MR-9132E USER`S MANUAL I =ALPHABET OF KIROBO=
Contents
1. C EK JAPAN CO LTD i W oa j i r b gi a E prs a at D 0 P b gt WL TRE E va amp TE a ae a eS gt Te P E a x c E z h i E a Wri j TRS o 3 TAD A i _ 4 a Ll ee 1 F T 5a M T S i r A i _ E tie P a 7 7 3 IconWorks web 02E KIROBO motherboard The names and functions of each part on the motherboard are described on Page 6 of KIROBO USER S MANUAL I The buttons used for program transfer and execution are located here The motherboard is a PCB or Printed Circuit Board It is a means of connecting the components of the robot The CPU or Central Processing Unit which does the work of the program the RAM or Random Access Memory which stores the program and data before and after processing by the CPU 11 C EK JAPAN CO LTD 3 IconWorks web 02E 4 ABOUT ICONWORKS e Simple and easy to learn It is designed to help beginners to learn how to program an autonomous robot with the greatest ease To control an autonomous robot requires a high level of knowledge In IconWorks however a beginner can learn programming by manipulating icons which are interpreted as a command all you have to do is to place colorful icons like when you play cards in accordance with the type of a robot you want to make and how you want it to move IconWorks has been designed for beginners to master the basics of2. change depending on the IconWorks version 4 Restart the PC when INSTALLATION COMPLETED is displayed elInstallation flow 1 IconWorks installation screen IconWorks install Welcome to the IconvYorks Installation Program This program will install lconvWorks on your computer itis strongly recommended that you exit all programs before running this installation program Click Next to continue the installation Click Cancel to quit the installation program IconWorksSetup EXE WARNING This program is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program or any portion of itis prohibited by Law JABBOO m Click Next 2 Specify the folder to install IconWorks 3 Select the program folder IconWorks install IconWorks install Select Destination Folder Select Program Folder Set up the destination folder where the application will be installed Set up the program folder icon Select the folder where files will be installed then click Next Select the folder from Start Menu where the shortcut for the application will be set then click Next C AProgram Files iconwWorks Default Folder Accessories Administrative Tools Games Startup Space Available 2 603 933 696 byte Space Required 3 433 453 byte C Do not create a start menu folder Cancel Click Next Click Next C EK JAPAN CO LTD 4 Set up the sho
3. C EK JAPAN CO LTD S3 IconWorks web 02E lt Caution gt This software sends data using the headphone terminal As such there may be cases where data communication is not successful particularly when the headphone signal output components of the PC are significantly degraded or damaged If difficulties arise when transferring data before proceeding further please check the condition of your hardware If you continue to have difficulties please test the data transfer operation using another PC lt Notice to Guardians gt This software is intended for students of 10 years old and above at an elementary school on the presumption that he or she has a basic understanding of the operation of a PC If not supervision by a guardian is strongly recommended C EK JAPAN CO LTD 3 IconWorks web 02E 2 SETTING UP ICONWORKS eHow to install IconWorks For WindowsXP Download the IconWorks software in accordance with the instructions on EK JAPAN s homepage http www elekit co jp english download index ph 1 Save the IconWorks software for WindowsXP from the download screen in an appropriate folder according to the instructions that appear on the screen The file named IconWorksSetup_E is saved 2 IconWorksSetup EXE is created in the specified folder 3 Double click the IconWorksSetup EXE icon to start the software installation process The numbers that come in the part of
4. 3 IconWorks web 02E 20060803 Exclusive software for autonomous robot KIROBO eonWorks S MR 9132E USER S MANUAL I ALPHABET OF KIROBO Copyright 2006 EK JAPAN CO LTD C EK JAPAN CO LTD IconWorks web 02E I INTRODUCTION 3 AUTONOMOUS ROBOT AND PROGRAMMING 9 5 USER SUPPORT INFORMATION II THE BASIC SCREENS AND ICONS 1 STARTING AND ENDING ICONWORKS 13 2 LEARNING HOW TO USE THE PROGRAM EDITING SCREEN 14 3 BASIC SOFTWARE OPERATION FLOW 17 HI BASIC FUNCTIONS IV BASIC OPERATION PRACTICE 1 THE ICON FUNCTIONS AND PROPERTY SETTING PRACTICE 34 3 PROGRAM THAT BRANCHES TOUCH SENSOR 43 4 PROGRAM THAT BRANCHES LIGHT SENSOR 47 6 MODIFICATION V TROUBLESHOOTING Q amp A C EK JAPAN CO LTD IconWorks web 02E I INTRODUCTION 1 NOTICE FOR GUARDIANS PLEASE READ THE FOLLOWING WITH YOUR GUARDIAN BEFORE STARTING lt Introduction gt IconWorks is dedicated software designed for use with an autonomous robot kit KIROBO developed by EK Japan Co Ltd IconWorks and KIROBO have been developed in order to help beginners in autonomous robotics to experience the joy of programming and to develop their interest in science and technology lt Use Restriction Policy gt The IconWorks software is freely available but its copyright is the exclusive property of EK Japan Co Ltd Re use in any fashion whatsoever such as reprinting redistri
5. BRAKE BRAKE Vv Applies a brake by short circuiting the robot s motor Use it when you want to make a sharp stop It sets the length of time a brake is applied and the motor stops Can be set within the range of 0 1 10 seconds This is how you change the value EXAMPLE Apply the brake and stop for 3 seconds FORWARD _ Stop by FORWARD __ Stop by 3 seconds MOTOR OFF 3 seconds BRAKE How did the robot move this time Have you noticed how the robot stops differently between the movement 1 and movement 2 In the first run it is only that the power supply to the motor has been stopped so the robot moves a little bit by inertia However in the second run the motor is forced to stop therefore the robot makes a sharp stop Can you tell the difference Select the icon you use in accordance with how you want the robot to move 37 C EK JAPAN CO LTD Practice the property setting of MOVE icons Open a sample program Step1 1 Refer to USER S MANUAL I Page 4 Use MOVE and create 4 open vacant frame areas Use COPY and layout the icons as illustrated on the right hand side Use MOVE INFORMATION in the PROPERTY window Edit the icons to have the properties low medium and high as shown When completed send and execute the program PROPERTY SETTING SCREEN 4 IconWorks web 02E Pi fo move H 7 gt OA i
6. USB audio conversion cable USB audio conversion cable is usually available at PC shops Such USB audio conversion cable can be considered as an external sound circuit and a KIROBO program can be sent through this external sound circuit without passing through the embedded sound card Therefore the noise upon program transfer can be reduced to enable successful program transfer End of the document 57 C EK JAPAN CO LTD
7. Likewise the program must be made for the robot to make a judgment depending on the condition such as Do xxx in case of yyy and zzz if not Use this flow chart when you create a program or check the created program 42 S3 IconWorks web 02E Attached to both the beginning and end terminal of the program Corresponds to each of the computer process processing actions Decides which course to select depending on a condition Shows the exit or an entrance to combine another place on the flow chart Shows the direction of the processing flow START Looking for a ball Located a ball NO Run to the ball ee Picked up NO the ball C EK JAPAN CO LTD 3 IconWorks web 02E Let s learn about conditional branching with a simple program For this touch sensors must be installed on the front of the robot A touch sensor should be attached somewhere on the front We will prepare a branching program using touch sensors which repeats the robot moves backward at a slow speed for a second and then the brake is applied for 0 5 seconds when pushed while the sensor is not pushed it continues to move forward Moves forward Moves backward Moves backward at a low speed when pushed Moves forward at a low speed when not pushed lt Hardware side gt There are a variety of touch sensors however KIROBO uses a micro switch as its touch sensor It lets the electric
8. Serene Here for example it is set to A In this case calculate as below Every time the program is repeated 1 is counted for variable A i When you finish inputting in all the columns left click How to set La ite D IE F G H Set the calculation formula 5 C EK JAPAN CO LTD 3 IconWorks web 02E When you input a number select NUMBER from the Calculation setting 0 255 selection box on the right hand side When you use another variable for calcuation select a When you finish inputting in corresponding alphabet 7 all the columns left click SET When Touch sensor1 is pushed 10 times 3 Check if Touch sensor1 is pushed 10 times Icon name Variable branching A program branches depending on the condition whether the variable value is more than a specified value or not Specify a variable to compare or input a value A value is selectable in the range from gt or Nui 0 255 Up to 8 variables A to H can be set Here for example it is set to A How to set Variable branch 10 255 PA Faja TEJ Select a variable for comparison from the selection box on the left hand side When all the columns are input left click SET De E F H Input a value to compare Variable brane 0 255 _ 1J EG i i Li Y a alga M0 gt 52 C EK JAPAN CO LTD 3 IconWorks web 02E When another variable is used for
9. 22 Move setting Hieh amp Mid Low Set Brake setting 01 10 Time 05 Sec Set Wait setting 0 1 10 Time 05 Sec Repeat setting 0 255 Rep i Times Set Light sensor branch setting sensor C sensor Set 3 IconWorks web 02E The speed can be set at three levels high medium and low It sets the length of time a brake is applied and the motor stops Can be set within the range of 0 1 10 seconds Input the length of waiting time Can be set within the range of 0 1 10 seconds Input the number of repeats by numbers Can be set within the range of 1 255 Select Light Sensor 1 or 2 C EK JAPAN CO LTD 3 IconWorks web 02E TOUCH BRANCH The touch sensor branches the program E Select Touch Sensor 1 by On or Off f Senso Sensor or 2 OO net VAR The program is branched off depending Designate a variable for comparison or enter a Variable Branch whether or not the variable value is above specific value the specified value Input any value which can be between 0 255 VAR olay o0 Variable branch 0 256 a gt or Nui Set YES NO If the conditions to a branch satisfy the e criteria the program branches to YES and YES i if not to NO X Must always be connected after one of the NO conditional branch icons MERGE The branched off programs must always merge NOP It takes no action for itself No Operat
10. E y a change the speed setting The speed can be set at 3 levels High Medium and Low Only 1 speed can be set per icon How to change the setting t EXAMPLE Change from Low to Medium JOR si O gt Set Left click the radio button of Low faa FORWARD O gt FORWARD O gt FoRwaRD L gt STOP How did the robot Low Medium High move In this program the speed changes every 5 seconds from low to medium then to high Did you notice the speed change You may wish to edit these properties in accordance with how you want the robot to move 38 C EK JAPAN CO LTD 4 IconWorks web 02E If you want to repeat the same movement how can it be done Now we will learn about using REPEAT icon To start with please prepare the following program send and execute START REPEAT once FORWARD WAIT 1second BEEP timbre 3 MOTOR OFF END gt i aval g F a ithe Execute Tones can be set at 4 levels from low to high How to change the tone setting EXAMPLE Set at tone 3 er AEM Oo oo mw g Sars ramy eee ae Pre set at 1 Change to 3 iT fj FORWARD O gt BEEP How did the robot 1 second move Moves forward for a second beeps and stops Please prepare the following program send and execute BEGIN REPEAT 3 times FORWARD WAIT 1second BEEP timbre 3 MOTOR OFF END i TALE 3 i r
11. LOOP and LOOP END is repeated 10 times as it is regarded that Touch sensor1 is pressed more than 10 times Keep pressing Touch sensori and check if the above phenomenon occurs 54 C EK JAPAN CO LTD IconWorks web 02E 6 MODIFICATION Now you have learned the basics of programming So let s modify the robot and create your own KIROBO In the KIROBO package various parts for modification are included Use these parts to decorate the robot or change sensor positions The white panels can be painted Use paints for plastic models and make your KIROBO look cool 9 6 66 a O 6 eo aa T ee ee L Modification examples details will be introduced in coming Advanced version manual 55 C EK JAPAN CO LTD 3 IconWorks web 02E V TROUBLESHOOTING Q amp A Q No icon is flashing even though a connection error occurs A When a connection error occurs even though there is no icon flashing on the visible area of the screen scroll the screen and check the other part of the programming area where you could not see on the screen Make sure there is no irrelevant icon in the programming area Q_KIROBO does not go straight A When KIROBO is instructed to move forward it may not travel in a straight line the following section explains why KIROBO is built with two motors to enable it to maneuver These motors although similar are not exactly identical Small
12. ON or NO OFF If the sensor has found a light ON then the program follows YES If no light has been found OFF then the program will follow NO Now we will make a program which branches off using a light sensor In the program the robot generates the beep sound 3 when the light sensor reacts while it repeats doing nothing endlessly when the light sensor does not react C EK JAPAN CO LTD 3 IconWorks web 02E LET S PLACE ICONS MAKE SURE YOU REVIEW WHAT YOU HAVE LEARNED SO FAR generates beep sound 3 when the light sensor reacts 1 When it senses light an electric signal flows from the light sensor Therefore we place YES 2 Place a BEEP icon and set at Timbre 3 doing nothing when the light sensor does not react 1 When it does not sense light there is no electric signal flowing from the light sensor Therefore we place NO 2 Then to do nothing we place NOP icon for connection to other icons Repeating endlessly 1 Bring back the branched program to the main stream 2 Place LOOP icon to repeat until the power is switched off When completed send the program to the robot Set the sensitivity adjustment of the light sensor at MIN LED disappears when the sensitivity is low and the sensor is not reacting Please handle with care Slowly adjust the volume towards the MAX direction KIROBO beeps as soon as the sensor
13. differences in the manufacturing process can result in a range of slightly different characteristics This range called a tolerance affects the speed of rotation in the motors The target spindle speed maybe 3000rpm but it can vary between motors and be different depending on the direction of rotation When one motor spins faster than the other it makes the wheel turn faster This makes one side travel further in the same time causing KIROBO to follow a curved path Other factors may affect the severity of the deviation including the assembly of KIROBO S chassis Given these factors there will almost certainly be some element of curvature in the forward or reverse paths taken by KIROBO To compensate for this behavior we suggest that you write a program to correct KIROBO S direction More complex robots compensate for these factors in a number of ways including using paired motors motors which have identical characteristics measuring the motor speed and adjusting the power while in use and GPS LASER guides etc connected to steering systems See the program included in the manual which guides KIROBO towards a light and develop your understanding of these techniques Q The sensor is sensing all the time A The sensors of KIROB react to ambient light such as the light of a flashlight Therefore even though the sensitivity is adjusted to the lowest the sensors might keep sensing the light all the time when KIROBO operates in a bright
14. gt programming therefore the functions contained in it are kept to a y minimum Nevertheless there are an abundance of possibilities available for you to make the most of it It will all depend on how and what you want to learn Remodeling a robot and challenging competitions such as robot dancing or line tracing will be a lot of fun too e About sound communication Thanks to sound communication a completed program can be transferred easily to the robot p gt H Conventionally it is necessary to buy a special communication cable or a piece of additional hardware depending on the PC In IconWorks however a program can be easily transferred using sound and the enclosed program transfer cable 5 USER SUPPORT INFORMATION Any questions suggestions or request for an update of the information please send an inquiry to EK Japan Co Ltd 2 19 30 Tofuro Minami Dazaifu City Fukuoka 818 0105 JAPAN TEL 81 92 923 8235 FAX 81 92 923 8237 E Mai support elekit co jp http www elekit co j or our local distributor Please ask us for contact information 12 C EK JAPAN CO LTD 3 IconWorks web 02E This is the IconWorks welcome screen Here is how to start it Le celia aan p loon Werke onda lt Sta rt gt when this lean i ad ty Start D All Programs IconWorks E and function of 7 leonWorks im click kembe R T IconWorks LEFT CLICK
15. IconWorks software in accordance with the instructions on EK JAPAN s homepage http www elekit co jp english download index ph 1 Save the IconWorks software for WindowsVista from the download screen in an appropriate folder according to the instructions that appear on the screen The file named IconWorksVista E is saved The numbers that come in the part of change depending on the IconWorks version 2 Double click the downloaded file and setup exe is created in the folder 3 Double click setup exe and follow the instructions that appear on the screen elInstallation flow Double click the icon For WindowsVista the message as shown on the right might appear after the above icon is double clicked W An unidentified program wants access to your computer Don t run the program unless you know where it s from or you ve used it When this message appears click Allow sil e e Publisher Cancel now where this program is from or what it s for Note Depending on your PC environment the letters in the Allow Itrust this prograg know where it s from or I ve used it before installation screens might not be displayed correctly However v Details this is not a fatal error and the installation process can be User Account Control helps stop unauthorized changes to your computer continued The message that might be displayed 1 IconWo
16. backward at a slow speed for a second and a brake Is applied for 0 5 seconds when pushed 1 When pushed we follow YES because electricity flows through the touch sensor and becomes ON 2 For moves backward at a slow speed for 1 second place a backward icon and change the property to low speed then place WAIT and change the time setting to 1 second 3 Place BRAKE icon and keep the condition without changing the property and 4 Connect all the icons up using lines moves forward when not pushed 1 When not pushed place NO because electricity isn t flowing through the touch sensor 2 Change the FORWARD icon to the low speed 3 Connect all the icons up using lines BRANCHING PROGRAM REGULATIONS The icon name MERGE The branching program must be always returned to one flow This icon makes the flow merge Let s learn how to use the MERGE icon However the number of the icons in the NO path isn t enough to make the flow merge In this case we need to add icons to increase the path length to get them connected There are not enough icons for MERGE The icon name NOP meaning No Operation This icon helps icons which are distant join together It does not perform any operation or action itself and it has no properties It is only a spacer Fill up the vacant area with NOP as shown and make the program _ a ie B E Return the branched programs to
17. by an inequality sign gt equal or more A variable is indicated by an alphabet from A to H and the situation is judged by a number or another variable For example in the case of Press 10 times the program questions as Has Touch sensori been pressed more than 10 times A gt 10 and proceeds to either YES or NO How a LED turns ON is explained below LED LED turns ON OFF The red lights of the light sensors are the LEDs of the LED icons 50 C EK JAPAN CO LTD 3 IconWorks web 02E PROPERTY SETTING SCREEN Select ON to turn ON the LED and OFF to turn it OFF How to change the setting EX Change from OFF to ON are ON C OFF The buzzer sound 1 is emitted every time Touch sensor 1 is pushed 1 Check if Touch sensor is pressed Icon name VARIABLE CALCULATION Add subtract multiple or divide the present variable with the specified value or variable The calculation result makes a new variable value for this icon PROPERTY Select a variable to which a value found by the calculation is input from the selection Calculation setting 0 255 s P AE i ae sai n ox and input a value in the value box to be used for calculation A value is selectable i or Nu p in the range from 0 255 Or select a value to be used for calculation from the selection box on the right hand side Up to 8 variables A to H can be set ati tting 0 255
18. comparison select a Variable branch 0 corresponding alphabet from the selection box on the When all the columns are right hand side input left click SET 53 C EK JAPAN CO LTD 4 IconWorks web 02E LET S SUM UP The buzzer sound 1 is emitted every time Touch sensori is pushed 1 When Touch sensor1 is pushed the program proceeds to YES direction and check if it is pressed more than 10 times 2 When Touch sensor is not pressed the program goes to the branch icon to check if it is pressed again The LED turns ON when Touch sensor1 is pushed more than 10 times 1 When Touch sensor1 is pushed more than 10 times the program proceeds to YES and LED turns ON 2 When Touch sensor1 is pushed more than 10 times the program proceeds to NO and the buzzer sound 1 is emitted 3 The programs that branched after VAR icon merge Repeat endlessly 1 Place MERGE icon to bring the programs branched after TOUCH icon back to the main stream 2 Place LOOP and LOOP END icons to repeat a program until the robot power is turned OFF When the program is completed send it to the robot In this program the buzzer sound 1 is emitted also when Touch sensor1 is kept pressed when the program between
19. complex robots compensate for these factors in a number of ways including using paired motors motors which have identical characteristics measuring the motor speed and adjusting the power while in use and GPS LASER guides etc connected to steering systems See the program included in the manual which guides KIROBO towards a light and develop your understanding of these techniques 34 Z C EK JAPAN CO LTD 3 IconWorks web 02E How can the robot be made to stop Execute a STOP command There are 2 command icons for STOP but we will use MOTOR OFF first After the program is created transfer and execute it gt hai p gt earn E E J Execute BEGIN weer BEGIN END rey MOVE Place MOTOR OFF MOTOR OFF PROPERTY NONE Turns off the motor power and ends the FORWARD or BACKWARD movement commands How did the robot This time the robot should not move However the program has been executed since LED2 flashes once move this time This is because the commands FORWARD and MOTOR OFF are processed instantaneously You need a command icon to preserve the FORWARD status for a while For this we use the WAIT icon Preserve the condition This icon continues the previous command for 05 before WAIT the specified time Please prepare the following program send and execute BEGIN Mid aaan p i ai MOVE Place WAIT Change to 3
20. direction BERR RRR RRR RR RR ee ee eee eee ee BEER RRR RRR Re eRe ee eee eee Flash diagonal This mode is for when you want to select an area in one action Block Selection Mode In this mode right click the corner or the top of the block you want to select Then right click the corner or the bottom on the diagonal line of the block you want to select Then the entire selected block area flashes orange and enters a SELECTED STATE condition CANCELLATION OF THE SELECTED STATE flashing and lit up conditions When you want to cancel the SELECTED STATE Left click CLEAR in the EDITORIAL BUTTON AREA Or left click once again on the flashing grid or icon When the DESIGNATED BLOCK mode is selected cancellation is possible by CLEAR in the EDITORIAL BUTTON AREA Let s review what you have learned so far rA Put the arranged icons in SELECTED STATE and then cancel them 20 C EK JAPAN CO LTD 3 IconWorks web 02E BEGIN This is the start point of a program The Beginning program always begins with this icon Execution always commences here This is the terminus of a program Ending The program ends with this icon END MOVEMENT ICONS ROBOT S ICON NAME FEATURES MOVEMENT FORWARD The robot moves forward The robot moves BACKWARD backward The robot turns left PIVOT TURN LEFT f
21. is pressed How did the robot 0 1 second move Endlessly repeats FORWARD 1 second BEEP STOP 40 C EK JAPAN CO LTD 3 IconWorks web 02E Example of a program to adjust the running direction of KIROBO to enable KIROBO run straight KIROBO has 2 separate geared motors to rotate the tires on the right and left sides Even though 2 motors look the same the motor specification is not always exactly the same which causes KIROBO to run more or less curved Therefore we recommend users to develop a program with the exclusive software Icon Works for correction of running direction of KIROBO so that it runs straight The following program is an example Please try by yourself how it goes and also challenge developing other programs of your Own lt 1 gt Check how your KIROBO runs First let s see how straight your KIROBO runs In which direction does it run Check by using a program indicated below Change the program to correct the running course to left little by little lt Program Example gt Explanation M Add TURN LEFT icon before FORWARD icon When your KIROBO gradually runs to the left then add TURN RIGHT icon instead of TURN LEFT icon 2 Repeat FORWARD movement as shown above by setting the number to repeat in accordance with the running direction of your KIROBO Adjustment is also possible by changing the turning speed 3 Insert the above program in the main program to the
22. location where you want your KIROBO run straight A program to correct the running direction depends all upon how your KIROBO moves in default So please refer to the above program and the explanation and make a program appropriate for your KIROBO 41 C EK JAPAN CO LTD 2 PROGRAM AND FLOW CHART A PROGRAM THAT BRANCHES When making a program it is often recommended to draw a flow chart What is a flowchart A flow chart is used to clearly express a series of procedures when designing or correcting a program The flow chart is helpful to explain your ideas or organize your thoughts There are various ways to describe the flow chart In this manual the symbols shown on the right hand side will be used for the sake of simplicity When you draw a flow chart these symbols will be used in combination along the program flow Let us illustrate by the flow chart how KIROBO moves KIROBO is looking for a soccer ball If it finds a ball it runs to the ball and picks it up The above can be translated into the flow chart on the right When an autonomous robot moves it detects its environment using the sensors and judges what action it should take next In KIROBO s case it will be like this In response to the question Have you located a ball gt In case of Yes It runs to the ball gt In case of No It looks for the ball So the next action depends on the result of a given condition
23. one flow by MERGE B O C EK JAPAN CO LTD 3 IconWorks web 02E Now let s place the repeat endlessly icon Do you recall which icon makes the robot move continuously until the power is turned off It is LOOP The completed program is as shown below Send it to the robot and confirm how it works tee The same program is available from the initial screen Starting from a sample program using step2 touch sensor reversing with the touch sensor A sample program gives you tips on programming lt gt Starting with a sample program Detailed guidance about this sample program is given on Page 4 of KIROBO USER S MANUAL IT SAMPLE PROGRAM Make a program where the robot makes a high speed right turn for a second when the touch sensori is ON and generates the BEEP SOUND1 when the touch sensor2 is ON but it does nothing when neither touch sensor is ON 45 Z C EK JAPAN CO LTD 4 IconWorks web 02E Let s learn the rules for Branch and Merge A branched program must always be merged into one line When a program is branched for several times make sure to merge two branched lines that are branched most recently first We recommend you when you make a program with branches to make it look visually simple so that you will know which branched lines need to be merged e Example of a correct program with 2 pairs of Branch and Merge Branch Merge Branchd gt
24. or guidance based on its environment and surroundings An autonomous robot can be defined by the following components 1 Sensor 2 Computer and program 3 Mechanism to move motors gears etc 1 Sensor sensory equipment In order for a robot to gather information about its surroundings it must have sensory equipment a means to replicate the 5 senses sense of sight hearing smell taste and touch of a human Various high tech sensors such as vision sensors sound sensors touch sensors etc have been developed and are being used more and more in our daily lives Detailed below are the sensors used in KIROBO Sense of sight camera light sensor etc b Most common small cameras around us are used as human eyes creating images on video Z NJN monitors There are many different types some have 360 degree vision and in some cases 2 cameras are used to determine the exact location of an object Recently many sensors have been developed exclusively for robots Some sensors do not see images but are able to detect the presence or absence of light KIROBO has light KIROBO s light sensors sensors that can sense the presence of light emitting objects and detect contrast black lines Sense of touch skin temperature sensor touch sensor pressure sensor etc vr These sensors can detect touch or temperature as human skin P does There are various types of sensor ones that sense the electricity that run
25. seconds PROPERTY SETTING SCREEN 4 Input the length of waiting time Can be set within the range of 0 1 10 seconds Wait setting SI I Time 05 sec This is how you change Set os gt O gt oOo oo O gt Set 0 5 is a pre set value Input 3 to reset 4 35 C EK JAPAN CO LTD 3 IconWorks web 02E FORWARD 3 Prepare the following program send and execute Erase MOTOR OFF and move END Erase MOTOR OFF and move END TO How did the robot The robot should have only moved forward as it did in the first trial move This is because like when only the FORWARD icon was placed FORWARD is kept ON but there has been no OFF command to instruct the robot to STOP So please remember to place the MOTOR OFF icon after movement commands to make sure the action is terminated Z 30 C EK JAPAN CO LTD 3 IconWorks web 02E As explained there are 2 icons by which you can stop movements What are the differences between them gt Compare the commands E MOTOR OFF Fe BRAKE Make the following program send and execute fal Le Mid Tree aj MOVE END Place MOTOR OFF V FE Mid M and set the delay to 3 seconds Fr i lt a Fi he Execute 05 END j j i MEE so Place FORWARD WAIT 3 seconds can be a copy Place WAIT to make the anna more interesting am Place
26. tech autonomous robots Although an average robot can only do what it is told those with artificial intelligence can learn from experience and even apply such knowledge to future situations The action commands for KIROBO are indicated with Icons in the IconWorks software so that it is possible to create a program without knowing difficult programming languages Therefore with KIROBO you can take the first step for mastering the basic concept of programming 3 The mechanism of the motor and the gears Jet A mechanism like human muscles is necessary in order for a robot to move smoothly As a human Je has muscles a robot has motors and gears Nowadays various motors and gears such as servo motors hydraulic and pneumatic actuators etc have been developed which enable robots move very precisely just as humans can Some of them can place an object in exactly the place designated and some can even go up stairs like a human by combining many moving parts Almost all of them are controlled by a computer but some also have assistance from a human controller who may be at some remote location from the robot With KIROBO it is not possible to see how the motors and gears function However small motors and gears are installed in the 2 pre assembled gear boxes of KIROBO Changes in the gear box and modification of the drive can be applied only to motors of the same specification Inside the KIROBO geared motor 10
27. the preceding cannot return screen Or CLEAR Clear the selection cancel the selection of icons on the EDIT screen When the icons or grids are in the SELECTED EDIT gt CLEAR SELECTION or left click CLEAR R in the EDIT Slg tee TooltT Help Erase D Copy Move iM Clear selected stt R STATE blinking tray Se Tool Help Erase Di CLEAR Copy tC Mowe khl Undo tL Or Clear selected state F2 The SELECTED STATE will be cancelled SYNTAX CHECK The program can be transferred to the robot when complete The program cannot be sent if it is incomplete A syntax check is always performed on the program before sending EDIT gt SYNTAX CHECK or left click The SYNTAX CHECK is done in three consecutive steps It changes to SEND CHECK in the EDIT tray when a program has only when all the steps have been completed sucessfully 3 0 gt gt 0 gt 0 OK OK OK Toal D SVYATAS OHEGK Send ts Volume property display iP Checks to make sure branching and merging sequences are correct sent sa MESSAGE BRANCH is OK MERGE is OK BRANCH MERGE OK Click the button again and go on to NEXT EXAMPLE Checks if repeat icons such as LOOP and REP are in a pair MESSAGE Error in LOOP number 2 Error in REP number 1 REF and REP END not in pairs EXAMPLE Warning indicators If the syntax is not correct the incorrect
28. try to copy where it is not permitted the following Put the icon you want to copy in the SELECTED STATE message will appear Re select the copy location and try the copy operation again move into the SELECTED STATE BEGIN Mid A EA Wi If you try to move where it is not permitted the following message will appear Re select the move location and try the move operation again EDIT gt COPY or Left click COPY in the EDIT tray Editine E Tool T Help COPY Erase D Move i N Undo u Clear selected state R Or Caution BEGIN or END a icons cannot be copied on When there is already an Icon exist in the paste destination A Overwrite icon in the designated area the message OVER WRITE will appear Editing E Tate Tool T Help Erase D Copy Undo tL x Clear selected state R Or When there is already an Icon exist in the paste destination A Overwrite icon in the designated area the message OVERWRITE will appear 29 C EK JAPAN CO LTD 4 IconWorks web 02E UNDO Returning to the preceding EDIT screen Sometimes you cannot use the UNDO command in which EDIT gt UNDO LAST ACTION or _ left click UNDO in the case a gray icon is displayed EDIT tray When this is displayed you UNDO O gt
29. He END e Example of an incorrect program with 2 pairs of Branch and Merge Branch B h ei Merged Merge rA gt He ial oOl m k When Merges are not in the correct order the program cannot be executed Merge Merge 46 C EK JAPAN CO LTD 3 IconWorks web 02E As well as the touch sensors there are 2 light sensors mounted on KIRORO Let s study a program using a light sensor lt Hardware gt Photo transistor From the variety of light optical sensors available the one used on KIROBO is a Light photo transistor When it finds senses light an electric signal flows this informs the microcomputer that it has found a light A light sensor is susceptible to the influence of surrounding light therefore its sensitivity F M 5 must be adjusted according to the surrounding conditions by turning the resistor type adjuster 7 on the motherboard lt Program gt Program branches off if a light sensor has found a light ON or not OFF Let s place the light sensor icon and set its property Setting the property means which of the 2 light sensors on KIROBO you want to monitor This is how you change the setting dEXAMPLE Change from Sensor 1 to Sensor 2 4 f Sensor Indicates either Left click the radio button of sensor 2 1 or 2 After this icon the icons of YES or NO must always be added This icon is asking whether the light sensor is YES
30. ING AN ICON ON THE INITIAL SCREEN WILL TAKE YOU TO ITS ASSOCIATED SCREEN CREATING A PROGRAM GOI STARTING WITH A SAMPLE E PROGRAM EDITING SCREEN WILL a PROGRAM TRY You cancreate your gives you tips on ira aara OPEN UP YOU CAN CREATE YOUR programming A SAMPLE PROGRAM GIVES YOU OWN PROGRAM ON THE SCREEN TIPS ON PROGRAMMING Creating EaD Starting with a program bate ions a sample program Refer to the USER S MANUAL II SAMPLE PROGRAMS EXPLANATION HELP ENDING END You can learn YOU CAN LEARN ABOUT THE USAGE iconWorks ends ICONWORKS ENDS WHEN THIS about the usage when this icon and function of is clicked lconWorks AND FUNCTIONS OF ICONWORKS ICON IS CLICKED Explanation C EK JAPAN CO LTD 4 IconWorks web 02E TO START CREATING A PROGRAM THE EDITING SCREEN NEEDS TO BE ACTIVATED LEFT CLICK THE CREATING A PROGRAM ICON THIS SCREEN WILL APPEAR Eta bem ip he FREE bwe THp Hap Loria nma Aobstieith PROGRAM EDITOR SCREEN Edrimig loon Worka File E Edlira Tea Hole MENU BAR TAPP eee ee eee eee BS ANS 8 0 Floats a wld x Olode all nen lee er rove m Pragr Frag Prgggcaim 4 ERASE CE a grid and click 0 he M EMO AREA spect an ican and click Program log memo Renney E a MESSAGE AREA PROGRAM SELECTION TAB Go the robot forward l Program2 Program 3 Program 4 Set the speed at 3 levelsthigh middlelow 14 C EK JAPAN CO LTD 3 IconWork
31. T i ETA Execute Ee OE a E END J Ceno O E ea change to REPEAT 3 times See next page for how to set the property 39 C EK JAPAN CO LTD 3 IconWorks web 02E The program repeats between REPEAT and REPEAT END for a specified number of times It must always be used in a pair with REPEAT END Up to 7 multiple REPEATs are possible Enter the number of repeats using numbers Can be set within the range of 1 255 Only real numbers can be used no fractions How to change the setting WW EXAMPLE Repeat the movement from to 3 times i D DE D The pre set value is 1 Change it to 3 y Repeats 3 times the iL FORWARD O gt BEEP O gt STOP same sequence of How did the robot 1 second movement move Repeat Move forward for a second beep stop 3 times and stop If you want to just continue repeating a program endlessly how can it be done Create a program as follows send and execute it BEGIN LOOP FORWARD WAIT 1 second BEEP timbre 3 MOTOR OFF LOOP END END EXECUTE AHEHE f Change to LOOP LOOP Infinitely repeat the program between LOOP and LOOP END LOOP END Always in a pair with LOOP END The terminal of the LOOP The multiple loop command can be used up to 7 times EORWARD gt BEEP D gt STOP Continues this sequence until SW1
32. TED STATE PLACING ICONS PUT A GRID IN THE SELECTED STATE a gt 6 Be Be oe Left click the center The grid flashes an Left click the icon An icon is arranged of the grid orange color on the icon tray in the selected grid The execution of a program starts with BEGIN towards END along the line If icons are not connected the program is judged to be incomplete it therefore cannot be transferred to the robot a END Connect icons with lines The program will be executed in the direction from BEGIN to END HOW TO DRAW A CONNECTING LINE Put the cursor at the center between icons i Left click If you want to cancel connection click again then the line will disappear Let s review what you have learned up until now rA Place icons in any way you like and connect them with lines 19 C EK JAPAN CO LTD 3 IconWorks web 02E SELECTING ICONS SELECTING A SINGLE ICON Select one To select more than two continue to left click Left click Sw R 4 Mid END e Left click amp eS e eeceeneee Left click the icon placed in the programming area The icon flashes and enters a SELECTED STATE condition With one icon in a SELECTED STATE you can continue to select multiple icons by left clicking SELECTING ICONS SELECTING A BLOCK RIGHT CLICK the corner grid of the block RIGHT CLICK the corner grid of the block in a diagonal
33. atically added there is no need to enter it MEWN z 7 penig Import D B CELE iiis iL bhii 4 s np EE hee eee RETURN TO THE WELCOME SCREEN Exit the program editing screen and return to the welcome screen When you want to finish editing the program please follow the following procedure or click the CLOSE button on the window FILE F gt RETURN TO If there is an unsaved program this message will be You will then return to this screen THE WELCOME SCREEN R displayed Please take the required actions if you wish to save it ieee EditingfE TooltT Help O NEWN Coen icy ImporttL The program 1 has not been revised OK Savei leonWorks Back to the welcome screeni Fi EDITORIAL BUTTON FUNCTIONS er e Editia TeanWarbe EXAMPLE When you select SEND in the TOOL T 28 C EK JAPAN CO LTD 3 IconWorks web 02E EDITING ERASE Delete the selected icon Put the icon you want to erase into the SELECTED STATE blinking Click EDIT gt ERASE Or Left click ERASE in the EDIT tray iE TooltT Help EOR T Hr DEN o Unido tL Refer to Page 18 BEGIN Clear selected state Ri Caution BEGIN and END a icons cannot be deleted COPY Copy the selected icon into the designated grid Right click the grid to copy to x BEGIN Mid 2 34 E Fi Fi Ly If you
34. bution sale alteration or modification is strictly prohibited Changing or modifying all or part of the software into a readable form by way of reverse assembling decompiling reverse engineering or any other way whatsoever is prohibited lt Disclaimer Policy gt The user understands and assures that EK Japan makes no guarantee as to the accuracy practicality and credibility of this manual and use of the software or the results arising there from Furthermore the user accepts that EK Japan makes no compensation for any damage incurred as a result of the installation or use of this software which will be at the user s sole responsibility and liability EK Japan undertakes no responsibility nor obligation to provide any kind of services such as but not limited to technical support maintenance improvement of this software lt Please direct any inquiries you have to gt EK Japan Co Ltd 2 19 30 Tofuro Minami Dazaifu City Fukuoka 818 0105 JAPAN TEL 81 92 923 8235 FAX 81 92 923 8237 E Mail support elekit co jp http www elekit co j e System Requirements Use of IconWorks is possible only in the following environment System OS WindowsXP WindowsVista Hard Disc free disc space 10MB or more of available hard disk space minimum Display 800x600 SVGA display Output 1 available headphone jack required to send a program using sound signals The program transfer cable is supplied in the KIROBO package
35. dio DISPLAY P Balance Balance Balance Balance Balance ECAA Help Dadi Se E aes D AU Sealers I aa ep made SY AT AX GHEGE Volume Volume Volume Volume Volume Send to Volume property display tP Volume control panel will appear 31 C EK JAPAN CO LTD 3 IconWorks web 02E ve Mute all gt aa Mute all j 7 gt g 2 Close the window of PROPERTY Left click ok when confirmation or change is hd 3 Remove 5 done If the slider is low drag it up PREPARING THE ROBOT TO RECEIVE THE PROGRAM Make sure once again that the cable is firmly inserted and then transfer using the following procedure 1 Switch on the robot power 2 Press Switch 2 3 Confirm the robot s LED2 supply turns ON and is in the STAND BY mode STARTING THE TRANSFER Transfer the program you created to the robot When the SYNTAX CHECK is complete the NEXT button TOOLS gt SEND or left click SEND in the EDIT tray changes to SEND The program is ready for transfer You can click SEND from TOOLS in the MENU BAR When the SYNTAX CHECK is incomplete SEND will not SYNTAX CHECK Yolume property display tP appear ON THE KIROBO SIDE ON THE PC SIDE 5 The LED2 flashes quickly during A i Shows Sending data transfer x Data beme sent 6 When the transfer has been E Era Er The following message appears
36. efore sending SEND Sends a created program to the robot Only visible after syntax check 31 VOLUME PROPERTY Displays the sound control panel to allow modification of the settings to UJ UJ N N DISPLAY ensure sounds are emitted from the PC 25 C EK JAPAN CO LTD NEW N Opens a new blank program area on the active sheet 1 FILE F gt NEW N iets Editine E Tooli Help MEWN Save ty Save ast E Back to the welcome screent Fi Editing IconWorks Editinge E Tool Help MEWN Openi Save Save azt tE Back to the welcome screent Fi 2 When opening a new file on the sheet the following question is asked Any program being edited in the current program area will be overwritten OK Press Y after checking there is no risk to your data Open a file Look in E KIRORD_GO eho f UCTS AAHH bk SELECT 4 Pis name firien TEST Files of type Probes File chk Cancel 3 IconWorks web 02E A new sheet will appear 3 OPEN 0 Left click 4 When opening a new file on the sheet being used a confirmation box appears Select Yes Y if it is safe to overwrite the existing data or program Open a file A The program being edited at the moment will be deleted OK 260 C EK JAPAN CO LTD 3 IconWorks web 02E IMPORT I You can load a saved program into the active program area In IconWorks you cannot make a copy be
37. gram by reconnecting lines erasing or copying Advanced programming Programming using sensors is a little more complex but it is what you must learn if you want to be an autonomous robot expert Here you set or select parameters concerning when where and how you want the robot to move Sends the program to the robot Uploads a program to the memory microcomputer Performs syntax checking before transfer Uses the program transfer cable included for sound communication Moves the robot A transferred program can move the robot when executed If the robot is not moving as you imagined it may mean that the programming is incorrect Check and adjust the program and try again Saves a program so that it can be used again 17 C EK JAPAN CO LTD 3 IconWorks web 02E Basic operation Arrange icons on the screen using left click and right click accordingly Editing IconWorks File EditinetE Tool Help OAS a a o Click the icons for robot movements and arrange them on the screen to a a p create an action program S Lia Program Program Select a grid and click an fe select an icon and click a grid 18 C EK JAPAN CO LTD 3 IconWorks web 02E SELECTING THE GRID This frame will be used as a grid on which to place an icon y Pon Left click the center of an empty grid l When the grid turns orange flashing or green it is in a SELEC
38. he robot Becomes active when all syntax checks are successful Does not appear if a syntax check is not successful 24 and C EK JAPAN CO LTD 3 IconWorks web 02E III BASIC FUNCTIONS The MENU BAR contains the commands that are available in IconWorks MENU BAR SUB MENU FUNCTIONS Toul i Editing Icon orbe FILE F Editinet TooltT Help EXAMPLE Select SEND in the TOOLS T menu OVERVIEW OF THE MENUS REFERENCE MENU SUB MENU CONTENTS PAGE Opens a new program area onto the present sheet 26 OPEN Opens a saved file into the current sheet deleting previous data 26 IMPORT Imports a saved program into a selected area on the current sheet previous data can be conserved if instructions are correctly followed SAVE Saves a program without changing the file name 27 SAVE AS Used when you want to save a newly created program or a current one but in a different name RETURN Ends a program edit screen and returns to the initial screen 28 ERASE Deletes a selected icon 29 COPY Copies a selected icon on to the specified grid 29 MOVE Moves a selected icon to the specified grid 29 UNDO Returns an edit display to the previous one cancels the last edit action 30 CLEAR Cancels the selection of the icon s in the edit display 30 SYNTAX CHECK Verifies the data to confirm the program is complete The program cannot be sent if incomplete The user must perform a syntax check b
39. icon and related icon s flash and the content of the error is when errors are displayed in the message area Confirm the reason for the error and make the required corrections found then re run the SYNTAX CHECK 30 C EK JAPAN CO LTD 3 IconWorks web 02E When the SYNTAX CHECK is completed and the SEND button is displayed confirm if the cable is connected and send the program data to the robot Below are the preparations needed for the data transfer Preparing for the transfer SEND Insert the program transfer cable to send the program from PC to the robot transfer INSERTING THE CABLE This is the sign of Insert the program transfer an headphone terminal cable into the headphone jack plug of the PC and the jack plug on the robot side Preparing for the sound communication ADJUSTMENT OF VOLUME PROPERTIES LconWorks uses sound for data transfer Check if sound can be generated from the PC Data cannot be transferred if the volume is 0 or set mute or the WAVE is 0 or set mute Check and adjust the volume condition in the volume property panel on the PC It is recommended to set the master volume and WAVE volume to be above the center in the slide bar VOLUME PROPERTY DISPLAY Displays the screen for adjusting the volume on the PC before sending the program TOOL T H volume Control gt VOLUME PROPERTY eee Volume Control Wave SW Synth Line In CD Au
40. ion Is used as a joint or spacer for isolated A icons VAR It memorizes the specified variable value Set a designated variable value or enter a Set Variable specific value Variable setting 0 255 Input any value which can be between 0 255 A 0 or Nu j Set CAL Add subtract multiple or divide the present Select the calculated variable and input value Calculate variable with the specified value or variable which can be used for calculation box variables The calculation result makes a new variable value Input any value which can be between 0 255 for this icon Calculation setting 10 255 Set 23 C EK JAPAN CO LTD TconWorks web 02E Turns on and off the LED Select ON if you want to LED setting ON OFF turn on the LED and OFF et if off A beep sound continues for 0 2 seconds Can be set at four levels Beep timbre setting w 2 es m4 Low High Set between low high pitched tones Moves a selected icon to the designated grid Copies a selected icon onto the designated grid Deletes a selected icon Cancels the icon selected state on the edit screen Returns the edit screen to the situation before the last edit Undo an edit This command cannot be used when it is displayed in a gray color The syntax check must be done three consecutive times The button changes to SEND when all the three checks are positive Sends a completed program to t
41. ity pass through when pushed If you push a touch sensor which is not connected to a power supply you will hear a clicking sound This clicking sound indicates the switching ON or OFF of the touch sensor When connected to the power source and pushed electricity ON OFF flows and turns the touch sensor ON When not pressed when pushed gt when not pushed it is in the OFF condition because no electricity can flow through it lt Program gt It branches at either ON or OFF i Touch Sensor Let s place the touch sensor icon and then set a property ouch Senso The property must be set so as to sense either of two touch sensors used in KIROBO pel PROPERTY Select Touch sensor 1 or 2 Select and confirm the touch sensor of the assembled robot f Sensor C Sensore This is how to change which sensor is being monitored EXAMPLE Change from Sensor 1 to Sensor 2 4 f Sensor Senzor O gt Indicates either st Either YES or NO icon must be set immediately after this icon 43 C EK JAPAN CO LTD 3 IconWorks web 02E This icon asks whether the touch sensor is ON or OFF When the sensor is ON place YES and the program follows this path when the sensor is pushed When the sensor is OFF place NO and the program follows this path when the sensor is not pushed LET S TRY PLACING THE OTHER COMMANDS WHILE YOUR MEMORY IS FRESH The robot moves
42. nfirm by SET Let s practice the basic movements Write the program as shown on the right hand side transfer ie a t m iz Execute BEGIN END F and execute it on the robot Simply move forward was no command STOP It may seem as if it should stop because of the END icon however it is only the program which ends but the command FORWARD has not been stopped lt KIROBO Forward or Straight gt When KIROBO is instructed to move forward it may not travel in a straight line the following section explains why KIROBO is built with two motors to enable it to maneuver These motors although similar are not exactly identical Small differences in the manufacturing process can result in a range of slightly different characteristics This range called a tolerance affects the speed of rotation in the motors The target spindle speed maybe 3000rpm but it can vary between motors and be different depending on the direction of rotation When one motor spins faster than the other it makes the wheel turn faster This makes one side travel further in the same time causing KIROBO to follow a curved path Other factors may affect the severity of the deviation including the assembly of KIROBO S chassis Given these factors there will almost certainly be some element of curvature in the forward or reverse paths taken by KIROBO To compensate for this behavior we suggest that you write a program to correct KIROBO S direction More
43. orwards PIVOT TURN RIGHT The robot turns right forwards The robot turns left PIVOT TURN LEFT BACKWARD backward PIVOT TURN RIGHT BACKWARD The robot turns right backward The robot rotates CCW SPIN TURN COUNTER CLOCKWISE CCW TRAY PROPERTY NONE These icons are pre arranged on the sheet Deletion and copying is not possible but EXPLANATION OF PROPERTY it is possible to move them There are no BEGIN and END icons on the ICON PROPERTY EXPLANATION Move setting High f bid Set E Low The speed can be set at three levels high medium and low C EK JAPAN CO LTD PIVOT TURN CLOCKWISE CW MOTOR OFF BRAKE The robot rotates CW It turns off the motor and halts movements such as forward or backward It applies a brake by short circuiting the robot s motor Use this when you want to make a sharp stop It waits for the specified time or waiting condition before moving onto the next command It is the start of the LOOP command endless repeat It is the terminal of the LOOP endless repeat It repeats the program between REPEAT and REPEAT END for a specified number of times Must always be used in a pair with REPEAT END Up to 7 multiple REPEATs are possible It is the terminal of the REPEAT The optical sensor branches the program by On or Off
44. place such as a window side where a lot of sunshine comes in or a room with a bright light Adjust the brightness of the room where KIROBO operates by closing curtains or darkening up the light in the room Q Error 480 occurs A The PC memory is running out The software requires 128MB or more memory lconWorks Eg When this error occurs even though the PC memory is 128MB or more it is possible software that is active system error Error number 480 concurrently with IconWorks is using the memory Therefore shut down the software other than IconWorks Q LED2 red starts flashing right after the power SW turns ON A This phenomenon occurs when the power SW is pushed with Touch sensori or 2 pressed This indicates it is in a default adjustment mode and there is no problem in the function When SW1 or SW2 is pushed in this status the default condition might be changed In such case turn OFF the power SW and turn ON again when the touch sensor is not pressed 56 C EK JAPAN CO LTD S3 IconWorks web 02E Q A program cannot be transferred to KIROBO successfully or it cannot be transferred from a specific PC A There is a sound output unit embedded in a PC called a built in sound board or a sound card and some of them tend to emit larger noise than the others which is considered to be one of the cause of unsuccessful program transfer In such case the problem could be solved by using a commercially available
45. r an area is selected in block and the selected icons are flashing press escape button Z 49 C EK JAPAN CO LTD 3 IconWorks web 02E There are many ways of using variables depending on the program contents and only a part of them are explained below Let s try a simple program using variables that To start with make the below program LEDs turn ON Push 10 times Make a program as below The buzzer sound 1 is emitted every time Touch sensor 1 is pushed and LED turns ON when Touch sensor is pushed 10 times As you have already learned to create the above program a conditional branching icon of Push 10 times needs to be added to the program with a conditional branching of Touch 1 is pressed Both light sensors and touch sensors judge the situation by ON or OFF only However any value in the range from 0 to 255 can be set for a variable icon and thus the situation can be judged according to the set value As described above a value that can be arbitrarily set according to need or VAR Variable icon based on a calculation is called Variable Variables in mathematics and that in programming do not mean exactly the same However in this software IconWorks a value that can be set according to need is called Variable In IconWorks a variable can be set according to the need by a calculation or by counting In addition a variable in IconWorks judges the situation
46. r set up in the icon a current area frame will be displayed on the PROGRAMMING AREA Set The displayed contents will change The visible area being edited is depending on the selected icon displayed like this ICON TRAY The command icons available for use in IconWorks are displayed in the icon tray Place the mouse pointer over the selected icon and left click These buttons can be used to edit and manage the icons already placed in the programming area MESSAGE AREA Mave ne a aar Messages explaining the icon s functions or set contents are displayed he speed can be set at three levels Additionally error messages and their causes are displayed if an error occurs during use MEMO BOOK AREA This MEMO BOOK AREA is where you can write notes and save the programming Program log memo record or any other information you want to keep This information will be saved automatically when the program itself is saved 16 C EK JAPAN CO LTD 3 IconWorks web 02E 3 BASIC SOFTWARE OPERATION FLOW The flow from programming to moving a robot is described below OPEN HIGH LEVEL EDIT EXECUTE Creates a new file or opens a file Prepares a worksheet to write a program PROGRAMMING AREA by creating a new program or opening a program already available Creates and edits a program Create a program by arranging and connecting icon s or edit the content of an existing pro
47. rks installation screen a IconWorks P37 5 IconWorks Dts ror HIMES tobra NPA TS VATA IPHAN EAP EH ILME BFS CEE A HEAL TL SOP IY a RAT ST SLeCBBMMOLET Click OK FLY C Program Files IconWworks TUINE B C Click the button C EK JAPAN CO LTD 3 IconWorks web 02E 3 Installing group Accessor ies Administrative Tools Click Continue Click OK e Uninstalling IconWorks 1 Open the control panel and click Programs and Uninstall a program 2 Right click IconWorks and click Uninstall Change Follow the instructions that appear on the screen and click Continue and then Yes E jac dh Uninstall or change a program Te wrunshall a pigem pebei A fron be Il and thes chek Urata Change or Riipan Organize JI vece ncn Name Prato ber installed Or p rr one Adobe Syriens Incenporated Porman 0G 0S10 7 p Te AO ai Opera 3 52 Opera Software ASA Farot fri AR OINTT Lae oe aro C EK JAPAN CO LTD 3 IconWorks web 02E What is an autonomous robot An autonomous robot gathers information about its surroundings processes the information gathered through its sensors makes judgments and sends commands to move a body An autonomous robot is able to carry out a routine or pre determined task but also make judgments and actions without external assistance
48. rt cut IconWorks install Create Shortcut Set up the additional options to create an icon Select an additional process of the program then Click Next C Create Shortcut on Desktop Click Next 6 Installation is completed IconWorks install Congratulations The application has been successfully installed The application has been successfully installed Click the registered icon to start the installed program You should restart your system before using the program Click Finish e Uninstalling IconWorks l Cancel 3 IconWorks web 02E 5 Check the installation detail IconWorks install Check the Installation information Indicate the installation information such as the destination folder Check the installation information then click Next when you do not need to change it Click Back to reenter the installation information then edit itwhen you need to do it Destination Folder C Program Files ilconworks Program Folder Extra Menu Click Next 7 Restart the PC Information Please reboot a system bo use an application Do reboot now Click Yes to restart the PC Open the control panel and click Add or Remove Programs 2 Select IconWorks from the program list and click Remove Click OK when the message UNINSTALLATION COMPLETED appears 3 C EK JAPAN CO LTD 3 IconWorks web 02E For WindowsvVista Download the
49. s through human body those which allow N electricity to flow when touched and ones that detect if it is S touched when a pressure is applied to it etc Touch sensors can be some of the most simple and are probably the most familiar sensors for us They are also mounted on KIROBO and can be used to detect obstacles or serve for KIROBO s touch sensor conditional judgment decisions when pressed 9 C EK JAPAN CO LTD 3 IconWorks web 02E 2 Computer and program An autonomous robot is pre programmed with what actions to take depending upon certain circumstances The program is stored in the computers memory RAM in a language understandable for the robot and processed by the robot s brain microcomputer Both the memory RAM and the computer microcomputer are mounted on the main board PCB KIROBO s microcomputer To create series of actions for a robot in a robot machine language is called programming and the series of action commands created in the robot language is called program A completed program can be sent to the memory of the microcomputer which stores the action commands The programming language varies depending on the types of computer used or the objectives of the work ranging from a low level language easy for the computer to process to a high level language which is easy for human being to comprehend A concept called artificial intelligence is available in some high
50. s web 02E INFORMATION ABOUT THE PROGRAM EDITOR SCREEN PROGRAMMING AREA 1 500 FRAMES M IN TOTAL lt lt _ 50 MAX NUMBER OF ICONS 100 This is the space available for creating a program A program can be created by arranging icons in this area In order to make placing icons easy in the programming area grid lines are provided at constant distances There are 1 500 frames in total but the maximum number of icons that can be used for a program is 100 TO DISPLAY HIDDEN AREAS DRAG THE SCROLL BAR IN THE PROGRAMMING AREA UP DOWN OR LEFT RIGHT JUMP TO THE END OF THE SHEET IN THE DIRECTION OF THE ARROW MOVE STEP BY STEP UP DOWN IN THE DIRECTION OF THE ARROW JUMP TO THE TOP LEFT CORNER OF IDENTIFY CURSOR THE SHEET LOCATION BY THE JUMP TO THE BOTTOM RIGHT FRAME NUMBERS CORNER OF THE SHEET THE PROGRAMMING AREA CONSISTS OF 4 SHEETS BY SWITCHING WORKSHEET TABS 4 DIFFERENT PROGRAMS CAN BE EDITED CONCURRENTLY CLICK THE PROGRAM SELECTION TAB TO SELECT THE REQUIRED WORKSHEET Programe Program 3 Program 4 Switch to another sheet by left clicking In case of a saved program its file name will be displayed on the associated tab 15 C EK JAPAN CO LTD 3 IconWorks web 02E PROPERTY AREA TARRAT E This area is to display the icon properties and to set the values of variables or High Mid Low _ f conditions When there is no information fo
51. starts to react LED also flashes when the sensor is reacting Since the amount of light varies depending on the environment please make adjustments accordingly a bright environment lower sensitivity a dark environment higher sensitivity Let s make a program where the robot beeps when the surroundings get dark g Go to STARTING FROM A SAMPLE PROGRAM 48 C EK JAPAN CO LTD IconWorks web 02E lt Useful Shortcuts for the Operation of IconWorks gt Once you get used to operating IconWorks try some more advanced techniques to program more speedily and with greater ease Move an icon quickly To move an icon quickly select the icon you want to move Move the cursor to the grid where you want to move the icon to Then press the control button Copy an icon quickly To copy an icon quickly have the icon you want to copy in the selected state Move the cursor to the grid where you want to copy the icon to Then press shift button Connect icons quickly To connect 2 icons distant from each other select all the grids use area select between the 2 icons then click NOP The NOP icons appear in all the grids in the selected area You can also select any icons in between as Action icons in the selected grids remain as they are NOP icons are allotted to vacant grids only Clear the selected state quickly To clear the selected status when icons are in the selected status o
52. tween worksheets like you can in the case of the Microsoft s EXCEL software Instead by saving the program once and importing into the active programming area you can make a copy 3 Select FILE on the file selection screen and click OPEN O 1 Left click the area into which 2 FILE gt INSERT 1 you want to insert the program FILE ED Editing E Toolt T Help Simi 3 MEWN Left click Save azt E Back to the welcome screent Ri The imported program cannot overwrite the filling the insertion area currently created program when it overlaps SAVE V The program being edited will be saved without changing the file name FILE F gt SAVE V Saves the file which is currently being edited using its current file name FLEE Fditing E Tool Help A file which has never been saved cannot be overwritten MEWN In such a case use SAVE AS E command and enter a file name Openti Importi The following message will appear in the case of an unsaved file Back to the welcome screent Pi This file has not been sawed Set 4 name 27 Z C EK JAPAN CO LTD 3 IconWorks web 02E SAVE AS E when you want to save a program for the first time or using a different name 1 FILE F gt SAVE AS E 2 Input the file name into the window which appears and press SAVE S PALAA EditineE Tooli Help An extension is autom
53. when the transfer has completed successfully m e been completed a sound Pi Pi is emitted P al E Program transfer is completed F RA here is are 10 data In this case check the iin property and connection of the program transfer cable again 32 C EK JAPAN CO LTD 3 IconWorks web 02E EXECUTE THE PROGRAM 1 When the transfer has been successfully completed press SW1 again to execute the sent program STOPPING THE ROBOT 1 LED2 flashes while the program is 2 Depending on the program created the executed You can stop the robot by robot may continue to operate even if pressing SW1 during program the execution of the program is execution ie ca li Se complete In this case the robot continues even if LED2 is no longer flashing To stop the robot simply turn off the power KIROBO motherboard The names and functions of each part on the motherboard are described on Page 6 of KIROBO USER S MANUAL I The buttons used for program transfer and execution are located here 33 C EK JAPAN CO LTD 3 IconWorks web 02E IV BASIC OPERATION PRACTICE 1 THE ICON FUNCTIONS AND PROPERTY SETTING PRACTICE There are some icons which allow the setting of EXAMPLE Property of MOVE icon additional properties Left click the desired icon ae f High f Mid Low and the current setting will be displayed in the net property area Enter or select your desired value and co
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