.

Fig. 5.9 Confirmation of the use of DirectX diagnostic tool

The DirectX diagnostic tool starts up, and the version of DirectX is displayed automatically in the part indicated in red in Fig. 5.10. If the version is older than 9.0c, the update is needed.

Fig. 5.10 DirectX Diagnostic Tool

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5.3.1. Update DirectX, using Windows Update. It is recommended to use Windows Update when you update DirectX. Select [Windows Update] (see Fig.5.11) from either [All Programs] or the start menu of Windows.

Fig. 5.11 Windows Update

Execute the update according to the instructions displayed on the screen as your PC is automatically connected to the Web site of Microsoft. 5.3.2. When Windows Update is Not Applicable Please access the Web site of Microsoft, download DirectX Runtime and install it.

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5.4. Connection between PC and RPU-11 5.4.1. Confirmation of Serial Port on PC Connect a special cable (on the side of Dsub9Pin) to the serial port (Dsub9pin) of your PC. Check the number of the port where the special cable is connected to in order to operate RPU-11 by your PC. How to confirm it is explained below. However, the image shown below may be different from the one on your PC, depending on the settings of your computer. Select【Control Panel (C)】from the start menu of Windows.

Fig. 5.12 Start menu > select [Control Panel]

Select [System] from【Performance and Maintenance】, and display [System Property] (Fig. 5.15)

Fig. 5.13 Select [Control Panel] > [Performance and Maintenance] > [System]

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If the display is the type of the old version, select [System] directly from [Control Panel] (Fig. 5.14) ｡

Fig. 5.14 Control Panel > select [System] (old version)

Select [Hardware] , which is on the upper part of the menu, from【System Property】, and open [Device Manager].(Fig. 5.15) ｡

Fig. 5.15 System Property

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Fig. 5.16 Device Manager

You can confirm [Communication Port] by opening [Port] in the [Device Manager] (Fig. 5.16) ｡

Please memorize the ports, because you need them to set up the motion editor later.

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5.4.2. Connection of RPU-11 Connect a special cable (on the stereo mini-plug side) to Connector A on the RPU-11 side. Please be careful not to get the cable entangled in the robot’s hands and legs or stuck in its belly when the robot moves.

Fig. 5.17 Connection between the cable for PC and RPU-11

If you turn the power on after setting the rotary switch to “0”, RPU-11 starts with the mode of the motion editor. The buzzer sounds when it starts, and the robot reaches a standing posture in five seconds. (The angle of all servos is 0°.). At this time, please make sure whether or not the robot is standing straight. Trim adjustment is needed if there is a servo whose angle is shifted. Please see 5.13(Page 72~) for the detailed trim adjustment.

Make sure the connector is all the way seated.

Make sure the arrow of the rotary switch points to 0.

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5.5. Start and End of Motion Editor 5.5.1. Start of Motion Editor Start the motion editor on Windows after RBT-1 starts. Select【Program (P)】>【RPU11ME】>【RBT-1】>【Motion Editor RPU11】from the start menu of Windows, or double-click the icon on the desktop.

Fig. 5.18 Icon of Motion Editor

Fig. 5.19 Starting Screen of Motion Editor RPU11

First, it is necessary to read the project data to be used. Select [File (F)] in the menu bar located in the upper left of the screen, and [Read Project (L)] next if you use the sample data or existing projects. (Fig. 5.20) ｡

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Fig. 5.20 File Menu

5.5.2. Making New Projects Select【Making of New Project (N)】from the File Menu (Fig. 5.20) if you make new project folders.

Fig. 5.21Making of New Project

You can make a new project folder by inputting the folder the project is saved in into【Data Path】and the name of the project into【Project Name】. You can set the name of the project folder freely. The standard destination to save the project is the following file. (See Page 31.) My Documents¥RPU11ME¥RBT-1¥ (Folder for Project Name)

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By reading existing project data or making new project data, the CG (Computer Graphics) robot is displayed in【3D Viewer】 area on the motion editor and you can select 【Window (W)】in the menu bar.

Fig. 5.22 Making Project Folder / Completion of Reading

5.5.3. End of Motion Editor You can close the motion editor by either selecting 【End (x)】 or clicking the close button located in the upper right corner of the screen after selecting 【File (F)】 in the menu bar. During these processes, you will be asked whether or not the data should be saved if there is data you are editing (poses, motions or scenarios), or the settings to be saved in the project data are changed (COM, ports or the contents of the data transfer screen). (Fig. 5.23). Save the data if necessary.

Fig. 5.23 Confirmation of Saving the Edited Project Data

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5.6. Default Setting for Motion Editor The default setting for the motion editor is required when you call up the project for the first time or change the serial port you use. Select [Default Setting (I)] of [Window (W)] in the menu bar. (Fig. 5.24)

Fig. 5.24 Call Up the Screen of Default Setting

Fig. 5.25 Screen of Default Setting

Set up a port to be used for connecting the robot in【Communication Port (COM Port)】, which is confirmed on Page 37. (Fig. 5.25) The standard setting (115200) of【Transmission Speed】can’t be changed. Close the screen of the default setting by clicking【OK】after finishing the setting. This setting is saved in the project folder. If you change the setting, be sure to save it in the folder.

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5.7. Communication with Robot The communication between PC and RBT-1 starts by clicking【Connection】of【Communication】

area, which is located in the upper left of the main screen (Fig. 5.26).

Fig. 5.26 Communication Area (Unconnected)

If the line is connected, you can click [Sync ON], and the display of [Connect] changes to [Disconnect]. (Fig. 5.27) ｡

Fig. 5.27 Communication Area (connected)

As you can see, the name on the motion editor does not indicate the current status, but indicates what happens if the button is clicked or why the button should be clicked.

Fig. 5.28 Message when connection fails

When the connection fails, the message of Fig. 5.28 is displayed. If this happens, make sure of the following:

・ Is the cable all the way seated in both RPU-11 and PC? ・ Is the power on when the rotary switch of RPU-11 is at the position of【0】? ・ Is the correct communication port selected on the default setting screen? ・ Is the same communication port used by other applications such as terminal software?

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5.8. Synchronous Mode The motion editor becomes a Synchronous Mode by clicking【Synch ON】which is under

【Disconnect】. The button changes to【Synch OFF】.

⇒

Fig. 5.29 Communication Area (left: ASynchronous Mode, right: Synchronous Mode)

In the Synchronous Mode, the real robot moves if the angle of the servo is specified on the motion editor or the robot of the 3D editor is moved. If the Synchronous Mode is not set, the robot doesn’t move until the【Transmission】button in the Pose Editor Area is not clicked. You can move the robot quickly with the Synchronous Mode. However, the robot is at risk of being damaged if you mishandle it. It is recommended not to use the Synchronous Mode in the beginning, but use it after you get used to operating the motion editor.

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5.9. Project tree 5.9.1. Display of Project Tree Names of the pose, the motion and the scenario made are indicated on the project tree (Fig. 5.30) located at the left-lower part of the main screen. The data called up at the last is displayed in the lowest part of the tree. The contents of the display on this project tree are saved in the project folder. If all of the data or names are not indicated in the display area because of too much of data or names that are too lengthy, you can see the whole picture by scrolling the screen, using the slider indicated in the lower part of the tree and on the right of it.

Fig. 5.30 Project Tree

The pose, the motion, and the scenario selected can be read to each editing area by double-clicking the name indicated on the tree. If there is data you are editing at this time, Fig. 5.31 is displayed. If you want to delete the data and continue to read, select【Yes (Y)】, and if you want to stop reading, select【No (N)】.

Fig. 5.31 Confirmation of Reading by Project Tree (for poses)

5.9.2. Deletion of Displays The name of data is deleted from the tree if the【File Delete】button is clicked after the data name is selected. What is deleted at this time is only information displayed in the display area. The data made itself is not deleted. When you need the data again, you can display it on the tree by clicking the read button located in the editing area.

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5.10. Pose Editing 5.10.1. What is the Pose? The posture that is the point of the motion for RBT-1 is called 'Pose'. How to make poses for RBT-1 is explained below. 5.10.2. Pose Editor Area The pose editing is mainly done in the [Pose Editor Area] (Fig. 5.32) located in the upper right of the screen of the motion editor. On this screen, all information on each servo is displayed in the servo controller. (Fig. 5.33)

Fig. 5.32 Pose Editor Area

Fig. 5.33 Servo Controller

The function of each button in the Pose Editor Area is as follows. 【Capture】

This is used to import postures of the real robot. (See Page 53.) To use this function, your PC needs to be connected to the robot. 【Transmission】 This function transfers the information on the servo’s angles, which are displayed in the servo control

Servo’s Name

Angle of Servo

Torque ON/OFF Check Box

Increase and Decrease

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area, to the real robot. To use this function, your PC needs to be connected to the robot. 【Initial Pose】 This is to call up the Initial Pose, which is standing posture. 0゜is displayed in the angle input area for all servos. In general, the real robot doesn’t move until the【Transmission】button is clicked. In the Synchronous Mode, RBT-1 automatically returns to the starting posture if the【Initial Pose】 button is clicked. 【Save Pose】/【Load Pose】 The current pose is saved in your PC with【Save Pose】.

The data on the pose is saved in the pose folder located under the project folder. You can freely name the pose to be saved.

What is saved is the value indicated in the area for the servo angle. If the torque is off, or the robot is overburdened, the pose of the real robot may be different from the pose to be saved. You can read the pose saved with【Save Pose】. Please note that the value in the area for the servo angle, which you are editing at the time, is erased when the pose is read. 【Temp. Save】/【Temp. Load】 With【Temp. Save】and【Temp. Load】, the current posture can be saved or read temporarily. You can use these functions in case you want to compare the pose you modified a little with its original pose, or you want to eliminate the process for saving poses every time you make one. Only one pose can be saved with【Temp. Save】. Every time you save a pose with this function, the previous pose saved with【Temp. Save】is deleted. Also, you can’t name the pose to be saved temporarily.

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【Off】 This function turns off all servos’ torque at once, creating a state of faintness. Use this function if you want to stop the robot or immobilize it, perhaps because some foreign particles are stuck in the robot or you want to use the capture function. If you want to turn the servos’ torque on again, you should either check the check box of the torque ON/OFF or input the torque using the check box of the torque ON/OFF in each group. Check Box of Torque ON/OFF If you check (or uncheck) the check box of torque ON/OFF, the servo’s torque is on (or off). You can move the servo freely by hand if it is in a state of torque off. However, keep in mind that you should manipulate it within the -150° to +150° range when you use the capture function even though you can move it beyond this range by hand. ON/OFF in Each Group If you check (or uncheck)【Right Arm】,【Left Arm】,【Right Leg】, and【Left Leg】, the check for each servo changes to ON (or OFF) at a time.

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5.10.3. Pose Editing by Inputting Angles 5.10.3.1. How to set the servo’s angle The servo’s angle can be changed according to the following steps.

・ Input the numerical value into the area for the angle. ・ Click the increase and decrease button located at the right edge of the area for the angle. ・ Press either【↑】or【↓】on the keyboard while placing the cursor on the area for the angle. ・ Turn the mouse wheel while placing the cursor on the area for the angle. You can set the angle by 0.1° when you input the numerical value directly. If you change the angle by other methods, you can set it by 1°. The servo starts moving as soon as the numerical value is changed in the Synchronous Mode. Be careful when you change the angle greatly. 5.10.3.2. Available Numerical Value and Range of Motion The range of rotation for RS301CR/RS302CD is from 0 to ±150゜. However, the actual range of motion is narrower than this because frames attached to the servo and the servo horns interfere with each other. Therefore, it is designed that only angles that fit to the shape of RBT-1 can be input for each servo. (See Table 5-1 on the next page.) However, this is the maximum range the servo can move. The actual range is narrower than this, because angles of other servos affect it. When you move the robot, make sure that frames don’t interfere with each other and foreign particles don’t get stuck in its joints.

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ID Part Names Lower Limits Upper Limits ID01 Waist -95 ～ 0 ID02 Head -50 ～ 50 ID03 Right Shoulder 1 -150 ～ 150 ID04 Right Shoulder 2 -40 ～ 150 ID05 Right Elbow -50 ～ 130 ID06 Left Shoulder 1 -150 ～ 150 ID07 Left Shoulder 2 -40 ～ 150 ID08 Left Elbow -50 ～ 130 ID09 Right Leg 1 -30 ～ 150 ID10 Right Leg 3 -40 ～ 120 ID11 Right Leg 2 -90 ～ 90 ID12 Right Foot 1 -130 ～ 0 ID13 Right Foot 2 -60 ～ 95 ID14 Right Foot 3 -90 ～ 45 ID15 Left Leg 1 -30 ～ 150 ID16 Left Leg 3 -40 ～ 120 ID17 Left Leg 2 -90 ～ 90 ID18 Left Foot 1 -130 ～ 0 ID19 Left Foot 2 -60 ～ 95 ID20 Left Foot 3 -90 ～ 45

Table 5-1Range of Rotation for Each Joint

You may change the range of rotation in ways such as attaching exterior frames yourself and modifying frames. However, you can avoid entering the value that is beyond the range of motion by changing the value shown in Table 5-1 to the one that fits the size of the frames. If you have installed the motion editor in the standard installation file, the value set is saved in the following place.

C:¥Program Files¥RPU11ME¥RBT-1¥Data¥System¥serv0000.str

To avoid causing problems when you change the value, keep in mind that you can set the value up to the range where frames interfere with each other.

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5.10.4. Pose Editing in 3D Viewer area

Fig. 5.34 3D Viewer Area

5.10.4.1. Mouse-Driven Servo Operation When you click a servo of the robot displayed in the 3D Viewer area or a frame near the servo, the servo selected turns green. In this situation, you can move the servo by dragging or turning the mouse wheel. In the Synchronous Mode, the real robot starts moving when you drop it. If you drag the mouse left or up, the servo’s angle increases. On the other hand, if you drag the mouse right or down, the servo’s angle decreases. Either way, CG and the real robot move simultaneously in the Synchronous Mode. Please keep this in mind when you change angles greatly with the drag-and-drop operation. Also, the CG model neglects the interference and clash of parts. For this reason, there is a possibility that parts actually clash with each other, and the real robot can’t move. 5.10.4.2. Change of View Point You can change the view point of the CG robot by dragging the background of the 3D Viewer area, which is in blue. It will be easy for you to set view points, imagining postures the real robot takes when you make poses. The view point shifts to a designated position if you click a button for changing the view point, which is on the right side of the 3D Viewer area. The view points are set in six directions, which are the front, both sides, back, upper side, and lower side, with reference to the waist of the robot.

Front View

Side View (Left)

Side View (Right)

Top View

Bottom View

Rear View

Servo in Dragging

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5.10.4.3. Simulation of Motions and Scenarios using the 3D Viewer Area You can see the CG robot move in the 3D Viewer area when you click buttons in the operation area, although the real robot doesn’t move.

Fig. 5.35 Operation Area

【Object Choice for Replay】 If the motion is check-marked, motions in the motion editing area are replayed, and if the scenario is check-marked scenarios in the scenario-editing area are replayed. 【Time】 Time with the time display cursor is displayed in the motion-editing area or in the scenario-editing area. 【Replay】 Motions and scenarios are replayed in the 3D Viewer area. 【Stop】 The replay of motions and scenarios stops. 【To the Start】 The time display cursor moves to the start position of the motion or scenario. 【To the End】 The time display cursor moves to the time of the last pose, which is the finishing time of the last motion in the scenario.

Replay Stop To the Start To the End Time Object Choice for Replay

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5.10.5. Pose Making with Pose Capture Function Postures of the real robot are copied to both the area for the servo angle display and【3D Viewer area】by clicking the【Capture】button. This function is called “Pose Capture Function”, and makes it easy to make poses of the robot by clicking【Capture】after setting the robot in your desired pose by moving the robot by hand while the servo’s torque is off. If the servo is out of the range of motion when【Capture】is executed, which is either below -150 or above +150゜, 555.5゜is indicated in the area for angles. (Fig. 5.36 andFig. 5.37) You can’t turn the torque on in this condition, and the servo doesn’t respond even if you check the Torque ON/OFF check box. Please turn the torque on again and execute【Capture】after moving the servo back to the -150゜to +150゜range by hand.

Fig. 5.36 The servo of ID:15 is out of the range of motion.

Fig. 5.37 Display after [Capture] is executed when the servo is out of the range of motion

Poses are not saved only with【Capture】after moving the robot by hand if the torque is off. Please be sure to execute【Capture】and save poses, using【Save Pose】after typing the servo’s angle into the area for servo angles.

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If there is a servo which is out of the range of motion when【Save Pose】is executed, a saving confirmation message (Fig. 5.38) is displayed. If you select [OK], the pose is saved. However, make sure that the parts don’t interfere with each other or don’t get stuck in the robot when you read the pose saved.

Fig. 5.38 Confirmation of Save Pose when the servo is out of the specified range

The message of Fig. 5.39 displays to confirm that connection is not made if the servo’s connector is removed when【Capture】is executed.

Fig. 5.39 Getting information on the angle of ID:3 servo fails

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5.11. Motion Making 5.11.1. Outline of Motions Motions such as “take three steps forward”, “wave your hand” and “make a bow” are called “Motion”. You can make motions by specifying “How many seconds it should take from one pose to another”. The maximum length of time for one motion is a minute, and you can register up to 20 poses and options (for LEDs and buzzers) in total.

Fig. 5.40 Motion Editing Area

【Time Display Cursor】 This cursor is used to set a specific time for motions or to check the time. You can add or make poses at the position of the cursor. Also, in the replay mode (Page 56) the posture at this position (time) is displayed in the 3D Viewer area. 【Extension/Reduction of Display Time】 This button enables you to extend or reduce the time shown on the screen. This function is used when you want to make motions to be changed to small poses or you want to see the whole of a long motion. 【Pose】 The name of the pose selected is shown here. You can change the pose by switching the name. (See Page 59.) 【Total Time】 The total time of the motion being edited is displayed by 100msec (0.1 second). “100" is displayed when the total time of the motion is 10 seconds.

Time Display Cursor Extension/Reduction

Total Time Name of Pose

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5.11.2. 'Replay Mode' and 'Edit Mode' There are two modes for making motions; one is the “Replay Mode” and the other is the “Edit Mode”. Both modes automatically switch to either mode while you are using the motion editor. The replay mode starts when you read motions, replay motions in the 3D Viewer area (Page 52), and execute motions (Page 63). In this mode, the time display cursor in Fig. 5.40 turns red and the posture of the robot at the position (time) of the cursor is displayed in the 3D Viewer area. This function is useful when you want to check the motion of the robot or want to make poses during its operation, using the function of Pose Making (Page 61). The motion editor changes from the replay mode to the edit mode automatically if you add poses or change the time by moving the cursor with the mouse for the pose in the replay mode. In the edit mode, the time display cursor turns blue and nothing shown in the 3D Viewer area moves even if you move the cursor. In contrast to the replay mode, you can make processing easier and you can do that even with laptop computers in this mode.

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5.11.3. Addition of Poses If you click【Add Pose】and select the pose made, the pose is added to the position of the time display cursor. The added pose turns light blue. You can’t register more than two poses at the same time zone. The starting position is always located at the far left of the graph, which is time 0.

Fig. 5.41 Window for Pose Addition

Fig. 5.42 Motion-Editing Area (Poses have been registered.)

The First Pose of the motion, which is located at time 0, is a pose to show "What posture is the motion expected to start from?” Therefore, any movements to get to the First Pose are not carried out even if the motion is executed. The first motion the robot takes when the motion is executed with the motion editor is the second posture from the one commanded. Therefore, when you execute several motions continuously with the scenario or the controller, the motion may be different from the one executed one-by-one if the pose at the end of the previous motion is not the same as the First Pose of the next motion. For example, if you command RBT-1 standing straight to raise only its left hand in a standing posture, RBT-1 stops motions after raising the left hand only. At this time, if you command it to raise only its right hand in a standing posture consecutively, the robot raises the right hand only while lowering the left hand.

Selected Pose Initial Pose

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5.11.4. Moving of Poses You can move the pose cursor by clicking your mouse and dragging. At this time, poses following the pose selected also move together if you check-mark【Move poses Altogether】. In the space of【Time】, time from the start of the motion of the pose selected is displayed by 100msec, which is "10" for one second. You can change the time of the pose by entering the value directly after selecting the pose. 5.11.5. Deletion of Poses If you want to delete registered poses, click the【Pose Deletion】button after clicking the pose you want to delete. The cursor for poses or options selected by clicking turns yellow. You can’t delete two or more poses together. You can click the【Pose Deletion】button again if you click the space key just after executing【Pose Deletion】. Using this function, you can delete poses continuously by clicking buttons in order of the pose, the space key, and next pose. If you save the motion with only one pose registered, you can do the same work as deleting all contents of the motion by calling up the motion.

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5.11.6. Replacement of Poses You can change the pose that is at the designated cursor with another pose by switching the name in the space of the pose name located at the lower-left corner of the motion-editing area. However, you can change poses only with those indicated in the project tree.

Fig. 5.43 Replacement of Poses

If the pose which is not indicated in the project tree is selected, nothing is displayed in the space of the pose name. However, you can display the transposable pose name by clicking the【? 】mark located at the far right of the area for the pose name.

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5.11.7. Addition and Deletion of Options You can set the LED and the buzzer by selecting【Add Options】.

Fig. 5.44 Window for Addition of Options

Select the LED or the buzzer to be used from【Option】, and input the duration of lighting of the LED or sounding of the buzzer into【Duration】.

Fig. 5.45 Display of Option

The duration of lighting of the LED is indicated with the bar in orange, and the duration of sounding of the buzzer is indicated with the bar in blue. You can change its start position (time) by dragging the bar. Also, the duration of lighting and sounding can be changed by changing the value of【Duration】

located at the lower right portion. If you want to delete options, click the【Option Deletion】button after clicking the option you want to delete, which is the same as for poses. You can delete options continuously by using the space key. (See Page 58.)

LED1 LED2 Buzzer

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5.11.8. Making of Poses in Motion You can save the posture displayed in the 3D Viewer area as a new pose by clicking the【Make】button. It is possible to take out a posture in motion as a pose with【Make】after placing the time display cursor between poses in the replay mode. One example is shown below: making a pose that is one second after the start of a motion in which the robot moves from the standing posture (Pose 01) to the next pose (Pose 02) with both hands opened at 90 degrees (the right shoulder 2 and the left shoulder 2 move from 0 to 90) in three seconds. The postures at the start time, ending time and time 10 (one second) are shown in Fig. 5.46.

Fig. 5.46 Before using【Make】

If the edit mode is not set, which the time display cursor doesn’t turn red, the 3D Viewer area doesn't function and you may not be able to make poses you desire even if you move the time display cursor. Please make sure that a posture in motion is displayed in the 3D Viewer area, shown inFig. 5.46.

..Pose... 01

..Pose... 02

Posture at time 10

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Click the【Make】button after moving the time display cursor to the time you want to register the posture. As a screen for saving the pose is displayed (Fig. 5.47), input the name of the new pose. In case of the following example, it is Pose 03.

Fig. 5.47 Saving of New Poses

After saving the pose, add the pose with【Add Pose】. Please note that the pose made is not registered only with【Make】.

Fig. 5.48 Addition of poses with【Make】and【Add Pose】

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5.11.9. Execution of Motions The real robot and the CG robot in the 3D Viewer area start to move by clicking the【Start Motion】button. The first motion of the real robot and the CG robot may be different if the starting position is not set before the motion starts, since the robot starts moving from the position it holds at the time【Start Motion】is clicked. (Page 57) The error message of Fig. 5.49 is displayed if the motion you want to execute doesn’t have necessary poses in the pose folder of the same project. Please make a copy of necessary poses for motions when motion files in other projects are copied.

Fig. 5.49 When Pose Data is Not Found

The motion stops at the time you click somewhere on the motion editor during operations. Please note that there is a case the robot topples down since the robot abruptly stops in halfway posture. The message of Fig. 5.50 is displayed and the replay stops when the interruption of communication is confirmed because of the RS232C cable being disconnected during operations via the motion editor. At this time, RBT-1 stops in the posture based on the last data sent. Therefore, you should turn off the power supply, and restart it after reconnecting the RS232C cable.

Fig. 5.50 Failure of Servo Data Transfer

The real motion of the robot may become slower than setting data, depending on the performance of your PC and other applications when the motion is executed or replayed via the motion editor. Because of this, there may be a difference in speed between the motion registered in RPU-11 and the real motion. Please keep this in mind.

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5.11.10. Saving and Loading of Motions You can save any motions made by clicking【Save Motion】. Also, you can name the motion freely while saving it. (Double-byte characters can be used, too.) The destination to save the motion data is the motion folder that is under the project folder being used. You can’t save motions that don’t have any poses and options. Motions that only one pose is registered in or only options are registered in can be saved, but can’t be used as scenarios. (See Page 67.)

Fig. 5.51 Failure of Saving Motion Data

The motion saved can be called up with【Load Motion】. If there is a motion being edited when you load motions with【Load Motion】, the message of Fig. 5.52 is displayed and you will be asked whether or not you want to save the motion. If you want to save the motion and load the next motion, select【Yes (Y)】. If you don’t want to save the motion and load the next motion, select【No (N)】, and if you want to cancel loading the motion, select【Cancel】.

Fig. 5.52 Confirmation of Motion Data Saving

The message of Fig. 5.49 is displayed when the pose needed for the motion to be loaded is not saved

in the pose folder. If you click【OK】, loading continues. However, the pose name is not displayed in the area for the name of poses. (See Fig. 5.40)

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5.12. Scenario Making 5.12.1. Outline of Scenarios A series of movements that consist of several motions such as “take three steps” → “wave the hand” → “face to the left” is called “scenario”. The maximum length of time for one scenario is ten minutes, and 15 motions in total can be registered. When the same motion is used twice, it is counted as two motions.

Fig. 5.53 Scenario-Editing Area

【Time Display Cursor】 This cursor is used to set a specific time for scenarios or to check the time. You can add motions at the position of the cursor. Also, in the replay mode the posture at this position (time) is displayed in the 3D Viewer area. 【Extension/Reduction of Display Time】 This button enables you to extend or reduce the time shown on the screen. This function is used when you want to combine motions with no space between or you want to see the whole of a long scenario. 【Motion】 The name of the motion selected is displayed here. You can change the motion by switching the name. (See Page 69) 【Time】 The time of the motion selected, which is the width of the motion cursor, is indicated by 100msec. 【Start Time】 The start time for the motion selected is indicated by 100msec. 【Total Time】 The total time of the scenario being edited is indicated by 100msec.

Time Display Cursor Extension/Reduction of Display

Total Time Motion Time Start Time

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5.12.2. 'Replay Mode' and 'Edit Mode' There are two modes for making scenarios like motions; one is the replay mode and the other is the edit mode. Both modes automatically switch, depending on which mode you use. The replay mode in the motion editor starts when you read scenarios, replay scenarios in the 3D Viewer area (Page 52), using the operation area or execute scenarios (Page 70). In the mode, the time display cursor turns red and the posture of the robot at the position (time) of the cursor is displayed in the 3D Viewer area. Also in this mode, if you move the time display cursor to the position behind the last motion with the mouse, the cursor is automatically set back to the finish time of the last motion. In this situation, you can set the motions with no space between when you add motions. The motion editor changes from the replay mode to the edit mode automatically when you add motions or change the time for the motion in the replay mode by moving motions with the mouse. In the edit mode, the time display cursor turns blue and anything shown in the 3D Viewer area doesn’t move even if you move the cursor. In contrast to the replay mode, you can make processing easier — and you can do that even with laptop computers in this mode.

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5.12.3. Addition of Motions The motion is registered at the position of the time display cursor with【Add Motion】. The registered motion is displayed in a yellow square. The width of the square shows the duration of the motion. If there is a space at the head of a scenario or between motions, the robot stands still in a posture of the previous motion until the duration of the space finishes.

Fig. 5.54 Scen ario-Editing Area

The messages of Fig. 5.55 and Fig. 5.56 are displayed and the operation is canceled if the duration of one motion overlaps with that of other motions when the motion is added. If this happens, it is necessary to secure sufficient time for the motion to be added by ways such as moving other motions and deleting some of them.

Fig. 5.55 When Motions Overlap

Fig. 5.56 Failure of Adding Motions

You can’t register any motions with Total Time 0, which are those with not only just one pose but also LED and the buzzer not registered in; and those with no pose registered, which are those with only LED and the buzzer registered in.

Overlapped Time

Selected Motion Motion Cursor

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Left: When Motion with Total Time 0 is Registered Right: When Motion without Pose is Registered

Fig. 5.57 Message When Motion that Cannot be Registered is Selected

5.12.4. Moving of Motions You can change the start time of a motion by either dragging the motion cursor or inputting the numerical value into【Start Time】directly. At this time, any motions behind the selected motion move together if【move motions altogether】is checked. The message of Fig. 5.55 is displayed and the operation is canceled if the duration of the motion overlaps with that of others when the motion is moved. 5.12.5. Deletion of Motions If you want to delete motions, click【Del. Motion】after clicking the motion you want to delete. You can’t delete several motions at one time, but you can delete one motion to another continuously with the space key. (See Page 58.) Also, if you save the scenario with only one motion registered, you can do the same work as deleting all contents of the scenario by calling up the scenario.

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5.12.6. Replacement of Motions You can change the motion designated with the cursor to another motion by switching the name, using the area for the motion name located at the lower-left portion of the scenario-editing area. At this time, motions that can be replaced are limited to those displayed in the project tree.

Fig. 5.58 Replacement of Motions

When motions not displayed in the project tree are selected, nothing is displayed in the space of the motion name. However, you can display the list of transposable motions by clicking the 【? 】mark on the right edge of the motion name column. Just as when you add motions, you can’t switch to motions with the replay time 0 or with no pose registered. The error message (Fig. 5.57) is displayed if you select those motions even though they are displayed as transposable. If the duration of the motion to be replaced is longer than that of the previous motion and it overlaps with that of the next motion, you can’t replace it. If the duration of the registered motion changes after you re-edit it, you can revise it by replacing the previous motion with the re-edited one. If the duration of the re-edited motion is extended, make sure that it doesn’t overlap with that of other motions.

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5.12.7. Execution of Scenarios If you click【Run Scenario】, the real robot and the CG robot in the 3D Viewer area start to move. If there is a space at the head of the scenario, the robot stands still in the posture that is at the start time of scenario execution until the duration of the space finishes. The error message (Fig. 5.59) is displayed if motions the scenario needs to execute are not saved in the motion folder of the same project. Please make a copy of necessary motions for the scenario and necessary poses for the motion when you make a copy of scenarios from other projects.

Fig. 5.59 When Motion Data is Not Found

The scenario execution is interrupted if you click somewhere on the motion editor during operations. Please note the robot may topple down if it abruptly stops in a halfway posture. Also, the error message of Fig. 5.50 is displayed and the operation stops when the RS232C cable is disconnected during operation, which is the same situation as that of the motion. (See Page 63.) The real motion of the robot may become slower than the setting data, depending on the performance of your PC and other applications when scenarios are executed or replayed via the motion editor. Because of this, there may be differences in speed between the motion registered in RPU-11 and the real motion.

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5.12.8. Saving and Loading of Scenarios The scenario made can be saved with【Save Scenario】.

You can name the scenario freely when you save it. (Double-byte characters can be used, too.) The destination to save the scenario data is the scenario folder that is under the project folder being used. You can’t save any scenarios with no motion registered.

Fig. 5.60 Failure of Scenario Saving

The scenario saved can be load with【load Scenario】. If there is a scenario being edited when you read scenarios with【Load Scenario】, you will be asked whether or not you want to save the scenario. If you want to save the scenario and want to load the next scenario, select【Yes (Y)】. If you don’t want to save the scenario but want to load the next motion, select【No (N)】, and if you want to cancel loading the scenario, select【Cancel】.

Fig. 5.61 Confirmation of Scenario Data Saving

The message of Fig. 5.59 is displayed when the motions needed for the scenario to be loaded are not

saved in the motion folder. If you click【OK】, loading continues. However, the motion name is not displayed even if you select those motions. Under this condition, you can neither replay nor execute the scenario.

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5.13. Trimming Adjustment 5.13.1. What is the Trimming Adjustment? The robot may have a standing posture that jolts out of alignment because of a difference in servos or deformation of frames, even if the angle of all servos is set to 0°. Making the robot stand straight by adjusting the angle of each servo is called “trimming adjustment”. 5.13.2. Start of Trimming Mode First, start up RBT-1 in the motion edit mode by turning the power on after setting the rotary switch of RPU-11 to【0】, and connect RBT-1 to PC with a special cable. Then, connect the motion editor with the robot after clicking the【Connect】button on the motion editor. In this situation, the trimming mode starts when you click the【Start Trimming】button in the Trimming Area.

Fig. 5.62 Trimming Area

During the trimming mode, the motion editor is forced to be in the Synchronous Mode, and【Synch ON(OFF)】becomes inactive. 5.13.3. Making of Trimming Data The method of making trimming data is the same as the making of poses by inputting a numeric value. You should make “the ideal posture at the time of all servos set to 0 degree” by either inputting the numerical value into the area for the angle of the servo you want to adjust or changing the value with the mouse wheel while adjusting the posture. In the trimming mode, you can’t use anything other than the servo controller. (Fig. 5.33) The following error message is displayed if you click other places.

Fig. 5.63 Message When Part that cannot be used in the Trimming Mode is selected

Since the trimming mode exists even if the error message is displayed, click【OK】and continue the trimming editing.

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5.13.4. Saving and Transfer of Trimming Save the trimming data by clicking【Save Trimming】when the posture after trimming adjustment is confirmed. At this time, the trim data is saved on your PC only, not in RPU-11. After saving the trimming data on your PC, finish the trimming mode by clicking【Stop Trimming】. After that, the data is transferred to RPU－11 by clicking【Transfer Trimming】. When the data is transferred, the posture that is adjusted in the previous section becomes the default posture, which is the posture when the angle of all servos is set to 0°. The message of Fig. 5.50 is displayed if the connection with RPU-11 is not confirmed when either【Stop Trimming】or【Transfer Trimming】is clicked. Please confirm whether RPU-11 and PC are connected properly, and execute the trimming operation again. As you can do the trimming adjustment as many times as you want, repeat the above-mentioned procedure when you want to adjust the posture.

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6. Auto Play Mode 6.1. Outline of Auto Play Mode You can execute scenarios automatically by transferring motions and scenarios made to RPU-11 even if RBT-1 is disconnected from the PC. 6.2. Data Transfer 6.2.1. Motion Slot/Scenario Slot Display the data transfer screen (Fig. 6.1) by selecting [Data Trans. (D)] from [Window (W)] of the menu bar in a state of RBT-1 connected to PC.

Fig. 6.1Data Transfer Window

Select motions to be transferred with the motion slot, and scenarios to be transferred with the scenario slot. All motions required for the scenario to be transferred should be transferred, too. The number of motions that can be registered is 15, and that of scenarios is 10.

G Sensor Setting (scenarios)

Motion Slot G Sensor Setting (motions) Scenario Slot Number of Repetition

Trans Data

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6.2.2. Repetition of Scenarios

Fig. 6.2 Designation of the Number of Repetitions

You can repeat the scenario playback by designating the number of repetitions in the space of【Repeat】located at the right edge of the scenario slot. You can designate the number between 0 and 255, which 0 is no repeat playback. The actual number of scenarios replayed is the repeat count + one. If you select【Inf.】, which is located at -1st and 256th, RBT-1 keeps running scenarios until it is commanded to stop or the power is turned off. The repetition of scenarios is effective only in the automatic execution mode. If the scenario is allocated to the controller button, you have only one chance to execute it. 6.2.3. G Sensor You can set whether or not motions and scenarios should be executed with G sensor. Please see Page 86 about the details of motions by G sensor. You can use G sensor only for motions and scenarios G sensor is checked on. Even if G sensor is checked on the scenario, it doesn’t work when G sensor is not checked on the scenario’s motions.

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6.3. Data Transfer Transfer data to RPU-11 when the selection of data to be transferred and the settings are completed. If you click the【Trans Data】button, the screen of transferring data is displayed automatically. (Fig. 6.3). Please wait until the transfer ratio reaches 100%, and the window automatically disappears. When the transfer is finished, RPU-11 restarts automatically and the buzzer sounds.

Fig. 6.3 During Data Transfer

The error message of Fig. 6.4 is displayed if motions needed for scenarios registered in the scenario slot are not registered in the motion slot. Please execute the transfer again after registering necessary motions indicated in the message in the motion slot.

Fig. 6.4 When Necessary Motions are Not Transferred

Do not unplug the PC connection cable or turn the power off during the data transfer. Please do not unplug the PC connection cable and turn off the power to RBT-1 while data is

transferred from PC to RPU-11, using the motion editor.

Transfer Ratio (%)

And Time (sec.)

Name of Motion to be Registered

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6.4. Execution of Auto Play There are two ways to auto play scenarios: one is to execute RBT-1 independently and the other is to indicate the timing of starting the replay with a special controller. 6.4.1. Independent Auto Play (Controller Power-Off) First, with power of the special controller RRC-T11 turned off, set the rotary switch of RPU-11 to the scenario slot number where scenarios to be executed are registered. Then, turn the power to the robot on. After activation, the robot automatically starts to replay scenarios. If you want to stop the robot in auto play, press the【START/STOP】button of RPU-11 and deactivate the robot. After deactivation, you can reactivate RPU-11 and replay scenarios if you keep pressing【START/STOP】for about three seconds. 6.4.2. When Controller is used You can set the timing of auto play with the controller after starting RPU-11 in the scenario mode with the power of the special controller RRC-T11 turned on. If you use the controller, pairing is required in advance. (See Page 78.) After starting, the green LED of the receiver turns on. If the power to the controller is turned off, the buzzer of RPU-11 sounds. If the connection to the controller is confirmed, RBT-1 stands still in the default position after starting. The replay of scenarios starts by pressing the controller's【START】button. If you press the【START】button again during replaying, RBT-1 stops it and returns to the default position and stands still. If you press the【SELECT】button during replaying scenarios, the torque of all servos is turned off. If you press the【START】button when the torque of all servos is turned off, the torque of the servos is turned on and the replay of scenarios starts. Also, if you press the【4】button when the torque is off, the torque of all servos is turned on. The robot stands still in the default position after performing【Posture Change】(See Page 90). If you press the【1】button , the robot sits up from lying facedown . If you press【3】, the robot sits up from lying face up. Also, if you press【2】with G sensor active, which the red LED at the center of the controller lights, the robot stands up by itself and starts to move. Please make sure that the hands or legs of the robot don’t get tangled when it gets back to the default position with the【START】or the【4】button pressed, depending on its posture.

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7. Operation mode 7.1. Outline of Operation Mode You can use RBT-1 freely by assigning buttons of the controller RRC-T11 to motions and scenarios made with the motion editor after registering them on RPU-11. Since basic motions needed for moving are built into RPU-11, you can start to move RBT-1 before connecting the robot to your PC.

7.2. Controller's Pairing 7.2.1. What is the Pairing? The controller RRC-T11 and the receiver RRC-R11 communicate only with designated partners. Therefore, you can’t operate several robots with one controller or one robot with several controllers. Linking a controller to a receiver is called “pairing”. It is necessary to execute the pairing when you use controllers for the first time or several robots and controllers are used at the same time. The maximum number of pairs of robot and controller that can be operated at same time is 16. 7.2.2. Pairing Procedure Complete the pairing of your controller and receiver by following steps (1) - (6). (1) Confirm that the wire from the receiver is attached to

connector C of RPU-1I. (2) Tune the rotary switch of RPU-11 to【0】. Please note that the robot may start to move during pairing if you tune to a number other than【0】and execute pairing. (3) Turn on the power to RBT-1, and start RPU-11. The LED (red) of the power supply to the receiver lights, and the LED (green) that shows the communication condition blinks slowly. If it is hard for you to do pairing in this condition, you can do it after deactivating the robot by pressing the【START/STOP】button of RPU-11. However, please do not turn off the power supply. (4) Press【Pairing Button】of the receiver with either the attached mini-driver or the tip of a

ballpoint pen. The LED (green) that shows the communication condition blinks quickly. (5) Turn the controller's power on. Turn on the【POWER】switch located on the back of the controller with the arrow keys. The red LED at the center of the controller blinks slowly.

Set to "0".

Fig. 7.1 Rotary Switch

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(6) Press both the controller's【SELECT】button and【L3】(pushing the left stick) at the same time.

The LED that shows the communication condition of the receiver blinks slowly, and the red LED of the controller blinks quickly. Wait for a few seconds. The LED showing the communication condition lights and the red LED of the controller turns off. Pairing is completed. Once the pairing of the controller and the receiver is finished, the data is saved even if the power is turned off. Therefore, it is not necessary to set it again except when you want to change it. Moreover, you can try pairing as many times as you want. If you fail pairing, start the procedures from scratch after turning off the power to both the controller and the receiver. 7.2.3. Caution for Pairing In order to avoid radio interference, the controller and the receiver should be paired one-on-one. When you pair one controller with several receivers, only the receiver that is paired last becomes effective. The other receivers are ineffective. When you pair one receiver with several controllers, only the controller that is paired first becomes effective.

7.3. Switch to Operation Mode Turn on the power to the controller, placing both the right and left sticks at the neutral position (in neutral, nothing touches the sticks and neither is tilted in any direction). The robot starts to move in the operation mode if you turn the power on after setting the rotary switch to the 15th (【F】) on RPU-11. The buzzer of RPU-11 sounds when the controller is not recognized. This may be due to such causes as radio wave interference or the controller being powered off while moving in the operation mode. Also, the buzzer may sound temporarily for a few seconds just after RPU-11 starts and the power to RRC-T11 is turned on, since it takes a few seconds to confirm their connection. After getting started, RBT-1 stands still in the default position, which is the standing posture. You can manipulate the robot by pressing buttons on the controller or tilting sticks.

7.4. Controller's Automatic Power-Off In order to prevent battery drain, the power of controller is turned off automatically if the controller is not used for more than five minutes — the button is not pressed and the stick is not tilted. If you want to turn on the power to the controller again, turn off the power switch located on the back of the controller first, then turn it on again.

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7.5. Setting of Controller It is possible to allocate motions already registered on RPU-11, plus original motions and scenarios, to buttons on the controller. Also, special motions are set to both right and left sticks respectively. 7.5.1. Left Stick (Moving) When you make movements of walking as motions and use them continuously, you have to repeat separate motions such as “take three steps in a standing posture, and then stop.” In this case, you can’t make consecutive movements of walking, because the movement of “stop at every three steps” is included. On the other hand, you can execute consecutive movements as long as you tilt the left stick.

Direction to Tilt Movement Minimum unit Up walk forward two steps down walk backward two steps

left turn counterclockwise 1/16 turn (22.5 degrees) right turn clockwise 1/16 turn (22.5 degrees)

Table 7-1 Movements with Left Stick

The continuous movement consists of three steps of “start walking”, “keep walking”, and “finish walking”. The posture from “keep walking” to “finish walking” is the same. Therefore, the robot executes “keep walking” until “finish walking” even if you bring the stick back to the neutral position. Because of this, the robot may not stop immediately even if you bring the stick back to the neutral position after moving the robot forward or moving it backward. As similar movements, there are parallel shifts to the right and left with【Left Move】and【Right Move】. These movements are allocated to the controller's【4】button and 【2】button in default configuration.

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7.5.2. Right Stick (Controlling Center of Gravity) You can adjust the robot’s center of gravity by tilting the right stick in the operation mode. There are eight servos in total that respond to the movements of the stick: the two sides of the hip joint and ankles; ID10, 11, 13, 14, 16, 17, 19, 20. The center of gravity moves in the direction that the stick tilted, keeping the upper body straight.

Fig. 7.1 Movements with Right Stick (Movements to the Right and Left)

Fig. 7.2 Movements with Right Stick (Back and Forth)

You can change moving directions and command it to have a movement placing its weight on the toes by shifting the robot’s center of gravity while using the motion of “Running” in the sample project.

(The Stick set to the Center) (The Stick Tilts to the Left) (The Stick Tilts to the Right)

(The Stick set to the Center) (The Stick Tilts Backward) (The Stick Tilts Forward)

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7.5.3. Start If you press the controller's【START】button in the operation mode, the robot stops the motion it is performing and returns to the default position slowly, and then stands still until the next command is made. When you want to command it to sit up using G sensor in the operation mode, we recommend that you execute it after first stopping the robot’s movement with the【START】button so that the robot can easily recognize the posture commanded with G sensor. 7.5.4. Mode You can switch between the activation and deactivation of G sensor by pressing the【Mode】button. When G sensor is active, the red LED at the center of the controller lights. When it is inactive, the LED turns off. When the controller’s power is on, G sensor is set in the inactive state. Therefore, the function of activation and inactivation changes alternately every time the【Mode】button is pressed. When G sensor is active, you can use the functions of G sensor according to the settings on the data transfer screen. When it is inactive, you can’t use any functions of G sensor for all of motions and scenarios. 7.5.5. Special Function Keys (SELECT､F1､F2) Using these keys, you can make all settings for the robot and create functions to change the robot’s conditions. If you set them to [NONE], nothing would happen even if you press any of these keys. 【OFF】 When you press the button with 【OFF】, all servos turns off immediately. You can use this function when something happens such as foreign particles getting stuck in joints while the robot is moving. You can get the robot back to the standing position by pressing the controller's【START】button. 【Buzzer ON/OFF 】 You can switch the buzzer on RPU-11 on or off. Please note that settings for this disappear if the power to the robot is turned off.

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7.5.6. Operation Keys (Arrow Keys,【1】-【4】,【L1】-【L3】,【R1】- 【R3】) You can register motions or scenarios using these keys. If you press the key in the operation mode, motions or scenarios registered on the key are executed. You can’t move to the next step until one motion or scenario is finished. And, nothing would happen even if you press any of these keys when [NONE] is set. There are two kinds of motions that can be registered; one is the standard motion built into RPU-11 and the other is the motion made by the user. 7.5.6.1. Standard Motions Motions such as【Left Move】and【Right Move】for parallel shifts and【U>Stand】,【L>Stand】,【Repair Posture】, and【Rise】for getting up are built into RPU-11 as the standard settings. You can do parallel shifts to the right and left while pressing the button. As the standard settings,【Left Move】on【4】and【Right Move】on【2】are registered. Motions for getting up are【U>Stand】,【L>Stand】and【Repair Posture】for getting up from the right or left side, and also [Rise] that the robot auto-detects which direction it has to get up from. When【Rise】is selected, the robot moves automatically by judging the posture with G sensor according to the settings. Please see page 86 for details about the functions of G sensor. 7.5.6.2. Motions Made by the User You can register your original motions and scenarios on RPU-11. If you want to use them, you have to transfer them to RPU-11 in advance. (See Page 74.)

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7.6. Setting of Controller 7.6.1. How to Set Up Controller You can call up the controller setting window of Fig. 7.3 by selecting【Window (W)】>【Controller】in the menu bar of the motion editor. It is possible to make motions that correspond to the buttons of the controller and the movements of the stick on the screen.

Fig. 7.3 Controller Setting window

Please specify the slot you want to allocate functions or you have registered motions from the pull-down menu that corresponds to each button.

Fig. 7.4 Setting of Motions to Each Button (The image is the【3】button selected. )

The number 1 to 15 of motion slots and 1 to 10 of scenario slots indicate the motions and the scenarios of the data transfer screen of Fig. 6.1 You can’t change the settings for the right and left sticks,【START】and【MODE】.

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7.6.2. Transfer of Controller Setting When each setting is finished, transfer the data to RPU-11 by clicking the【Transfer】button located at the lower-right portion of the controller setting screen. When the buzzer sounds and the message of Fig. 7.5 is displayed, the transfer is finished.

Fig. 7.5 Transfer Is Finished.

If the transfer fails, the message of Fig. 7.6 is displayed.

Fig. 7.6 Message When Transfer Fails

If this happens, please check the following:

・ Is your PC connected to RPU by a special cable? ・ Was the power supply turned on after the rotary switch of RPU11 had been set to【0】? ・ Was【Connection】executed on the main screen of the motion editor?

(Does the button indicate【Disconnect】?) The data transferred with【Transfer】on the controller setting window is only the setting data of the controller. Please make sure that the data of motions and scenarios is transferred on the data transfer screen if the motion data that should correspond to each button is not registered.

7.6.3. Standard Setting If the【Default】button on the controller setting window is clicked, the setting of each button is reset to the factory default. The data of motions and scenarios is not transferred. Therefore, it is necessary to transfer motions and scenarios when sample projects are edited and other projects are used.

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8. Definition of Events 8.1. Outline of Events with G Sensor RPU-11 can measure the acceleration acting on the robot with a built-in, three axes G sensor (acceleration sensor). You can check the present posture of the robot using this function, and let the robot take action (event) by itself in a coordinated fashion. You can use the event when the auto play of scenarios and operations is executed and the controller is used. 8.2. Definition of Postures The position of G sensor and the axial direction to be measured are as shown in Fig. 8.1. Please note that the axial direction changes if the upper-body tilts because G sensor is built into RPU-11.

Fig. 8.1 Position of G Sensor and Axial Direction

Since gravitational acceleration always works on the robot downwards, you can check which is the downward direction by detecting this acceleration. In a standing posture, GY corresponds with the direction of gravity — which means the acceleration doesn't work in the directions of GX and GZ. The additional acceleration works in the direction of GZ in a prone position, and the minus acceleration works in the direction of GZ in a posture of lying face up.

Direction of Gravitational Force

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When the robot falls on its left side, the additional acceleration works in the direction of GX, and when it falls on its right side the minus acceleration works in the direction of GX.

8.3. Setting of Corresponding Motions in Auto Play Mode

After the motion editor starts, open the event setting screen of

Fig. 8.2 by selecting【Window (W)】>【Event】in the menu bar.

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Fig. 8.2 Event Setting Screen

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8.3.1. Posture You can define five postures in total. Four are for the tipping condition and one is for some other posture. The definition of these postures is common to all motions and scenarios. The postures of [Lying Face up], [Lying Facedown], [Lying Sideways 1] (fall on its right side) and [Lying sideways 2] (fall on its left side) are defined on the assumption that the robot gets up automatically when it topples. However, it is possible to make postures or motions other than these by adjusting the specified range. (See 8.3.2 and 8.3.4.) Detection is carried out for all five postures when G sensor is active. If there are postures you don’t want to use, you have to change their setting ranges. (See 8.3.2) 8.3.2. Specified Range Please enter the lower limit and upper limit of the setting range for each GX, GY and GZ to the left space and the right space respectively.

Fig. 8.3 Motion Setting in G Sensor

The motion specified with【Assign】is executed when the condition that “the values of three axes are within the designated range at the same time” continues for a period of time specified with【Time】. For example, in Fig. 8.3, it is that “[U>Stand] is executed when the condition that the detection value of GX is between 0 and 999, GY is between 0 and 999 and GZ is between 0 and 450 continues for 100msec.” The range of the detection value of the sensor is from 0 to 1023. If the acceleration is not working, the detection value is about 510. And it changes by +150 when 1G is added in the plus direction and by -150 when 1G is added in the minus direction. That means it is about 510 for GX and GZ, and 660 for GY in a standing posture. However, the error of about ± maximum30 might happen in the actual detection value because of the tolerance of the gauge attached to the sensor and the installation condition of RPU-11. If the setting range is from 0 to 1023, the condition is always met. This means, in case of the settings in Fig. 8.3, the detection value of GX and GZ doesn’t matter if that of GZ is between 0 and 450. If the lower limit in the setting range is larger than the upper limit, any motions in this setting are not executed. Therefore, be sure that the setting value in the left space is always smaller than that in the right for every axis.

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8.3.3. Specified Time The robot begins timing when the detection value of G sensor is within the range specified in 8.3.2, which means the robot is in a predefined posture. When the specified time designated with【Time】passes, the robot starts motions specified with【Assign】. You can set【Time】by 1 msec (1/1000 second) in the 0 to 9999 range (from 0 second to about ten seconds). Even if the robot is in a specified posture, the timing is reset when the detection value is out of the specified range because of the robot motion. Therefore, it might be difficult to judge the posture with G sensor when the robot keeps moving very actively. 8.3.4. Allocation There are five motions defined with【Assign】. They are as follows. 1. Sitting up from lying facedown (【U>Stand】) 2. Sitting up from lying face up(【L>Stand】) 3. Standing up from lying sideways (【Repair Posture】) 4. Motions specified by the user (【Motion Slot 1-15】) 5. No corresponding motion (【None】) Since the motions from 1 to 3 in above are registered in RPU-11 in advance, you cannot edit and delete them. You don’t need to transfer them from PC, either. 1st and 2nd are motions to sit up from corresponding postures respectively. 3rd is a motion to move the hand to the side in a standing posture. By executing this motion, the robot changes its posture from lying sideways to lying facedown or lying face up when the robot topples. After that, it gets up by executing the motion 1 or 2. The robot may not be able to get up with these motions if any changes occur in the structure of the robot. 4th is the motions specified by the user. The motions registered in the motion slot on the data transfer screen are executed. (See Fig. 8.4.) Please be sure to transfer corresponding motion data when the data of motions and scenarios is transferred.

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Fig. 8.4 Assign and Data to be transferred

When【None】of 5th is set, the robot stops the motion when it comes to a predefined position. If scenarios are executed automatically and they are in progress, the robot restarts scenarios from the beginning. If the replay of scenarios is finished or the robot is in the operation mode by the controller, the robot stops the motion. 8.3.5. Standard Setting If you click the【Default】button on the event setting screen, all settings are reset to the factory default.

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8.4. Transfer of Settings When you finish inputting the data of the range of each axis,【Time】and【Allocation】, transfer them to RPU-11. Turn the power on after setting the rotary switch located on the back of RPU-11 to【0】, and connect RPU-11 to your PC with a special cable. In this condition, the settings are transferred to RPU-11 by clicking the【Transfer】button on the event screen. After clicking【Transfer】, the transfer is finished when Fig. 8.5 is displayed.

Fig. 8.5 Finish of Data Transfer

Fig. 8.6 Failure in Data Transfer

If Fig. 8.6 is displayed, check the following items.

・ Is RPU-11 connected to PC properly? ・ Is the rotary switch of RPU-11 set to【0】? ・ Is the power supply of RPU-11 on? ・ Was【Connect】executed on the main screen on the motion editor?

(Does the button indicate【Disconnect】?) Settings transferred with【Transfer】on the event screen are only those related to G sensor. It is necessary to transfer the information on the settings about whether or not G sensor is needed in each motion and scenario, using the data transfer screen.

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8.5. Setting of G Sensor, Active/Inactive You can set whether the posture detection function with G sensor should be active or inactive during the auto play of scenarios and in the operation mode with the controller respectively. 8.5.1. Setting of Each Motion If you check the box located on the right of the motion slot on the data transfer screen, the posture detection function with G sensor is active during the motion.

Fig. 8.7 Setting of G Sensor, Active/Inactive

For motions during which the robot transiently executes postures set on the event screen such as bowing, forward roll and backward roll, you have to take the checkmark off. Otherwise, the robot stops normal motions and executes motions that correspond to G sensor.

8.5.2. Setting of Each Scenario If you check the checkbox located on the right of the scenario slot on the data transfer screen, the posture detection function with G sensor is active for the scenario. If the scenario whose posture detection function is inactive is in motion (which means the checkbox of the scenario is unchecked), the function is not executed for motions that are included in the

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scenario, even if checkboxes for the motions are checked. Even if the posture detection function for a scenario is active, the function is not executed for motions whose posture detection function is set to “inactive”. when the scenario is executed automatically and the posture detection function for the scenario is active, you can switch G sensor’s settings active and inactive with the controller’s【MODE】button if the controller’s connection is confirmed. When the red LED at the center of the controller lights, G sensor is on, and when the LED does not light, G sensor is off. You can’t use G sensor for scenarios whose posture detection function is inactive, regardless of whether or not the LED lights. 8.5.3. Setting in Operation Mode You can switch G sensor’s settings active and inactive with the【MODE】button located in the top center of the controller if they are in the operation mode by the controller. In the operation mode, you can use G sensor when you are waiting for input, which is the situation of no motions and scenarios being executed, and while you are executing scenarios allocated to buttons. You can’t use G sensor while executing motions allocated to buttons and scenarios that G sensor is not set for.

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9. Changing Servo Settings 9.1. Outline You can change the ID and movement properties of RS301CR and RS302CD, the servos used for RBT-1, using the settings on the parameter screen of the motion editor. The data is saved in the servos. Even if the power to the servos is turned off, the data is not erased. 9.2. Parameter Setting Screen for Servo You need to start RBT-1 in the motion editor mode since the change of the parameter for servos is executed in the motion editor. Please turn on the power supply of RBT-1 after setting the rotary switch of RPU-11 to【0】. Then, start the motion editor after connecting your PC to RPU-11 with a special cable. After that, click【Connect】, which makes the condition that PC and RBT-1 are connected. Open the parameter setting screen by selecting【Servo Parameter (P)】of【Window (W)】in the menu bar. As you don’t need to move the robot while setting the parameter, it is no problem to deactivate the robot by pressing the【Start/Stop】button of RPU-11. However, do not turn off the power. When the parameter setting screen is displayed, execute【ID Check】located at the bottom of the screen. After【ID Check】is executed, check whether or not RPU-11 is connected to the servos of ID01~ 20. For servos whose proper connection is confirmed, you can use their checkboxes located in【Servo Table】. When the connection is confirmed, the PC beeps twice and the message of Fig. 9.1 is displayed.

Fig. 9.1 Completion Message of ID Check

If you have servos whose connection is not confirmed, check whether or not cables connecting servos and relay circuit boards are unplugged, or the same ID is used for several servos — which means two or more servos are connected with the same ID.

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Fig. 9.2 Parameter Screen

The information on the servos check-marked is displayed in【Parameter Table】. If you want to change the setting value of【Parameter Table】, check the checkbox for servos you want to change and click【Change】after inputting a new value.

Servo ID Check

Update Button

Servo Check Box

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9.2.1. ID and Name They are the servo’s ID and the location used. The relation between ID and the location used can be changed in this motion editor. Servos with ID21 or more cannot be used. 9.2.2. Part This is the name of the servo’s part displayed in the Pose Editor Area on the main screen. (See Fig. 5.33.) You can change the name as you like. You can also use Japanese (double-byte characters) for the part name. The part name is automatically updated when the parameter setting screen is closed. 9.2.3. Version This is the software’s version used for servos. You can’t change it since it is the information for management. 9.2.4. ID This is the ID for the servo. When you buy servos only, all servos are set to ID: 01. Therefore, it is necessary to change the ID according to the area used. There is a case that servos don’t work properly if two or more servos with the same ID are connected to one RPU-11. When you change the ID, please make sure that there are no servos with the same ID and you connect only the servo to be changed. ※ Since IDs have already been written to all servos assembled in RBT-1, you don’t need to set IDs when you play it for the first time. 9.2.5. Transmission Speed This is the transmission speed of the servo. You can’t change it since the same value as RPU-11 is used. 9.2.6. Limit Angle (R/L) This is the settings of the upper limit and lower limit of the servo’s rotation angle, which is normally set to ±150 degrees. Even if you designate an angle which is above or below the angle set here, the servo moves only up to the upper or lower limit. You can specify angles within the range of motion explained in 5.10.3.2 in the motion editor. However, this【Limit Angle】is the range of motion you can specify to the servo. Therefore, the servo may move up only to the angle specified in the motion editor if you set the smaller value to【Limit Angle】than the value in Table 5-1.

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9.2.7. Margin This function designates the allowable range of the servo’s stop position. The robot stops the servo, judging that it reaches the target position if the present position is within the allowable range. You can set the display in the range from 0 to 255 (25.5 degrees) by 0.1 degree. The default value of both RS301CR and RS302CD is set to 2 (0.2 degree). 9.2.8. Slope If the present position is off the target position, the servo tries to return to the target position. This function is to specify how much the torque should be adjusted. In this specified range, the torque to return to the target position is output in proportion to the difference between the target position and the present position. This function enables you to make joint motions flexible, to reduce “hunting” — the phenomenon in which the servo moves like getting cramp — and to absorb shock. You can set it in the range from 0 to 150 degrees by 1 degree. The default value is 10 degrees for RS301CR and 15 degrees for RS302CD. 9.2.9. Punch You can set the minimum current applied to the motors inside when you start the servo. By setting this value optimally, you can reduce areas where the servo doesn’t move, and stop the servo at the target position more accurately. You can set a display in the range from 0 to 10000 (100%) by 0.01% of the maximum torque. The default value is 180(1.8%) for RS301CR, and 200(2.0%) for RS302CD.

Fig. 9.3 Change in output torque to the difference with target position when compliance is used

If you make the Slope smaller and the Punch bigger, the servo is highly sensitive to a small error. As a result, the servo’s output axis might not be steady and it would start to vibrate. If you make the slope bigger and the punch smaller, the servo might not reach the target position as the output against an error gets smaller. It is preferable to use the default value as much as possible unless you want to make joints flexible or you want a strong output even if the servo vibrates.

Output torque

Left rotation Right

Positio

n

Target

position Punch

Punch

A B C D

A: Left rotation compliance slope B: Left rotation compliance margin C: Right rotation compliance margin D: Right rotation compliance slope

0°

Right Left

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10. Self-Diagnosis Function RPU-11 starts with the self-diagnostic mode if you turn the power on after setting the rotary switch of RPU-11 to【E】. In this mode, you can check on the PC whether or not RPU-11, the buzzer, LED, G sensor, and the servo are working properly. 10.1. Connection between PC and RPU-11 with Communication Software The personal computer communication software is necessary if you want to confirm the contents of the checking in the self-diagnostic mode. This section explains how to confirm the contents of the checking, using “Hyper Terminal'' included in Windows as standard. Please be sure to end the motion editor when you use the self-diagnosis function. Start Hyper Terminal by selecting the following items from the Start menu of Windows. Program > Accessories > Communication > Hyper Terminal If you save the connection settings, you can start the function by only selecting the settings from the second time. The order of selection steps in this case is as follows. Program > Accessories > Communication > Hyper Terminal > (Established Connection Name) The following is the procedure for the first connection.

Fig. 10.1Hyper Terminal Starting Screen

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Please input a name for connection.Fig. 10.2) It doesn’t matter what it is. For your reference, "RPU-11" is used for the example.

Fig. 10.2 Setting for Connection 1, Input of Name for Connection

On the next setting screen, select a port which RPU-11 is connected to from【Connection Method (N) 】. (See Page 35)

Fig. 10.3 Setting for Connection 2, Selection of Connection Method

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Set up the selected COM port by entering the following data. See Fig. 10.4 as a guide.

Bit per second : 115200 Data bit : 8 Parity : None Stop bit : 1 Flow control : None

Fig. 10.4. Settings for Connection 3, Settings for COM Port

Click [OK] after entering the data. The setting is finished.

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10.2. Start and Connection of RPU-11 Connect RPU-11 and PC with a special cable. It is no problem even if communication software is connected before starting. Turn on the power to RPU-11 after setting the rotary switch to【E】, which is located on the back of RPU-11. A message is automatically displayed inFig. 10.5 if the connection is confirmed. A different value from that in Fig. 10.5 may be displayed, depending on versions or settings of RPU-11.

Fig. 10.5 Message of Starting RPU-11

The number of the rotary switch is indicated at “DIP=" of the first line when RPU-11 starts. Please confirm that its value is “E". After the message of start is displayed, self-diagnosis starts automatically.

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Fig. 10.6 Start of Self-Diagnosis

<DIAGNOSTIC START> is displayed under the setting value of G sensor (Fig. 10.6), and the buzzer sounds three times in a high-pitched sound.

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10.3. Inspection Items 10.3.1. Buzzer Test The following message is displayed, and the buzzer sounds. The sound changes in about five seconds from a high tone to a low tone.

BEEP TEST (Do you hear the sound of the buzzer?) If the buzzer does not sound or the sound interrupts, there is a possibility that something is wrong with the buzzer. 10.3.2. LED Test The following message is displayed and LED lights after the buzzer test. The right-and-left LEDs blink quickly and alternately for about five seconds. LED TEST (Do you see the LED light?) If the LED doesn’t light or lights irregularly, there is a possibility that something is wrong with the LED.

Fig. 10.7 Test for Buzzer and LED

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10.3.3. Operation Check for Servo The servos from ID 1 to 20 are inspected whether or not they are connected properly. After the inspection, the servo of ID: 02 (neck of RBT-1) moves. When the connection is confirmed, “OK” is displayed for IDs as the inspection result. If the connection for all IDs is confirmed, the buzzer sounds twice in a high-pitched tone after the inspection.

Fig. 10.8 Screen for Servo Inspection (Connection for all servos is OK.)

When the connection is not confirmed, “NG” is displayed for IDs as the inspection result. The buzzer sounds twice in low tone if any of the servos have [NG].

Fig. 10.9 Screen for Servo Inspection (Connection failed.)

What you can check here is only the situations of connection and communication for servos. You can’t check mechanical failure such as the damage of gears.

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10.3.4. EEPROM TEST The memory in RPU-11 is checked. Neither RBT-1 nor RPU-11 moves. If the normal operation is confirmed, the following message is displayed and the buzzer sounds twice in high tone. EEPROM TEST .....OK

Fig. 10.10 End of EEPROM Test and Self-Diagnosis

The following message is displayed and the buzzer sounds three times in high tone when EEPROM TEST is finished. <DIAGNOSTIC END>

After the inspection, the detection value of the sensor is displayed.

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10.4. Confirmation of Sensor Output Value After self-diagnosis, the information on sensors of RPU-11 is displayed every second. (See Fig. 10.11)

Fig. 10.11 Output of Sensors

10.4.1. BT (battery) The remaining battery level is displayed. (%) 10.4.2. GS-X: Y: Z (G sensor) The detection value of G sensor built into RPU-11 is displayed. The value within the range of 0 to 1023 is displayed if it is working properly.

GS-X:Y:Z =xxx:yyy:zzz

Xxx, yyy, and zzz are the detection value of X axis, Y axis, and Z axis respectively. If you tilt RPU-11 by hand, you can check the changing process of the detection value. That is useful when you decide the setting value for the event screen of the motion editor.

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10.4.3. GY-X: Y (gyro) The detection value is displayed when a special biaxial gyro is connected to RPU-11. (Optional gyros are planned). GY-X:Y =xxxx:yyyy 10.4.4. CT (Controller) The operational status of the controller's buttons and sticks is displayed. You can see the CT value changing if you press the controller’s button or move the stick after turning on the power to the controller and checking the connection with RPU-11, which the green LED of the receiver RRC-R11 lights. 10.5. Sensor Output Mode If you start this mode like the self-diagnostic mode after setting the rotary switch of RPU-11 to【B】, the sensor output value is displayed, which is the same as Section 10.4. You can check the sensor value with this mode if you want to check only the sensor value in order to confirm the setting value of G sensor. RBT-1 Operation Manual 2007,06 (0)