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1. Ll L 939 EE dette Ue eel LIL Double click on the POS object to display the POS Editing window li l PHU The LINK pull down menu is used to define combinations of servos to be modified simultaneously as a set Select Setting of the combination on the LINK menu to display a new Link Editing window ca ej cH J cHio o ej HI EI cH ej HID cHi2 A coo f rv om ej on Et cH4 ej omr cH el ou EO cHe ej om rv Mame v Load Save Delete OK 4 Use the servo channel pull down menus to set the desired servo channel s to TCH teach mode Cho CHl4 CH cH5 41 Intermediate gt 7 Repeat the process to set all the desired channels to the TCH mode For example to create a LINK combination to be used in capturing the posture of the robots left arm the left arm servo channels would be set to the TCH mode Enter a name to be used for the LINK combination The new LINK name will be appended to the pull down LINK menu and can be easily selected for future use Note TCH has been used as the LINK name in this example When the desired editing is finished click OK to close the window and apply the changes In the POS Editing window select the new LINK TCH in this example
2. The robot moves by sequentially assuming n I d L 2 postures defined by the motion sequence Gb EG os ff objects The parameters for each motion JE __a ar mH 7 mv sequence object are edited to define the robots postures and speeds during the motion m 13 E 4 of 8 g Double click on each POS object to open its editing window Adjust the individual servo positions using the slider bars or by entering numeric values to create the desired robot posture Adjust the playing speed of the POS object using the SPEED slider bar 5 Write the Created Motion Write the created motion to the RCB 3 The motion can also be saved on the PC as a file Heart pigeat 3 E NC 0 ole gt TK EDIT LIST Save in mor e Ea c E I 2 2708 68 HAZ 55 This folder is empty The number of datas exceed 30 Do you want to delete M2 and M3 datas Note The RCB 3 data memory is structured as 80 motion slots M1 M80 and 5 scenario slots S1 S5 A single motion slot can contain a motion with up to a maximum of 30 objects POS SET MIX or CMP If the motion is larger than 30 objects a confirmation message will appear Selecting Yes results in the remaining objects being written into sequential memory slots G Play the Moti 8 S 2 7 D ll gt Click on the Play button and select the motion to be played from the pull down menu Use the Pause and Stop buttons to control the SEE TE playing of the motion eee
3. Call Return 6 Create POS2 Select the POS icon on the Object menu then click on the Datasheet canvas to create a second POS object POS2 SETT 7 Edit POS2 a POS1 Se gg E BB ee Double click on the POS2 object then set the object SPEED to 100 Click the Home Position icon to move the robot to the Home Position established earlier HE C GAV tH E DVI cr Ww E gere gg ob oD Note If the SPEED value is very small the lep mer ww a oi servos will move abruptly and could pose Illen r E TP ca some danger Always start with a large Jeus C 45 H DVD SPEED value like 100 first mer ft Lr B see W G pe C 5ViH ov iL al E pir Cv OVID EE ms BE 2 8 Connect the Objects select the Flow Wiring icon on the Object menu HeartToHeart 3 a then connect the Datasheet objects in order POS1 i SET1 POS2 Once the Flow Wiring tool is selected it ae ea AE B L mr a EM stays active until another tool is selected hS ap To connect the Datasheet objects click on the first EDIT 86 LIST object A red line will appear as the mouse is moved Move the mouse over the next object to be connected then click and the connecting line will appear Repeat this process to connect all three objects Q Designate the Start Position HeartToHeart 3 Each motion needs to have a designated Start Position so that the RCB 3 knows where the motion execution should begin To designate the Start Position
4. GHB 5 iH fe OW CL 5 CH f OWL GHG gt 6 CH fe OW CL 54 CH f Dil CHAO 5V CH f OW CL GH15 gt 5 CH f OWL GHP 5 CH f OV CL SPEED 100 a LINK m 4 SF zz th 4 b 51 Advanced LINK Function Examples MOV Move Points Using the LINK MOV function to incrementally step servo settings Used in conjunction with the Increment LINK control the MOV function automatically increments or decrements the servo values as defined in the LINK This can be used to efficiently make adjustments to ositions that involve multiple servos P P The example shown below simultaneously increments the hip knee and ankle servo settings for a KHR 2HV This causes the robot to squat smoothly while maintaining the orientation of other servos The Link Editing window defines the incremental MOV function values for each servo CHI coo ej omr ss CH2 cmo vi oma MOVED CH3 cHi fv oms MOVW 40 gt CH4 CHI2 MOW 20 cha Mowa gt CHB cH Mowa cH CHE CHi4 Mowe Hee CH os sti om Es CHE cHis cu Name Bendine and strechine Load Save Delete OK Cancel In the POS window select the LINK then use the LINK control arrows to increment or decrement the servo values cut p CHI Pl J Toe oo tin nn Bi mol leer mr HH M we FE om pm EN a O reser met Er 27 ig lt De Advanced Convert F
5. CH4 CHI2 GH20 for 3 CH5 GHI3 CH CH M CH14 GH22 Power up motion M cH M CHI5 7 CH23 EEE z rom mome cH Motion replay Enable KRC 1 Low Power motion Reboot the RCB 3 to change to ICS mode M v Ics psv 4 M CH7 Timebase 7 CH18 vite M CH9 GH20 CH CH GH23 7 Analog Bd The RCB 3 supports three analog input ports The Analog setting controls how the analog sensor signals are used by the RCB 3 Base Level Settione Ret Measure Amount There are two analog input operating modes ea ff Ova e i JP EEE HI ele lebe le lel le lel le le pee Eee EEE Ll ehehehehe hehehehehehe v m 1 Real time mixing Real time mixing 2 Motion Interrupt pr sl ts Real time mixing OFF Applies multipliers to the analog sensor signal and z z OFF then feeds the result to designated servo channels OFF This is typically used with gyro sensors for balance correction and stability 4 4 4 4 4 4 4 4 4 OFF 4 4 4 Play motion on sensor interrupt 2 Motion Interru pt Play Doo k interrupt trigger level Sets the analog sensor signal trigger levels to OFF T change exceeds generate an interrupt and execute assigned motions er RRND tere acer eve This is useful for automatically triggering a get up f
6. Cancel 28 introduction Customize the POS Editing Window The layout of the POS Editing Window can be customized to make it easier to use W HeartToHeart 3 K rom 4 moa a a gt gt m A e Pie EDIT 828 LIST om FA 1 lem Fl 1 am cwm ev om pl JJ em PG Ber C 5V H owi Double click on a POS object to display the cm P 4 O pe 5 H DVL POS Editing Window cm2 fp 4 _ CH24 CaSVH EG OVID Displa Right click on a blank background area of the POS Editing Window to display the customization menu see left set Hi Panel Display Use the pull down menu to toggle the display of servo channels For example you can hide unused servo channels by unchecking them v CH v GH2 4 CH3 Panel Lock je The window positioning of each servo panel can be unlocked so that the CHB panels can be moved For example a typical window layout for a 21 servo te robot is shown in the screenshot below Each servo panel was moved to CHO correspond with the physical location of the servo being controlled v CHID v CHT v CHI2 CH13 v CHI4 CH15 v CHIE v CHI v GHI8 v GHI9 Color Display rate setting Set as home position Setting background picture Display of the background Fixation of the panel Note Be sure to relock the panels once they are in the desired positions GH 4 20 H15 0 r introduction Panel Display Color Display Scale
7. D l e p B M SVG com z K Fer 1meeres o l a SS amp w MN 1 EDIT 386 LIST Data Sheet Data Listing Data Sheet RUN Status Display The window above will appear when you start the software Please refer to the diagram above for the names of each part of the software The operating icons are logically divided into four functional groups Not including the main menu group the other three icon groups can be displayed as floating windows using drag and drop HeartToHeart 3 SEE Commad x E mnono oe ae e a 0 Ol e PARTS x R MGRD 4 f GD fH GH 1 o fe Tools x COMM x lv SYNG COMS v EDIT No subject LIST Example Displaying icon group tool bars as floating windows e Ao Used to load previously saved data Used to save the current data Select the Fan Clicking on the Load icon opens a bl desired folder and enter a file name Load dialog box to select the data file to be Save loaded Note New data loaded is appended to any data already existing on the current Datasheet Existing Lookin Res eaae data is not automatically overwritten Therefore if you only want to load new data it is important to delete any existing data first Look in ROB 3 et Fr File name v Type of file ROB File v Cancel A Type of file ROB File v Cancel Used to set up the applications operating
8. DJ OJ a fl if 7 7 my nl 7 7 Mm 7 4114 pa papaya 4 a 4 Play motion on sensor interrupt Play o Interrupt trigger level OFF change exceeds Play o Interrupt trigger level change exceeds MIR Toe EE i ADS 0 HO 59 Confirmation a The Analog window will not be displayed unless the RCB 3 is turned on and properly connected to the PC 72 Advanced 3 Enter the desired sensor change limit value Analog Input FAST Input 2 402 Input 3 ADS alte of a basis Measure Amount e J mm fe Real time mixing CH1 x 10 CH2 OFF CH3 OFF CH4 OFF CH5 OFF GHG GH HE 31 4 ta da ER as 4 Playing the motion with interrupt of a sensor Plavine o r when an amount of 31 Demoli change exceeds vie 638 4 when an amount of CFF Change exceeds BATT 11 104 AD i KEAN A DZ i KEAT ADs 201 W Points Note For each analog sensor input up to two values and corresponding scenarios to be played can be set up 4 Close the Analog window to apply the changes Confirm motion The sensor interrupt will occur when the sensor input value change exceeds the pre set trigger level and the selected motion will automatically play 73 Advanced Inhibiting Sensor Interrupts During some motions you may want to inhibit sensor interrupts This is accomplished using a SET object
9. HeartToHeart 3 1 Ser e EAn Y amp amp B M M ENC loom Rr 4 m m m HDdAESJER NTN EET EDIT 888 LIST Robot Control Board RCB 3 Hardware Manual KONDO HTH3 2007 02 05 2005 KONDO KAGAKU CO LTD RCB 3 V1 03 2007 02 05 E2008 11 Ver1 1 Before Reading The RCB 3 is a third generation control board developed for use with Kondo KHR series robots This manual explains how to connect the RCB 3 and how to use the newly developed control software application HeartToHeart3 Please read this manual carefully along with the other instruction manuals related to this product Note Some manual sections have explanations that use the Kondo KHR 2HV or other KHR series robots as examples Please take this into account if you are using this manual for products other than those used in the examples This manual applies to the following versions of the HeartToHeart3 software and RCB 3 firmware HeartToHeart3 2007 02 05 version and later RCB 3 Ver1 03 2007 02 05 version and later LENE MO ger lalyz litels RCB 3 Hardware Manual This manual covers connecting to the RCB 3 and other issues related to the hardware It also gives explanations of peripheral related options When using RCB 3 for the first time please do not skip this section HeartToHeart3 Software Manual Software This section gives detailed explanations for each function of the software application Read or refer to
10. Reverse c om Reverse l Reverse cemo omea Reverse Reverse cm1 Reverse omo Revese gt CH4 Reverse cm2 Reverse oHa Revese cH v coma Reess v cu Reverse OHE Reverse cm4 Reverse oma ox OH Reverse vw coms Reverse CHI vi CHB Reverse v ceme ej os l Mame Mirror 02 Load Save Delete kK Cancel Check the bowing_01 POS object pose With the original settings the robots right arm was extended forward After applying the two Convert functions described above the robot pose has been mirrored so that its left arm is extended forward Before conversion After conversion The Convert function can be very useful to modify poses and motions when Points s Mirroring poses and motion sequences ba Adding additional degrees of freedom servos to the robot Replacing servos with different models that have different parameters verting existing motions from the RCB 1 to the RCB 3 56 Advanced Motion creation using dividing function Conditional Branching A Conditional Branch changes the motion execution play flow A specific condition preset value loop counter sensor input etc is tested and the motion flow is modified accordingly A typical Conditional Branch within a motion will follow this pattern SET A SET Object is used to pre set a numeric value that will be tested later in the
11. and applying the same setting to all servos in the LINK at simultaneously Link Editing cHo J cH f cHio sti CH 0 ov coi ej cup FU omr ej HE CHB om f o ej on fr CHE cH4 ej CH CH7 cHs i sj or v CHE cHi6 ej cH4 Mame v Load Have Delete OK Cancel CH1 CH24 Pull down menus for each channel determine the function to be applied to the channel by the LINK Note For some functions a numeric value also needs to be entered Name Used to assign a name to each LINK New LINK names are appended to the LINK list when they are saved to provide quick access during POS editing Open Opens previously saved LINK definition files see below Note The PC file extension for LINK definition files is identical to Motion files RCB but the content is different Please organize saved LINK definition files using a separate disk folder If a Motion file is accidentally opened when trying to open a LINK file nothing will happen Save LINK definitions can be saved to a PC file for later use Delete Use the pull down menu to select the LINK to be deleted then click Delete OK Applies any edits or changes and closes the window Cancel Cancels any edits made and closes the window 49 Advanced LINK Settings Explanation PRM Parameter Sets the servo channel value to the number inserted within the parentheses For example the KHR 2HV uses KRS 788HV serv
12. 4 Place a SET object on the Datasheet and double click 2 Click the appropriate Sensor Control Enabled check box for the sensor channel to be inhibited 3 3 Each sensor channel has two check boxes corresponding to the two assigned motion scenarios C Gapture FREE Serva Values Sensor Control Enabled Set Loop Counter L Jf M ADI OFF Set Comparison Register AD OFF 0 AD OFF ADS OFF Set Sensor Reference Value ADS OFF AD Timebaze Jump 15me xl M1 MT Walk FWD 8 15 15 03 C Gall M1 MT Walk FWD 8 15 15 03 E Gall Return Te The SET object settings remain in effect until the RCB 3 is restarted or a AN subsequent SET object changes them 74 eAdded functionse 1 Acceleration of motion playing speed Explanation The biggest change from the version before the update before Ver 1 02 is this function Before with RCB 3 Ver 1 02 with inter object speed conversion 1 to 2 and time unit conversion 15ms 30ms when output period is 15ms had been consumed when passing through SET object and CMP object while playing motion scenario However Ver 1 03 has accelerated to a minimum of 2ms and the time lag of motion dividing using CMP object has become particularly minute the passing time of SET CMP differs depending on each objects setting However due to this Ver 1 03 is unable to completely reproduce motions such as the walking motion that were created before V
13. 6 26 13 02 x Low Power motion Option Te Motion replay Enable KRG 1 Start switch motion OFF Power up motion MO StartUP 6 26 13 02 h Low Power mation m50 ALARM MoO ALARM MEG MEG MEG ME Ser lal GH GHi4 CH GH M CHI5S CH GH8 CHI CH Reboot the ROB 3 to change to ICS mode Is Timebase 15me 4 Close the Option window to apply the changes 70 f CH lw GH M CH3 CH4 GHB lw GHB GH GHA GHI0 CHI CH1 GHI3 CHl4 GHI5 CHI CHIB GHIS CH20 CH GH22 GH23 Advanced Confirm Operation When the robot power supply voltage drops to the pre set limit value the assigned scenario will be played 71 Advanced Using Sensor Levels to Play a Scenario Change in sensor input can be set as a limit value to generate an interrupt and trigger playing an assigned scenario Setup Load the current Data Table from the RCB 3 and select a scenario to be played when the sensor limit value is exceeded 2 Click the Analog icon on the main menu to display the Analog window Select the tab for the appropriate sensor input Use the Playing the motion with interrupt of a sensor pull down menu to select the desired scenario Analog Input 1 Input 2 Input 3 Base Level Settione Measure Amount Ref 256 a p AUTOJ f 254 OP G aol
14. Conditional Branch Example Automatic Determination of Rising Direction Using an Accelerometer Motion sequence branching can be controlled by testing the amount of change in a sensor input In the example below an accelerometer is used to detect if the robot has fallen down and which direction it should rise Necessary Items RAS 2 Two axis Acceleration Sensor RAS 1 Two axis Acceleration Sensor Connection cable 100mm sold separately Note RAS 1 production stopped December 2006 Accelerometer Installation Using the connection cable connect the accelerometer X OUT terminal to the RCB 3 AD3 analog port I Ha VE n m i AD input 3 AD input 2 AD input 1 N X OUT N Y QUT Y OUT X OUT RAS 1 The X OUT No Ne terminal is the upper VW RAS 2 The X OUT terminal see drawing terminal is the lower terminal see drawing GND 5V PL SIGNAL PILS SIGNAL Note Refer to the appropriate user manual for information on sensor mounting locations and orientation 61 Advanced RCB 3 Set up A With the accelerometer installed See above turn on the RCB 3 and run H2H3 Click the Analog icon on the Main Menu to display the Analog Setting window Select the Input 3 AD3 tab The value measured by the accelerometer is displayed see screenshot below JE Adjust the slider bar to set the base reference value Ref to 0 Analoe Eg setting of a ba el eee Amount Gn m5
15. HI WiL f 3 Setas Home Position SE Ja Right click on any of the active servo panels then select Set Home Position from the menu een fele AE 1G eee ale vo co d amp Om DI r JE E 5 H oi Color 5 CH ow iL Name 0H24 COSV GOV SPEE Display Scale Factor Jim Set Home Position wa 2 Panel Display CI C ra 4 Click Home Position icon MM pane Lock To return the robot to its Home Position either click on the Tool menu Home Position icon or the POS window Home Position icon Note The Trim Position icon can only be used after the Home Position is set 22 Create start up motion introduction The RCB 3 can be set up to automatically execute a predefined Start up Motion when it is initially powered on Typically this motion is created to return the robot to its Home Position Note The following material assumes that the Home Position has already been set This process only applies to KONDO robot servo products HeartToHeart 3 1 Create a POS Object POS1 Using a blank Datasheet select the POS icon on the Object menu then click on the Datasheet canvas to create a new POS object POS1 Note Tool selection status is automatically cleared each time objects like POS SET MIX and CMP are positioned on the Datasheet To create multiple objects it is necessary to click the desired object type on the Ob
16. Real time mixing CHS CHI CHIU GH18 HII HIG CHI2 H20 GHI3 GHZ H 4 GH22 CH15 CHAS CHI16 Hed 4 D Oo n 7 AA AVA 4 Playing the motion with interrupt of sensor Playing o 4 b when an amount of OFF change exceeds Playing o 4 when an amount of OFF change exceeds BATT 119 AD i sai AD i dot ADs i DE Confirmation If the RCB 3 is not correctly connected the Analog Setting window will not open 62 Advanced 2 Using the figures below as examples place the robot in prone face down and supine face up positions and record the measured accelerometer values Close the window after recording the measured values Measure Amount por ar Measure Amount p2 2 Measure Amount Sy Measure Amount The following example uses KHR 1HV sample motions but the same basic technique applies to other robots Using a blank new Datasheet load the 1HV009_to stand up look up RCB and 1HV010_to stand up on his belly RCB sample motions and arrange them according to the screenshot below to stand up look up 01 to stand up fon his belly 01 to stand up look up O02 to stand up fon his belly 02 to stand up look up Da to stand up fon his belly 03 to stand up look up O04 to stand up ton his belly 04 to stand up look up 05 to stand up ton his belly OG Fe Gesu 00 to stand up fon his belly O6 je standup decks Ge to stand up on his be
17. See ose cote eal ties eit then tested by the CMP object If the loop counter value AD Change gt Comparison Register Ke 8G henge 2 Garpar enr Register is 0 the conditional branch is executed Otherwise the PAl Change gt Comparison Register loop counter is decremented Pa Change gt Comparison Register PAS Change gt Comparison Reeister The Comparison Register can also be preloaded by a PAd Change gt Comparison Register SET object In that case the CMP object compares the Remote Code Comparison Register Sanita Cate a 0 Comparison Register value to the change in the specified analog sensor input If the amount of change is greater than the Comparison Register value the conditional branch is executed Remote Code refers to the numerical value received from the wireless radio control and is tested by the CMP object to trigger conditional branching Flow Wiring gt Branch Wiring Motion sequences are created by placing objects Similar to the Flow Wiring tool above the branch POS SET CMP etc on the Datasheet then wiring wiring created with this tool defines the motion them together in the desired sequence using this branch to be executed when CMP object conditions tool This is similar to creating a flowchart are satisfied Note Branch Wiring always begins at a CMP object Compile Motion sequences are created and edited on the Datasheet by placing and wiring objects The motion sequence infor
18. application with the control board disconnected However with the RCB 3 this functionality has been integrated into the H2H3 application Note The KRS 4013HV and KRS 4014HV servos support the ICS2 0 standard and can be used in serial mode A Click on the Option icon on the Tools HeartToHeart 3 menu to open the Option Window emano el LE Gi Z Cen 4 mm GT M OM gt 9 fy Check the appropriate boxes for the channels whose ICS settings will ar be modified There is no problem if channel that won t be modified is M cute selected F CHIS CHO CH CH GH23 CH 2 Open the ICS Editing Window HeartToHeart 3 SOT e c sem Ics Mo Name Servo Stretc Speed Stretc Speed St Click on the ICS icon on the Tools menu to display the ICS Editing window With the window open cycle the RCB 3 power off then back on again to put the servos into ICS editing mode Read the servos current oe ICS settings by clicking the Read icon in ae the upper left hand corner of the window See 2 GH 3 CH 4 GH4 5 CH 6 CHE The servo settings are displayed in table 7 GH Stretch Speed E 5 HARD 13 FAST format Click on individual channels to edit 113 Sas ka f HARD ME FAST their settings De 11 GH After modifying the ICS settings close the window and cycle the RCB 3 power off and back on again to return the servos to normal servo
19. due to product improvements and other reasons Also the software may be updated without prior notice Software included in the product is provided as free software under the condition that it is only used in conjunction with our company s products Copyright and other legal rights belong to Kondo Kagaku CO Ltd Distributing publishing reverse assembling and other reverse engineering activities without prior permission in writing are strictly prohibited Company and product names in this manual are all registered trademarks of Kondo The underlying premise of this manual is that the products are to be used in Japan Use of the products outside of Japan or exporting the products may require permission or approvals under the related laws and regulations The software applications covered by this manual operate with Microsoft Windows2000 or XP SP2 Operation with emulators or other virtual software is not supported The Kondo Service Department provides maintenance service after purchase and accepts questions by telephone or E mail Support kondo robot com However please understand that it may take some time to reply questions via E mail This manual is a basic version of the control manual for RCB 3 and covers its use with KHR series robots The RCB 3 can be used with servos that use serial communication control methods like the KRS 4014HV However this manual assumes that all Servos are used by PWM method Information on servo ope
20. from the RCB 3 and displays it on the Datasheet Use the Read from RCE pull down menu to select the desired motion or scenario to be read then click OK M2 f M3 i Bid Delete Deletes selected motions or scenarios from the RCB 3 memory Select the motion or scenario to be deleted using the pull down menu then click OK M2 M3 M4 E ME ee E Stop Stops currently playing motions or scenarios Hi Pause Pauses the current motion or scenario To resume press the Play button gt Play Selects and plays the desired motion or scenario Click on Select the motion or scenario to play the play button then select the desired motion or scenario to play then click OK Cancel 16 Messa ge Displays a program status message along with the time eet EE EE Data sheet EDIT 888 LIST sn The Datasheet acts like a canvas for the creation and editing of motions and scenarios Objects are selected from the Object menu and placed on this canvas To edit the data and parameters associated with each object double click on the object to open its editing window Selecting the EDIT tab at the top of the Datasheet displays the Datasheet canvas with the current motion objects The tab also shows the Data Name assigned to the motion see Data Dialog below Selecting the Data List tab at the top of the Datasheet di
21. gt Comparison Register AD Change gt Comparison Register 403 Change gt Comparison Register P l Change gt Comparison Register F Change gt Comparison Register Edit the motion flow and branch wiring in accordance with the diagram This includes adding the CMP1 and its connections to the flow as well as moving the Start Flag to the SET1 object Note 2 half walks forward Shift the weight to right foot T left foot steps into right foot steps into I shift center of gravity to left foot shift center of gravity to right foot F night foot draws in Mg night foot descends vi 6 Write the new motion to the RCB 3 and test its operation Pressing the assigned key on the remote control will play the motion The SET1 object stores the pre set key code in the Comparison Register The CMP1 object tests to see if the key is still pressed and branches to replay the walk sequence If the key is released then the CMP1 follows the path to bring the robot to the HomePos 67 Advanced Using the Start Switch to Play Scenarios The RCB 3 Start Switch Switch1 can be used to play scenarios without the use of a connected PC or remote control This is often used for demonstrations or autonomous operation Output 15 Output 14 Output Output 13 Output 12 dd Ou ate 10 A i E Power supply emina q Output al Output 18 e Output 19 e i O
22. inconvenient To address these situations the RCB 3 supports advanced methods to dynamically manage gyro compensation MIX Object Gyro Settings Inserting a MIX object into a motion at appropriate points provides the Copy iga i Paste ability to manage the gyro settings dynamically ee Insert First create a new motion making sure to save and delete any motion already on the Datasheet Save Open Note When creating a new motion always delete all objects on the Datasheet An easy way to do this is to right click on a blank area of the Datasheet and click Select All from the pop up menu Right click on the Paste selected objects and click Delete or press the DEL key on the keyboard Sone Release Selection Insert Save Click on the MIX Object on the Object menu and then Open click on the Datasheet to create a new MIX object Color Double clicking on the MIX object will display the ins object s MIX Settings window ADI R OFF gt In the MIX Setting window the left column associated with each channel determines the type of mixing to be applied MIXI while the right column determines the scale factor gain For example AD1 R indicates real time mixing will be applied to the AD1 gyro sensor input OFF Similar to the Analog Window setting process explained previously different gain settings can be applied on an individual channel basis and multiple channels can be compensated simu
23. j 4 of sal 10 9 af 516 do 2052 40 o ef mf w s m No button l e sef mol av ef sf dej sef 44 of sf ng 7105 o s wa xs 40 a e oo 2 aa x o su oo 128 o em s o m 26 o m m a Q s sef m maj am o 6 v ol 2 v m tel ao 2 wj vif 4 aldadan N KRC 1 Button Layout Recommendations In almost all cases it is best avoid assigning the value of 0 to a motion Because 0 corresponds to no button being pushed the RCB 3 may play this motion continuously When two or more buttons are pressed simultaneously their numerical values are added Example Intermediate Gyro sensor Gyro sensors are used to detect changes in the robot s posture and to apply correction to the corresponding servos In older designs a gyro sensor unit was directly inserted between the controller board and the servo That approach restricted the gyro correction to a single servo or set of two servos and applied the same correction factor to each of the servos In contrast the RCB 3 supports up to 3 gyro sensors KRG 3 that can be directly connected to the controller board The gyro sensor signals can be modified scaled enabled disabled and applied under firmware and motion sequence control to any combination of the robots servos Also the gyro settings can be dynamically changed while a motion is playing using SET object parameters within th
24. look up 01 ta stand up ton his belly 01 ta stand up look up 02 ta stand up ton his belly 02 Loop Counter lt gt 0 to stand up look up 03 to stand up on his belly 03 ADI Change gt Comparison Register to stand up look up 04 to stand up fon his belly 04 P Change gt Comparison Register Pad Change gt Comparison Register Pad Change gt Comparison Register Remote Code Comparison Register to stand up fon his belly 05 to stand up look up OG fact snd up lt ul up nid to stand up ton his belly 06 p to stand up ton his belly 07 Dr to stand up ton his belly 09 to stand up look up 07 to stand up took up OG de Fi to stand up on his belly 09 l to stand up look up 10 to stand up look up 11 GE og on n 3 cn cn rd a 5 CF 7 p Y Connect the Datasheet objects as shown in the example to the right Place the Start Flag on the SET1 object to stand up took up 01 to stand up ton his belly 01 to stand up look up 02 to stand up fon his belly 02 to stand up look up 03 to stand up fon his belly 03 8 When played the motion first checks to see if the robot is laying in a supine position SETT CMP1 If it is then the corresponding motion to stand up look up 05 is played If it is not then the motion checks to see if the robot is laying in a prone position SET2 CMP2 and plays the corresponding to stand up look up 0
25. made possible to save and read in individual objects of POS SET CMP MIX from the right click menu on the main screen For details please refer back to p 17 of this manual Making LINK Settings into files It has been made possible to save and read in LINK settings For details please refer back p 49 of this manual Making converting settings into files It has been made possible to save and read in converting settings For details please refer back to p 53 of this manual 9 Modification of data table Explanation When writing in more than 30 datas spread across more than one motion number the motion name is now displayed on all motion numbers Also when deleting that motion all motions are now deleted if you specify the first motion number For details please refer back to p 28 of this manual 10 Modification of environment settings Explanation We have made the default value of grid interval X5 Y5 Width Height Size 540 460 arid size 5 f Display ROB file icon Display jf Tool menu f Object menu M Communication menu M Command menu 78 eDeleted functionse 1 Deletion of multi task function Explanation Because this function could not be used along with the acceleration of motion play speed we have deleted the multi task function 2 Deletion of compulsory cut in when doing sensor input Explanation Because this function could not be used along with acceleration of
26. mode IS iF f 5 H f OWL GHI9 E 6 CH Ga OWEL changed Note The servos will not move unless the SYNC check box is checked KI T co 51 H DVL CH20 54 H OVD C 5 H ovii CH C 5 CH ovin C 5V H DVL CHI 5V H ow iL 5 H ovil CH2 5V H oiL GHI e 5 H E DVEL GH24 O 5 H ovi LINK Ko Ca G2 I O a p lg T dem ec 0 PM e gao mg m E FM E ae a E PL gt The screenshot on the left shows a le E d Jons P 1 gt typical example with all active servos set PE br Ff to their 0 position eS m am T F W MB once all servos have been set then H10 0 4 l GH i 6 CH fe Dw iL i close the window CH12 0 4 GH24 5 H DVL po e oe fd Sea Sortie O 20 introduction TrimDialog I ES 3 Setting the Trim Position E OF Click the Trim icon in the tool menu to KI z al Pod a H a E g open the adjustment window as a a pes Eee i E Dee Each servo channel has a slide bar to adjust its EI o cH2o f Trim Position KI a lener f The actual numerical values will differ based on er 8 E peer the robot model je P There is a limit to the range of trim adjustment gt AN that can be applied using the adjustment window sliders or i i Also even if a number is within the allowable range there may be a limit to the range of the motion
27. motion playing speed we have deleted the function of compulsory cut in when motion playing For details please refer back to p 70 and p 72 of this manual eOthere 1 We have solved the problem of motion play speed slowing down when using wireless radio Explanation We have solved the problem of motion play speed slowing down when using wireless radio under certain conditions that had been happening in Ver 1 02 and before 2 We have solved the problem of the content being displayed abnormally when using converting function to SET object 3 We have solved the problem of file size when saving Explanation We have solved the problem of the file size of motion data files enlarging every time saving under certain conditions that had been occurring with Ver 1 02 and before However the meaning of this is that files with those problems will no longer be created in Ver 1 03 and later If you create such a file in Ver 1 02 or before and keep on using it with Ver 1 03 the problem will not be taken care of Even more advanced uses will be explained in our company website Also for updates on this manual and software after purchase please see our support page http www kondo robot com 79
28. on the powe Connect the RCB 3 to the PC and power up the robot If the Start Up Motion has been set then each servo will slowly move to the Home Position 2 Start the H2H3 Software Start the H2H3 software select the appropriate COM port and click the TT e Make the settings on connection port which corresponds to the port number FA coms of the connected interface port EEE ePut a check on synchronization switch The changes you will make to each servo will immediately reflected 3 Read the Data Table When the H2H3 software initially starts it doesn t know the current RCB 3 Data Table information Click the Table icon on the Tool Menu to open the Data Table then click the Read icon to update the H2H3 Data Table display with the current RCB 3 status 4 Create a Motion LS T GRID 4 SET MH CHP gt 44 M HeartToHeart 3 Motions are created by placing and Sono Ole e gt amp a mF EN pw Red 4 m mme N e OMM connecting a series of objects on the Datasheet canvas EDIT LIST Simple motions can be created by clicking on the POS icon and then the Datasheet to place POS objects The POS objects are then wired in the J Data sheet desired play sequence using the Flow Wiring tool Click on the Start Flag icon then the POS object that represents the Start Object of the motion X 131 Y 8 RUN _ 4A 27 Introduction 4 Edit the Motion Objects
29. parameters nar Height Size Sets the Width and Height of the Datasheet display Size 640 p Grid interval Sets the smallest grid interval for object positioning on X Y the Datasheet Grid interval 10 fio W Display an icon of ROB file Property Display file icon The check box toggles display of the RCB file icon associated with the file Display Display The four check boxes toggle the display of each icon menu f Tool menu Group h Parts menu W Communication setting Apply Click to apply new settings W Command menu Exit Displays application Click on this icon to Question information a indiana th close the application includin e i g ProgramName HeartTaHeart Part A confirmation dialog version Close the 2007 02 05 box will appear Note Copyright 2005 KONDO KAGAKU Co LTD FacePlate Be sure to save any changes to your data prior to closing the application window by clicking anywhere in the main window or on the X in the upper right corner iw ELSE MA Note To open any of the tool menu windows the RCB 3 has to be turned on and properly connected to the PC F Trim JE Option Adjusts the trim for each servo connected to the Controls the RCB 3 option settings that are covered in 24 output ports other sections of this manual Option TrimDialog E Serial mode GHI M CH9 CH1 CH2 M GHIO M CH18 CH3 GH11 M GHI9 Start switch motion
30. that can be made with the slider Servo numerical display values HI 690 J Servo actual numerical working value CH 262 4 p CH 262 r 4 Returning to the Trim Position To return the robot to its Trim Position either click on the Tool menu Trim Position icon or the POS window Trim Position icon Note When the Trim Position icon is clicked the robot will momentarily go into free mode servos un powered and will then move to the Trim Position at a SPEED of 100 Note The Trim Position icon can only be used after the Home Position is set Details on the next page 21 introduction Setting home position The Home Position is a user definable robot posture In contrast to the Trim Position which is an upright reference posture use for adjustment and alignment of the robot the Home Position is the base posture from which the user can create motions For example the robots knees and or arms could be bent slightly Ice P IJd p p oms P e a z i Posi Pre G 0 a l E 0 CHI15 E 0 E ie 0 1 Open the POS Window Double click on the POS1 object to open the POS editing window et ET 2 Create pose Adjust the servo slider bars to create the robot pose to be used as the Home Position HI H H H HE H9 como p E TJ gt cH C 5V H DV iL mer E de CH 6 OW cma f0 f E Ha C 5W
31. the RCB 3 always confirm rom av a am ae gt gt MAA G the current RCB 3 Data Table listing DataTable EG erre le ES Click on the Table icon to open the Data Table display Click on the Read i i ty DA ea eee A Control the upper left hand corner of the window al Ea EN to retrieve and display the current Data if ss Table from the RCB 3 M5 0 en 65535 ME 1 E se 655 35 As motions or scenarios are written to AE i Ge she the RCB 3 they will appear in the Data Mg 0 R 65535 oe Mio 0 a foo 65535 Table listing M11 0 65535 M12 as TE 65535 M13 a Gar Ga 65535 Mid 0 65535 M15 0 65535 h mi 655 35 M1 0 65535 Mi8 0 65535 Note The Data Table can be simultaneously E 0 an e 65535 M20 aa a 65535 j j i Mot 0 Sejer 65535 displayed along with other windows ae 1 EG ae 23 65535 M24 a nates ma 65535 M25 0 min 65535 25 introduction 13 Write Motion Data DOl eE amp F KEG v Click the Write icon to write the current motion data to the RCB 3 controller Select the desired RCB 3 memory slot to store the motion then click OK Memory slot M80 is a typical choice for storing the Start Up Motion q F em Oe fm A SE oe amp BO O Write to RCB 3 Note The RCB 3 will momentarily go into Sleep mode as the motion is being transmitted aan Be careful to avoid any
32. 7 motion Otherwise it branches to the last HomePos object to stand up took up 4 to stand up ton his belly 04 wi to stand up fon his belly OG istand up bak in dg to stand up ton his belly D6 to stand up ton his belly 07 to stand up fook up 08 to stand up fon his belly 08 ae E to stand up look up OG to stand up fon his belly 09 ov ie Z aad a a F al a a to stand up look up 10 to stand up look up 11 Ui Points The Comparison Register values used above are examples and can be changed to any appropriate values depending on the actual application 65 Advanced Conditional Branch Example 2 Remote Control Generating Continuous Motion Conditional branching can be used to have motions play continuously as long as a button on the remote control is pressed The following example illustrates the use of conditional branching to have the robot walk forward continuously while the corresponding button is pressed Make sure that the RCB 3 and remote control are set up in accordance with the procedure earlier in this manual 1 Using a new blank Datasheet load the 1HV001 walk forward RCB sample motion Double click on a blank area of the Datasheet to display the Data Dialog window Map the motion to a remote control button using the procedure covered in the Remote Control section of this manual 2 In this exampl
33. A Ld Apply Color Properties Delete Select All gt gt The wiring tools are modal and remain active until another tool is selected i Note To cancel a wiring operation after it has begun red wire is displayed right click lt Add start flag to data sheet Add flag to object that you selected and wish to be executed first Note The Start Flag tool is modal and remains active until another tool is selected Placing motions on the Datasheet causes it to be automatically recognized as a Scenario 39 Intermediate 4 Write the Scenario M HeartToHeart 3 i DataDialog m Ar PE wl E Data name 3 IR rer 4 oS GED mm a Tt Bg 14 25 03 gt Write successful Remote Control Code 65535 Capture EDIT TESTOO LIST Ok Cancel MI Walk Fw vi Double click on a blank area of the Datasheet to display the Data Dialog window Enter the Scenario name lit is also possible to map a remote control key to play the scenario if desired Click OK to save the changes EA Click on the Write icon and select the desired RCB 3 memory slot S1 5 to store the scenario then click OK p Write to RCB 3 Scenarios can be played just like motions Scenario Content and Cautions Motion sequences contain all the information necessary to define the robots movements In contrast scenarios only contain a list of motions to be played They contain no detailed informati
34. Data Table from the RCB fn mme EN DEE 3 This will display a list of the motions and scenarios a including their names and dates Note When you first start up HTH3 the Data Table Display will be blank It is not automatically synced with fom an the RCB 3 Please click the Read icon to load the current Data Table SYNG Sync When the SYNC box is checked any servo T smo cove al position changes made in the application are automatically sent to the RCB 3 and will cause the corresponding servo to move on a real time basis If the box is not checked then the RCB 3 is only updated when the Send icon is clicked 11 ay PEN e NEED a Se oa an Snopes ee eee SE a a ee ey Seer ate ay ee ee oe i oe En ve ee EE TESE EE ENE EN EG oy EE a come COM Port Sets the communications port COM port to be used The Serial USB Adapter is recognized by the Windows operating system as a virtual serial port To communicate with the RCB 3 H2H3 needs to be set to the virtual serial port assigned by the Windows operating system The virtual serial port assignment on your PC can be determined using the Windows Control Panel Refer to the Serial USB Adapter manual for details The Objects Menu is used to create and edit motion and scenario sequences on the Datasheet LS Select F GRID Grid Used to select objects on the Datasheet Te If the GRID box is checked objects will snap to grid Select mod
35. ED2 green External switch connector Switch1 Connector Types Power supply connector Power supply setup AD input 3 Operation voltage 9 12V AD input 2 Note Can be operated with a 6V power source AD input 1 using the Kondo Booster 3 option board Output connetors The correct power supply polarity is shown Output 1 8 in the picture non lt O Please check the polarity carefully when O Z using connectors that were purchased H v O separately i j Output 9 16 RIG N D af look AD input connectors mlv c c Output 17 24 Qo lt 0 y HI Signal z Q Q oa o zZ U O D 5 gt o o5 The RCB 3 board was designed so that the negative GND terminals are always positioned towards the outside edge of the board Positive power source terminals are directly connected to VCC Output signals from the CPU PWM serial H L etc are 0 5V output levels Regulated 5V power is available via the VDD pin of the AD input connectors A total of 50mA can be supplied to sensors from the three AD input connectors High speed serial connector Low speed serial terminal To communicate between a PC and the RCB The low speed serial connector is typically 3 use the Serial USB adapter supplied or the used for remote control operation with the KRR 1 wireless radio control receiver or the KR 1 in conjunction with the KRR 2 ICS PC Interface 2 adapter previously used 7 with the Kondo RCB 1 In either case please confirm the COM
36. OS icon on the Object menu then EN E click in a blank area of the Datasheet canvas A new POS object will be created EDIT 4486 LIST 7 Double click on the new POS object to open ug ua ports are set to OV L To operate a servo the F 45y HD ov iL CH4 C 5w H ov in corresponding output channel needs to be set to C 5V H DV EL GHIS C 5V CH ov in SERVO Right click on the panel connected to the SV H OIL CHIE 5 H OV tL servo CH1 for example and select SERVO SJ AE Note While using the POS window if you click on any other H2H3 window the POS window will automatically close Double click on the POS object again to reopen the POS window if necessary arms mn CH O EV iH E owi E E Fe shir Fo omer fi The servo panel will display the slider bar Moving the slider will cause the servo to change positions accordingly Note Always use the slider to return the servo to its initial position when removing or installing parts like horns attached to the servo Caution The servo will instantly move when the panel is switched to the SERVO mode Please be careful of the servo horns and other parts attached to the servo 8 Using this method the servo operation is confirmed Repeat these steps to change servo positions and movement that using the servo in serial mode has some differences 1 Note The process above assumes the servo is being used in PMW mode
37. Please be aware 19 introduction Preparing the Trim Position The Trim Position is the basic reference position Setting the servo position to O center of rotation for all robot motions and movement In general prior to attaching any parts establishes a repeatable humanoid robots stand upright like a human being reference alignment and stable robot while making However to consistently attach or replace parts it easier to change or replace parts later If for some of the robot to the servos a repeatable reference reason parts cannot be easily attached to the servo alignment needs to be predetermined This in its center position then change the servo rotation alignment will differ based on the robot model and attach the parts 1 Note Each servo should be set to its initial 0 position using the steps above The following section assumes that all of the servos are connected to the RCB 3 f Posi HA PEN H1 90 t GHIA f 6 CH f DY iL GHI COSV OVD CH4 COSV EOL i 6 H Dwi CH15 5V CH G Dw iL i 54 H Dwil GHI6 O 6 CH Ga Dy iL 2 Change Output Mode to SERVO E One by one set each connected servo panel to the SERVO mode and set their positions to 0 using the slider bars JE DI CI aE E i i GHE f 54 CH f OWL GH f 5 CH f OWL Please be careful since the servo will GHB 5 Hi f Dw iL CH18 54 Hi oily abruptly Move when the panel
38. Position Panel Lock Locks and unlocks positioning of the panel within the POS window SPEED 100 a r SPEED Sets the POS object execution time Increments correspond to the current RCB 3 setting For example when the RCB 3 is set to 15 ms each Speed increment corresponds to 15 ms LINK LINK Allows complex modifications to POS objects including channel swapping scaling and others This is covered in detail on page 49 Write Sends the current pose to the RCB 3 and causes it to be executed Note This is non functional when the SYNC box is checked qi Read Reads the current pose from the RCB 3 Note This is non functional when the SYNC box is checked a Home position Returns the RCB 3 and robot to the previously set Home Position pose Trim position Returns the RCB 3 and robot to the previously set Trim Position The trim position E is typically defined as all active servos set to 0 values Sleep Toggles the servos between sleeping inactive and awake active modes Note Please be az careful of abrupt servo movement when returning from the sleep mode TET Snapshot Captures the current servo positions Used by the Teach function which is explained in detail on page 41 Increment LINK Used by the LINK function which is explained in detail on page 41 gt y p pag 13 SETI SET Object Used to preset a wide range of variables that control conditional execution
39. SET2 object at the top of the Datasheet Double click on the SET object to display the Set Object Editing window Add 10 to the value measured when the robot was in a prone face down position Enter the calculated value in the Set Comparison Register box Note Typical values are approximately 335 RAS 1 or 130 RAS 2 to stand up look up 01 to stand up on his belly 01 W F l SETI to stand up look up D2 to stand up ton his belly 02 F Capture FREE Servo Values Sensor Control Enabled Set Loop Counter ACT OFF to stand up look up 03 to stand up fon his belly 03 m W r N r f M ADI OFF parison Register M AD OFF a mi ADS OFF i ADS OFF Set Sensor Reference Value AD v Timebaze F w standup doek upoe to stand up fon his belly 06 y Jump 15me MT MT WalkiFWDJ 8715 15 03 h Ni j Gall EEE Er ta stand up ton his belly 07 TENKE to stand up on his belly 08 MF Call Return to stand up look up OG ta stand up ton his belly 09 to stand up look up 09 to stand up look up 10 ta stand up look up 11 i A Advanced 6 Create a set of new CMP objects CMP1 and CMP2 at the top of the Datasheet These will be used to control the motion branching Double click on each of the two new CMP objects and select AD3 Change gt Comparison Register CMP SETI SET CMP2 to stand up
40. T u 4 Oo Oo a oa OG oy oo m7 mM ma mm ma mm am 7 mom mM om mam om 1 7 AAAA AAAA D T T 4 4 Play motion on sensor interrupt change exceeds Play fo 4 Interrupt trigger level Changes made in the Analog Settings window are OFF change exceeds automatically saved in the RCB 3 and are executed when it gampr ampo aoon anepo is turned on Input 1 Input 2 Input 3 Base Level Settione Ret Measure Amount 256 a jauTof fe 254 me Po i FIL IE OFF CHI OFF OFF CHIS OFF OFF Bee E For proper operation servo positions with a non OFF CHW OFF moving gyro and servo positions with no gyro nFF mH OFF should be the same If they are different then some adjustment needs to be applied Make sure that the gyro is not moving then in the upper part of the Input 1 Input 2 hput 3 Aann rer Analog Settings window Base Level Setting click the no da Cf E AUTO button This will capture and store the current ES gyro signal 35 Intermediate More Practical Gyro Techniques The gyro set up process covered on the previous page results in settings that take effect from the time the robot is initially powered up until it is shut down That set up process doesn t compensate for gyro sensor drift over time or drift due to temperature changes Also the gyro compensation is applied to all motions played though this could sometimes be
41. click on the Start Flag icon on the Object menu then click on the first POS object to be executed in the motion A red Start Flag will appear on the object Note The Start Flag tool selection is modal and isn t deselected until another tool is selected Each motion can only have one Start Flag 24 introduction DataDialog 10 Enter the Motion Name Double click on a blank area of the Datasheet to open the Data Dialog window Enter a name for the new motion like Start Up Motion for example Then click the OK button The new name will appear in the Datasheet EDIT tab Data name No Title Remote Control Code Capture DataDialog Cancel hd HeartToHeart 2 Remote Control Code Cates F BEG O8 y amp amp amp SA MK Sie En Rem 4 m MER Cancel Tema ist I ha Hea glay 5 11 Save the Motion The new motion can be saved to the PC hard disk Click on the COEK lt H Save Diskette icon on the File menu then select the disk folder de KK as i eee and file name to save the motion aHeart 3 EDIT 828 LIST Save in Ji ReB 3 eS fe c E ai SKADE BA Y4X 59 This folder is empty A save dialog will appear and you can enter a name 12 Confirming the Motion Destination Destination To avoid writing over other motions or HeartToHeart 3 losing data before writing motions or E OG o LF ES EIGE scenarios to
42. control mode mm Limiter L 60 4 Limiter F 60 4 37 Intermediate Creating a Scenario Scenarios are a simple way to play a series of motions in a consecutive fashion For example scenarios are a useful way to perform an autonomous demonstration within a given period of time 4 Clear the Datasheet HeartToHeart 3 mn ma E Anony Ar Bo Mr snc mE Rre 4 m E m ppm 4oSeeon ep Creating a new scenario requires a blank Datasheet Select all existing objects by right clicking on a blank area of the Datasheet then click Select All on the pop up menu Right click on the selected objects and select Delete on the pop up menu or press the DEL key on the keyboard EDIT TESTOO2 LIST Release Selection Freel All Servos Copy Paste Convert Insert Save Freei All Servos pet the value in the para moss Release Selection Copy Paste Home Fos Convert Insert Save Open Color Properties Delete Select All 2 Open the Data Table hd DataTable po Control a Mi walk FWE 14 5 6 18 26 65535 7 M2 WalkiBAaK 14 5 6 18 22 65535 M3 Walk Before the diagonal the lef 10 KJE 18 22 66535 m Walk Before the diagonal the riz 10 FE 18 24 65535 Click on the Data Table icon on the Tools M5 Side stepil 10 5 6 18 24 65535 M Side step Ri 10 KE 18 26 66535 menu t
43. e 1 is used as the Control Input value but any remote control key or key combination can be used this example Note 2 half walks forward Em Shift the weight right foot left foot raises v left foot swings front right foot raises gt right foot swings front left foot steps into right foot steps into Shift center of gravity to left foot night foot draws in left foot draws in il vi right foot descends left foot descends Capture FREE Servo Values Set Loop Counter ADI OFF Abi GFF M AD OFF M AD OFF I ADS OFF C ADS OFF Timebase fr Set Comparison Register 1 q Set Sensor Reference Value AD Jump in MI WalkCF WD 8 15 15 03 tg Call Mt MT Walki FWD 816 15 03 Call Return 66 El ooo ai sie soni a T vi il DataDialog Data name Walk front Remote Control Code Es i L Reception OK Cancel Create a new SET object SET1 on the Datasheet Double click on the object to display the SET Object Editing window Select Set Comparison Register and enter the Control Input value 1 in Shift center of gravity to right foot Sensor Control Enabled Sms v Advanced Create a new CMP object CMP1 Double click on the object to open the CMP Editing window Select Remote Code Comparison Register Note 2 half forward walk Loop Counter lt gt 0 401 Change
44. e is accessed by clicking on the icon Or intersection points on the Datasheet If the box is pressing the keyboard Esc key unchecked then objects can be freely positioned 9 Start Flag Determines the motion sequence Start initial object to be executed first If there is more than one motion sequence on the Datasheet then only the motion with a designated Start Flag will be executed This will be covered in more detail later in the manual POS Position Object POS Objects are used to modify servo position El i o settings or channel parameters The window to the ao left will appear when you double click on a POS Object Any changes made become effective when the window is closed CHi BOe oem POS Object Window explanation Portia Each servo panel labelled CH1 through CH24 controls the settings for the corresponding Mame RCB 3 Output channel These used to set the operating modes and positions for Display rate setting connected devices usually servos Right clicking on a panel will display the set up menu Set as home position shown on the right Fixation of the panel Set up Menu explanation NONE Resets the panel to the default mode with nothing displayed SERVO Sets the panel to servo mode and displays the servo position slider bar control Servo position can be varied by clicking on the arrows at the left and right of the slider bar dragging the slider to the left or right or by typing t
45. e motion Connecting the Gyro Sensor KRG 3 Connect the gyro sensor to one of the RCB 3 analog input ports AD1 2 3 L AD input3 AD input 2 AD input 1 Confirm Basic Gyro Operation The easiest way to confirm the gyro operation is to use the H2H3 Analog Settings Assuming that the Start Up Motion described in the as JE gt T Pri Introduction has already been created turn on the robot and allow it to slowly move to its Home Position Then click ss mm on the Analog icon in the Command menu to display the Base Level Settione r Analog Settings window ae HH I e l For testing purposes select the appropriate input port tab Real time mixing hg CHY typically Input 1 AD1 and set the real time mixing CH1 a a pull down menu to a value of x5 Tilt the gyro sensor and CH3 CHIT the servo connected to CH1 should move in response a cH In this example the gyro signal was scaled by a factor of 5 CHE CHI4 and then applied to a single servo CH1 Using the same W A approach the gyro signal can be applied to multiple servos at the same time and different scale factors gain can be HS TT 37 inter tigger level used If a negative scale factor is selected it will cause the EG servo to move in the reverse direction Oo 0 n 7 n 7 4 4 4 D TI T 4 4 D T aL pan TI T 4 4 Oo O D OD ao a mai m7 7m 1 mm 7 nm m1 7 7 7m 7 appa AA yada D
46. er 1 02 We will explain how to deal with this by using the walking motion of KHR 1HV as an example Setting steps Delete wiring that connects C F POS object and divide CMP object 2 Copy C and F and paste them rename both as C and F 75 lt 3 Open POS window of C and a Cv G ove F and make the numerical GH Bae BE GHS C 5W H ow iL ENG SPE ma rpa 13 eit f 6 C 5 CH Ovi f 5 CH DV iL C 5V CH ovi C 5V CH ovil C BV H ovin CH6 C 45V H OV iL C 5V fH fe oy tly CHIF 5 CH f OW CL 45M H ov l C 5 HI f OWL C 5V H ovil C 5v H 6 DV D C 45 H G DVL C 5V H E ovi C 5V H ovil C SV H ovi 4 Wire of motion C C CMP dividing F F CMP dividing 5 By placing C and F in this way you can create a state close to the time lag when dividing that was seen in Ver1 02 and before However this method does not completely guarantee an accurate reproduction In order to bring the performance of Ver 1 03 RCB 3 to full play we recommend you to modify the motion itself 76 2 Addition of jump to motion scenario and calling function Explanation We have added the function of jumping to a motion scenario while playing another motion scenario and the function to call up For details please refer back to p 43 of this manual 3 Addition of MIX object Explanation We have separated the
47. etween two existing and EN connected POS objects on the Datasheet Multiple new POS objects can be inserted 1 2 n Servo positions and SPEEDs of the new objects are linearly interpolated from the selected POS objects Save Saves the selected objects Open Reads previously saved objects and inserts them on the Datasheet Note Saved objects have the same filename extension as other H2H3 files RCB but use a different file format To avoid confusion please create a separate file folder for storage of saved objects Color Sets the display color for selected objects Properties Used to edit the object name and to set the width and height of the object on the Datasheet Click Apply to update the object properties Width 2 Height 30 Delete Deletes the selected objects Apply 17 Name POST Auto introduction This section covers basic operation and the creation of a simple motion The RCB 3 is an advanced control board with a rich selection of functions However the process to create a simple motion is very straight forward Servo connection and control Setting the default servo position A When using H2H3 for the first time please refer to the installation section of this manual to install the serial USB adapter and install the H2H3 application software Note The communications port COM port number assigned by the PC operating system and the COM port number selected in Step 4 below must match
48. for H2H3 to communicate with the RCB 3 2 With the RCB 3 power off connect one servo and the serial USB connector to the RCB 3 Power up the RCB 3 The green LED will light up for approximately two seconds 3 Open the H2H3 software The application status bar will display the current system time and the COM port ha HeartToHeart 2 status see screenshot to the right p7 GANG amp Z T GRD 1 ED EH gt mE 4 EDIT 88 LIST Nr Select the COM port for H2H3 to use For example if the port assigned by the PC operating system is COM6 and COMG is selected on the pull down menu then the status bar will display COM6 OK B22 06 52 gt COM OK FF If a non existent COM port or a COM port that is being used by another application is selected then the status bar will display a message indicating that the selected port cannot be used Please select the correct COM port BETTE Note To determine the COM port number assigned by the PC operating system please refer to the Serial i USB Adapter manual Check the SYNC check box When the SYNC box is checked then any changes to servo settings within H2H3 will automatically be transmitted to the RCB 3 and the connected servo 18 introduction reorToveort s 0220 6 6 Create a POS Position object on the RS GS og LT MM sv Datasheet to control the servo To do this first Z CORD 4 le GED AM Ts Db a4 z click the P
49. from the pull down menu C 5V H ovil i ei ge ev lg o L I den al 1 oo E rar U 8 E s ome f t CH2 ae FU m gt CHB Pu H LJ lom Pl m o pH LJ dom FU 3 TCH m Hom Pl E q gt New Link bg o speeD fio 4 in D 4 EG 22 ith A t LAS J 4 JJ CH1S 0 K With the new LINK selected use the following a re process aan i P BAG OLC gig Click on the Snapshot icon once The servos set to TCH mode in the LINK will automatically go into FREE state allowing them to be easily moved manually Position them to assume the desired pose Note The affected servos will go into FREE state when the Snapshot icon is clicked Be careful to avoid the robot falling or other abrupt motion gig Click on the Snapshot icon a second time The current servo positions will be captured and the servos will return to SERVO mode The POS settings are automatically updated with the new position data New LINKs are appended to the pull down LINK menu and can be reused at any time to quickly modify the positions of servo combinations This technique can be very effective for frequently modified servo combinations like legs and arms Using the Teach mode a servo may sometimes be manually moved beyond its defined movement range however H2H3 will limit the capt
50. function from the pop up menu se HeartToHeart 3 L Mo title LIST Release Selection Copy Paste Convert Insert Save Open Color Properties Maleta 47 Intermediate The Insert input window will be displayed Enter the number of new POS Objects to be created For this example the default value of 1 was used Number of new objects _ men 5 The new POS Objects will be automatically inserted and connected POS3 in this example Sooo wae rers F ee RK oso 4 moa m m o mn A o EDIT No title LIST Note The servo values and speeds for the new POS Objects are linearly interpolated For example if n new objects are inserted then the incremental change in values between objects is calculated using n 1 as the divisor and digits beyond the decimal point are ignored Points The Insert function is useful to subdivide a very large motion between by two poses into smaller segments Or to fit a motion between two poses to a curve to make it smoother or more lifelike 48 Advanced LINK Function Position Editing The LINK Function The LINK function is an extremely powerful editing function used with the POS object Mentioned briefly in the previous manual section on the Teach Mode the LINK makes POS object editing much more efficient by supporting the creation of user defined servo channel combinations LINKs
51. he desired position value in the box to the left of the slider bar Note Typed numeric entries do not become effective until the Enter key is typed The numeric value represents a scaled version of the servo angle and varies based on the servo models being controlled For example for the KRS 78x and KRS 23xx series each increment represents approximately 0 35 degrees of rotation For the KRS 4024HV servos each increment is approximately 0 5 degrees and for the KRS 4014HV servos it is approximately 0 52 degrees with PWM HEF HTG 12 FREE puts the servo free rotation mode undriven Note This only applies to Kondo robot servo products SET1 SET3 Applies sets of servo characteristics Changes servo characteristics like compliance and speed under program control Note This only applies to Kondo robot servo products For the KRS 4013HV and KRS 4014HV servos the setting panels do not appear in serial mode H Outputs 5V signal level L Outputs OV signal level Display Used to display or hide each panel Color gt Sets the panel display color Name Allows changing the assigned panel name CH1 CH24 Display Scale Factor Scale factor for displaying the servo position For example to have 1 display count correspond to 1 degree of rotation KRS 78x series and KRS 23xx series set to 2 9 KRS 4024HV set to 2 0 KRS 4013HV and KRS 4014HV set to 1 92 Set Home position Sets the current pose as the Home
52. icit plus or minus sign then the value is treated as incremental and the servo stretch parameter is incremented by that value Usable Numeric Values 1 127 TCH Teach Sets the servo channel for use by the Teach function Applies only to KONDO Red version servos Points For LINK functions using incremental values not including TCH using the Increment LINK control will increase or decrease the servo channel value by the incremental amount md p Advanced LINK Function Examples PRM Parameter Since the PRM function automatically sets the assigned servo positions it can be used to simultaneous set a combination of servos to frequently used positions Note The corresponding channels must be set to SERVO mode otherwise the operation is ignored Points Using the LINK PRM function to create frequently used postures AT Note The example below uses the KHR 2HV configuration and values Refer to the POS Editing Window example page 31 for servo positioning PRMD ev om fC PRMD PRM CHIO v er PRM v Gut PRMD PRM 140 CHi2 PRM PRMOD GHIS PRM 140 PRM PRM coms PRME 70 ou PRM cms PRM v ou Name POS1 Load Save Delete JK Cancel 5 CH f DVEL CHB CC 6 CH f Dw iL 5 H OL GH 5 H OWL 5 CH OVD CH18 5V CH OW CL fm 5v CH pow CHI6 5 CH i OV EL O 45y H pwi GH 54 CH f OW CL 6 CH f DVL
53. ick on the Data Dialog Capture button while continuing to depress the remote control button The value in the Remote Control Code box will change to display the received remote control code value At this point release the remote control button and click OK to update the mapped motion settings Note This is the recommended mapping method It is also possible to open the Data Dialog Window by double clicking on a blank area of the Datasheet However any changes made using that process will not become effective until the current motion is written to the RCB 3 Note When mapping remote keys to motions using the Data Table changes are automatically updated to the RCB 3 Any previous mapping is overwritten In contrast mappings made using the Datasheet and Data Dialog directly only modify the mapping within H2H3 and are not automatically updated to the RCB 3 It s good practice to use the Data Table method to update the key to motion mapping then load the corresponding motions from the RCB 3 and save them to the PC The functionality described in this manual so far is basically similar to the older RCB 1 robot controller however the RCB 3 functionality can be used in many more advanced ways 33 Intermediate Remote Control Values The KRC 1 remote control key mapping table with the transmitted key codes is shown below for use with the RCB 3 RCB 3 Control input value table No shif Shift 4 To m do o am i sef dos
54. indicated by the number in parentheses Usable range 1 24 integer only ReadTo Read Effectively the reverse of the CopyTo function the ReadTo function sets the current CH value to the value of the CH indicated by the number in parentheses Usable range 1 24 integer only Change Change Swaps the values of the current CH and the CH indicated by the number in parentheses Usable range 1 24 integer only Reverse Reverses the CH value changes the value sign positive negative PRM Parameter Sets the CH value to the number in parentheses Note Care should be taken to remain within the effective servo range For example the KRS 788HV servos used in the KHR 2HV move approximately 90 degrees with a value of 261 Therefore the usable range for the KRS 788HV is 261 to 261 Usable range Effective servo value range ADD Add Increments the current CH value by the number in parentheses Usable range Effective servo value range MUL Multiply Multiplies the current CH value by the number in parentheses Note Decimal values can be used within the parentheses and the resulting value is rounded to the nearest whole number Usable range 1000 00 to 1000 00 SPD Speed Modifies the POS Object SPEED based on the number in parentheses Note Applying the SPD function to any CH changes the SPEED value for the entire POS Object Decimal values can be used within the parentheses and the resulting value is ro
55. ject Menu each time EDIT 888 LIST POST eB ODO veh Ss am IR Com 4 0 Gama gt 4 2 Edit POS W POS1 Double click positioned POS1 and open POS window On the es gr Ole POS window make all the setting of the channel that the servo NONE om Bl is connected to FREE SERVO ens pl CH4 FREE Hemne P af 3 Set SPEEED ii it ea SET2 Hems fo af gt Using the SPEED slider bar set the SPEED to 2 GH SET3 r cue P af CHg D 54 H OV L CHa Jo fa i H cH mw E GRS 32 33 CH24 5 H 6 ow iL Jom ue CH23 c 5v i m v Hame CH24 i 5V SPE Display Scale Factor Hunk fe Note Setting the SPEED lower than 2 may result in improper operation with some robot models Edits to the settings of POS SET MIX and CMP HeartToHeart 3 objects take effect when the editing window is closed 4 Create a SET Object SET1 Select the SET icon on the Object menu then click on the Datasheet canvas to create a new SET object EDIT LIST creo oom wo eS penne e 23 introduction 5 Editing SET1 C Sensor Control Enabled ADI OFF Double click on the SET1 object to open the RI 7 ADI OFF SET editing window C Set Comparison Register z ee i s 4D3 OFF Select the Capture FREE Servo Values Set Sensor Reference Value M ADS OFF button AD v C Timebase C Jump 15ms m Call M1 fm v
56. lly 07 to stand up look up 08 to stand up fon his belly 08 to stand up fon his belly 09 i to stand up ook up 09 to stand up ook up 10 to stand up look up 11 ns Advanced 4 Create a SET SET1 object at the top of the Datasheet Double click on the SET object to display the Set Object Editing window Subtract 10 from the value measured when the robot was in a supine face up position Enter the calculated value in the Set Comparison Register box Note Typical values are approximately 400 RAS 1 or 390 RAS 2 to stand up look up 01 to stand up fon his belly 01 SET1 Capture FREE Servo Values Set Loop Counter Sensor Control Enabled 401 OFF fi I ADI OFF AD OFF AD OFF AD3 OFF Set Sensor Reference Value ADS OFF ADT v Timebase Jump 15ms x rn MT Walk FWD 8715 15 03 r Call m M1 Walk F WD 8 15 15 03 a oe Ih mm ot to stand up look up 02 to stand up fon his belly 02 to stand up look up 03 to stand up fon his belly 03 to stand up look up 04 to stand up fon his belly 04 to stand up look up O5 to stand up ton his belly 05 stendus ask upos to stand up fon his belly 06 EE ETE ir to stand up fon his belly 07 to stand up look up D8 to stand up fon his belly 08 EET to stand up fon his belly 09 na to stand up look up 10 to stand up took up 11 5 Create a second SET
57. ltaneously Also a negative gain setting will result in servo movement in the reverse direction MIX objects can be inserted in the motion sequence at any point that the gyro compensation needs to be modified Delete Select aR CH GH GHS fore OFF chit OFF JOFF OFF cma of v oFF OFF GHI4 OFF JOFF a as GHS CHE CH Of course actual use of this technique will vary depending on the robot type and motion For example for a particular motion you may want to have the gyro compensation active while SETI a T the robot is walking but less or zero compensation 7 Capture FREE Servo Values Sensor Control Ei when it bends over or stands up from the floor e PREL ET a zi ADI OFF Experimentation trying several different methods is Set Comparison Register I AD OFF highly recommended z seg MG To insure stable operation when using gyro M ADS OFF compensation the analog input values need to be Timebase corrected while the robot in a stable position This can jf Jump fims M1 TESTOO 8 15 15 03 v be accomplished by inserting a SET object into the Start Up Motion see screenshot to the right This should also be done periodically if the robot is operated for a long period of time 36 Intermediate Integrated ICS Settings Management KONDO RED version servos support editing the servo s ICS settings In older designs this had to be accomplished via a separate software
58. ly described use the Analog window AUTO button to set the sensofs E base reference value before determining the sensor change values 57 Advanced G PA1 Change gt Comparison Register PA2 Change gt Comparison Register PA3 Change gt Comparison Register G PA4 Change gt Comparison Register Motion flow will follow the Branch path as long as the analog value received from the remote control is greater than the Comparison Register value pre set with a SET Object Remote Code Comparison Register Motion flow will follow the Branch path if the remote control code equals the Comparison Register value pre set with a SET Object Remote Code AND Comparison Register lt gt 0 Motion flow will follow the Branch path if both the received remote control button value and the Comparison Register value are not equal to 0 58 Advanced Repeating a motion sequence using the Loop Counter The Loop Counter can be used in conjunction with SET and CMP objects to repeat a motion sequence a pre set number of times The example below illustrates this technique using push ups 4 The KHR 2HV push up sample motion 2HV018_push ups RCB is shown in the diagram below frequency times push up 06 vi Comon EE Y Comon EE M Coonen i NE w Cem ET Y Core W push up 07 push up 08 push up 09 push up 10 push up 11 l W i Se
59. mation is converted into numeric data that the RCB 3 can utilize when the Compile tool icon is clicked The compiled data can be viewed by clicking on the Data List tab Note This is done automatically when the data is written to the RCB 3 With HeartloHeart3 the individual robot poses that make up a motion are created by placing POS objects on the Datasheet and adjusting their settings SET and CMP objects are added to control movement conditions and conditional branching The objects are then connected in the desired sequence using the wiring tools i Home position Clicking this icon causes the robot to automatically return to its pre set Home position If the Home Position has not been pre set with a POS object then nothing will happen Note Please be careful since the servos may move abruptly Trim position Clicking this icon causes the robot to automatically return to its Trim Position The Trim Position is defined as all servos set to 0 rotation values If the Trim Position has not been preset with a POS object then nothing will happen writetorcB 3 ka select ROB 3 memory location CT Write Compiles and writes the existing Datasheet motion data to the RCB 3 Use the pull down menu to select the RCB 3 memory slot M1 M80 to store the motion data then click OK a ee far Mg M MF f Read from RCB 3 Fy Read Reads existing motion or scenario data
60. mixing settings from SET object and made it independent as MIX object For details please refer back to p 36 of this manual Caution For motions created before Ver 1 02 and with its mixing set up by SET object please delete that SET object and replace it with MIX object in order to use Difficulties may occur if you use a SET object that you have made mixing settings on in Ver 1 03 and later 4 Addition of trim position button Explanation We have added the concept of trim position and the button to return to trim position For details please refer back to p 20 of this manual 5 Addition of dividing function Explanation We have added the function that enables the insertion of poses divided into the number of choice between two POS objects poses connected by wiring For details please refer back to p 47 of this manual 6 Addition of parameter settings to converting function Explanation We have added settings PRM that substitutes position parameter to converting function For details please refer back to p 53 of this manual 7 Addition of functions to speed settings of converting function Explanation It has been made possible to directly substitute the value of speed by speed settings SPD of converting function For details please refer back to p 54 of this manual 11 8 Making objects and different kinds of settings into files Explanation Making objects into files It has been
61. motion CMP A CMP Object tests to see if the Branch conditions have been met and modifies the motion flow Motion Flow Branch Path If the Branch conditions are met then the motion flow follows the dotted path Motion Flow Non Branch Path If the Branch conditions are not met then the motion flow follows the solid path AR Q N SET Set Loop Counter The slider bar or numeric input is used to pre set how many times the motion will play the objects included in the loop The Loop Counter is decremented by 1 each time it is tested by a CMP Object Branching conditions are True when the Loop Counter value is 0 Usable Range 1 255 integer Set Comparison Register Stores the entered value in the Comparison Register to be tested by a subsequent CMP Object Usable Range 1023 to 16383 CMP Object Settings Loop Counter lt gt 0 Motion flow will follow the Branch path unless the Loop Counter is 0 The Loop Counter value is decremented by 1 each time it is tested by a CMP Object AD1 Change gt Comparison Register AD2 Change gt Comparison Register AD3 Change gt Comparison Register Motion flow will follow the Branch path as long as the corresponding analog sensor input value change is greater than the Comparison Register value pre set with a SET Object Note Current AD1 AD3 values can be displayed using the Analog icon on the main menu Confirmation As previous
62. nd Enable KRC 1 check boxes Close the Motion replay window to make the changes effective Enable KRG 1 Start switch motion GFF Note In this example the use of a KRC 1 transmitter has been assumed However the same process needs to be followed when using other transmitters or configurations including the use of the RCB Commander application with a PC M1 v Power up motion 32 Intermediate 3 Next specific buttons on the remote control need to be mapped to the corresponding motions for the robot to play when the buttons are pressed HeartToHeart 3 Click on the Data Table icon to display the Data f DataTable Table then click on the Read icon to load the gt oun current RCB 3 data N Double click on the motion to be mapped in the Data Table The Data Dialog window will be displayed Make sure that the remote control is turned on then press and hold the button to be ae mappen E 615 15 03 Once the data dialog is displayed turn on KRC 1 and let it discharge radio waves Then hold down DataDialog the button that you wish to designate anane Click on the receive button on the data dialog No Title while still holding down Remote Control Code Setting is complete once the number on the 65535 control input is changed Now you can release the transmitter button Settings will be written into RCB 3 when the data DOK Gancel dialog closes Cl
63. nsor Control Enabled ADI OFF ADT OFF AD OFF AD OFF ADS OFF Set Sensor Reference Value AD3 OFF AD v Timebase Jump 15ms x in MT Walk FWOI 8715 15 03 v Gall in M1 Walk FWDJ 8 15 15 03 Gall Return Set Comparison Register 2 Double click on number of times to loop 5 and open window number of times to loop 5 is a name made for SET Confirm that 5 is set on loop counter Double click on divide 01 and open window Loop Counter lt gt U EG 401 Change gt Comparison Register divide 01 is a name made for CMP DJ 6 hjerte 2 e Racist Confirm that jump if loop counter is not 0 is ADS Change gt Comparison Register selected Pal Change gt Comparison Register PFA Change gt Comparison Register FAG Change gt Comparison Register Pad Change gt Comparison Register Remote Code Comparison Register Remote Code AND Comparison Register lt gt 0 59 Advanced 4 When the motion is played the Loop Counter is pre set by the frequency 5 times SET object and tested by the CMP01 CMP object If the Loop Counter value is not 0 then the motion flow branches to replay the push up_ A through push up_D POS objects Note 5 push ups frequency 5 times B push up 06 vi push up 01 push up push up 07 push up 12 push up E push up C push up D push up 05 push up 11 60 Advanced
64. o display the Data Table Window M7 TurntL 9 5 6 18 25 65535 F i Yee Turni 9 5 6 18 25 65535 Click on the Read icon in the upper left hand MO Getting up Turning up 14 5 6 18 25 65535 f MIO Getting upilying upon face 12 p6 18 25 65535 corner of the window to read the current data from MT Bow 1 EFE 18 06 AEEA MI Kickil 10 5 6 15 27 65535 the RCB 3 hI Kick R 10 5 6 18 27 65535 Wl Forward roll 17 5 6 18 27 66535 M15 Backward roll 13 5 6 18 27 65535 Mig Side Corolli 12 5 6 18 27 65535 MI Side CorolF 12 5 6 1828 65535 Mig Pushup 20 5 6 18 28 65535 Mig Piercing R 12 5 6 18 29 65535 mon Fiercingil 12 5 6 18 29 65535 W21 Freemode 2 5 6 18 30 65535 hoe 1 ee 65535 M23 0 TE Serea EE 65535 hid 0 ss fs caps 65535 M25 a 65535 M26 ee See 65535 M27 es 65535 ME ET amma 65535 MG 0 on 65535 Man EE HENDE 65535 Ma 0 65535 38 Intermediate 3 Adding Motions to a Scenario ha HeartToHeart 3 mlt amp eof 8 var g MF mo foom Ce Tene T EERS m gt ee EDIT TESTOO LIST r15 15 03 Me Tv _ 4 17 23 14 25 65535 Mis fn AAA SA Drag and drop the desired motions from the Data Table to the fT Walki FWO Datasheet EE 12 Walki Back Ps Use the Flow Wiring tool to connect the selected motions in the order they are yed Release Selection 12 Walk Ba Copy Paste Convert MI Walk FWD m Mame M1 Walki FWD Suto Width o Height fo r Walk B
65. object for conditional branching Jump MI Call MI R C Gall Return Jump you can jump to motion scenario that you have selected from the pull down menu from the active motion scenario You cannot return back to the original motion from the second motion that you have just jumped to Call Triggers a call to the selected motion or scenario Note The called motion can return to the original motion using the Call Return function described below Call Return Used in conjunction with the Call up motion scenario function above Triggers a return to the calling motion sequence 14 HIH MIX Object Mixing setting Used to set the scale factors for applying analog sensor inputs to individual servo channels Double click on the MIX Object to bring up the MIX setting window Any changes made become effective when the window is closed 4 4 OFF OFF OFF OFF 4 4 4 4 4 4 OFF OFF OFF OFF OFF OFF OFF OFF 4 4 4 4 4 4 ch CH1 CH24 gt Selects the analog sensor input and scale factor to be applied to each servo channel CMP Object Compare Conditional branching The CMP Object is used to compare pre set conditions and trigger conditional branching when the conditions are satisfied Logically it is equivalent to a jump if where is the condition being tested For example the loop counter is pre set by a SET object
66. of the motion sequence Double click on the SET Object to display the SET window below Changes made to this window become effective when the window is closed Sensor Control EE Set Loop Counter ADI OFF HL r ADI OFF M AD OFF M AD OFF M ADS OFF C Set Sensor Reference Value ADS OFF AD Timebase Jump 15me I MI Gall M1 v C Gall Return C Set Comparison Register 1 C Sensor Control Enabled Captures the position values for servo channels I ADI OFF Used to toggle the analog sensor that were in the FREE mode during the preceding L ee controls on and off Note The displayed POS object This becomes the starting position j ap wording ON OFF will change based on the for the next POS object F aps check box status M AD3 Set Loop Counter mm Presets the loop counter and is used in eT eee conjunction with the CMP Object This is Mms 7 explained in more detail later Note Typed numeric values do not take effect until the Enter key is pressed Changes the time base interval for motion execution Default is 15 msec C Set Comparison Register Stores an integer 0 value that will be C Set Sensor Reference Value Captures the used later in the AD z current value of motion sequence by the CMP object to determine _ the designated conditional branching This is explained in more analog input channel to be used by a subsequent detail later CMP
67. ol Enabled C Set Loop Counter F AD OFF i ADI OFF AD OFF 402 OFF ADS OFF 403 OFF Timebase 15ms C Set Comparison Register 1 Set Sensor Reference Value M1 MT Walk FWD 8 15 15 03 Call Return 4 Close the SET Object Editing window to apply the changes Place a Start Flag on the SET object Write the new motion to the RCB 3 M8 in this example HeartToHeart 3 Slike _ o o Te AOD O vet amp B arso om kia je sees alas om mm gt EDIT No title LIST Write to RCB 3 Select ROB G memory location Walk FWD 8 15 15 09 M2 M2 Walk Back 11 23 14 25 M PE ae hd ME TESTOO 11 23 04 14 M6 SS eos 44 Intermediate 5 Play the Motion Play the new motion with the SET Object Jump Assuming the steps above were done correctly the new motion should jump to playing the destination motion The motion flow is shown in the diagram below select the motion or scenario to play ME No Title 11 23 23 22 MIN f me M8 untitled M1 Walk FWD Start fn 45 Intermediate eCall a Motion The Call function transfers execution play from the current motion to a destination motion When used in combination with a Return the destination motion can automatically return play to the original motion To create a motion Call insert a SET Object and edit its settings to Call and select the desired destination mo
68. on concerning the servo positions or speeds Conceptually a RCB 3 scenario is like a motion play list for the robot Caution Changes to motions called by a scenario will result in the scenario playing the updated motions Please be careful to reconfirm the behaviour of scenarios when making changes to any motions they reference If there are errors in a referenced motion the robot may not move as expected Also if there is an error in a loop explained in the Advanced section of the manual then an endless loop may occur When using scenarios always carefully confirm all referenced motions 40 Intermediate Using the Teach Function The most basic method of creating a robot posture for a motion is to specify the position of each servo by either adjusting its slider bar or entering a numeric value A series of postures are then connected in sequence to form the desired motion An alternative and more effective method is to use the RCB 3 Teach function The servos to be modified are put into FREE state then they are manually moved to the desired posture and their positions are captured by H2H3 The captured positions are used to automatically set the POS object data Note The Teach function requires the use of KONDO Red version servos and may not be functional with servos from other manufacturers W HeartToHeart 3 Create a POS object on the Datasheet EDIT 4686 LIST Q ae 5
69. os with a 180 degree rotational range A 90 degree rotation corresponds to a parameter of 261 Therefore the PRM numeric range is 261 261 whole integers only MOV Move The current servo channel value is incremented by the number inserted within the parentheses The MOV numeric range is 261 261 whole integers only TTL Sets the channel output to High or Low logic levels based on the value within the parentheses This is primarily used when interfacing to devices other than servo motors Usable Values 0 gt L OV 1 gt H 5V SET Applies a previously defined set SET1 SET2 SET3 of ICS parameters to the servo channel based on the value within the parentheses This can be used in PWM mode but not Serial mode and only applies to KONDO Red version servos Usable numerical values 1 gt SET1 2 gt SET2 3 gt SET3 FREE Puts the servo into FREE mode only applies to KONDO Red version servos SPD Speed Sets the POS speed to the value within the parentheses If the value is preceded by an explicit plus or minus sign then the value is treated as incremental and the servo channel value is incremented by that value Note This is functional for Serial servos only and can not be used in PWM mode Usable numerical values 1 127 STR Stretch Used in Serial servo mode only not PWM the servo stretch parameter is set to the value within the parentheses If the value is preceded by an expl
70. play KRS 2350HV servo PWM mode 180 degree range 0 345 Color KRS 4014HV servo PWM mode 270 degree range 0 520 Name KRS 4024HV servo PWM mode 260 degree range 0 500 Display Scale Factor moving servo KRS 4024HV gt 0 5 Set Home Position Panel Lock Display Scale Factor 30 introduction Customized POS Editing Window Example In the example below a rear view of the KHR 2HV was used as the POS Editing Window background and the servo panels were positioned over the corresponding servos in the image Rear and front images of the KHR 1HV for use as backgrounds can be found in the RCB 3 folder Bee Ep 4 AG az i AD SPEED f100 31 Intermediate Remote control of the RCB 3 is typically implemented using two methods The most common method explained below uses a standard KONDO button style control box KRT 1 or KRT 3 connected to a KRC 1 transmitter which sends signals to a KRR 1 receiver mounted on the robot and connected to the RCB 3 4 Connect the wireless receiver KRR 1 in this example to the RCB 3 low speed serial input port By default the RCB 3 is set to ignore received signals Its option settings need to be modified before it will 2 recognize the remote control commands HeartToHeart 3 eano KAE S om IR Fom 4 pos MR OP 14 4 fen Click on the Option icon to open the Option Editing Window Click to check Option both the Enable remote control a
71. port number assigned by the PC operating system For the high speed serial connector cable black is the GND while the other two red and white are both signal lines connected to the KRT 2 The remote control setup is covered in detail later in the manual Black is GND red is VCC and white is the signal RCB 3 Power The RCB 3 does not have an integrated power switch In order to switch it ON OFF you need to connect or disconnect a power source Ni Cd battery for example to the power source connector You can also prepare an external power switch Install serial USB Adapter Installation Before installing the application software the Serial USB Adapter and its driver software has to be installed on the PC Please read the Serial USB Adaptor manual and follow the installation instructions H2H3 Software Installation Install the HeartToHeart3 software following the directions below There is no specific installation wizard provided it is only necessary to copy the necessary files to the hard disk on your PC Open the Software folder on the included CD ROM a Manual Software HTH3 EXE located in this folder is the primary software application Copy this file to the PC hard disc HIHJexe Note You can not directly run the software from the CD ROM since the program needs to modify initialization parameter files stored in the same folder Software Start up SJER
72. problem or the robot a falling since the servos may temporarily go RE slack MO jf mn MIO 14 Register the Start Up Motion W HeartToHeart 3 EAT GS IR rem 4 y SET rar mB amp S l 1 Click the Option icon Use the Power up motion pull down menu to select the Start Up motion Changes to this window take effect when the window is closed Enable KRC 1 Start switch motion OFF Power up motion M1 v Low Power motion R OFF Z Mt v al l mii Power up motion After completing the Option setting and closing the window power the RCB 3 off and then back on again Confirm that the Start Up motion is executed fey when the power is restored ee EEE TO AER EE a Note The example Start Up motion explained above is effective for KONDO RED version servos Ideally servos should initially move slowly when first powered up However there is no industry standard power up position for servos so some servos may move abruptly The Start Up motion above initially frees the servos then slowly moves them from their unknown positions to the Home Position Using this technique provides safe and easy movement to the Home Position 26 introduction Creating and Playing Motions The same basic process used to create the Start Up Motion can be used to create other motions Here is a brief summary of the process A Connect the RCB 3 and turn
73. ration using the serial method will be published on the Kondo Robot website Please refer to it as necessary Some manual sections may include sample motions as examples however the sample motions may not necessarily be provided with the product itself Also the RCB 3J sample motions used with the KHR 2HV and published on our website will not operate properly if you try to use them with the RCB 3 without conversion Please convert any RCB 3J motions for use with the RCB 3 using the appropriate methods documented either in this manual or on our website Table of Contents Before reading 2 Organization of the Manual 2 Cautions 3 Table of Contents 4 5 Hardware Characteristics of RCB 3 6 Hardware RCB 3 parts 6 Hardware RCB 3 and connection terminal 6 Hardware Turn on power 7 Software Install 7 Software Starting up Software 8 Software Main Menu 9 Software Tool Menu 10 11 Software Communication Settings 11 Software Parts Menu 12 15 Software Command Menu 16 Software Message Data Dialog Objects on Data Sheet 17 Introduction Origin Setting 18 19 Introduction Preparing Trim Position 20 21 Introduction Preparing Home Position 22 Introduction Preparing Start Up Motion 23 26 Introduction Preparing and Performing Motion 27 28 Introduction Customizing Position Window 29 30 Introduction Example of Customizing Position Window 31 Intermediate Setting of Wireless Radio Control 32 34 Intermediate Use of gyro sensor 35 Intermediate More Prac
74. rom OFF change exceeds fall motion sequence using an accelerometer sensor BATT 1148 ADI 001 AD DOT AD 0 00 The RCB 3 when used with H2H3 supports setting the servo ICS ICS parameters for all channels Note After any servo ICS parameter modification the ICS Setting window needs to be closed and the RCB 3 power must be cycled off and then back on before the changes take effect o To read the current settings from the RCB 3 click on the Read a icon in the upper left corner of the window 7 SH Double click on the desired channel to open its setting window an and change the settings The Initialize icon resets the settings as to their default initial values After setting the desired values B close the ICS Setting window and cycle the RCB 3 power off de aie and then back on to apply the new settings Ve site Note To modify ICS settings for an ICS2 0 enabled servo like i the KRS 4014 the servo mode first needs to be set as a Serial 7 a Servo in the Option Setting window 22 CH22 10 TH Receiver Monitors analog signals received from a transmitter Up to 4 analog signals 1 byte each are supported Older version only supported a single 2 byte analog signal fri Table Data Table Click on the Read icon in the upper left corner of the Propo Dle PA Ref Measure Amount 4 ae pP fon P Ref Measure mount 255 a earo 0 e ET EEE oe IEEE eo oe EE window to load the existing
75. s The RCB 3 is a third generation control board developed by Kondo for use with the KHR series humanoid robots Renesas Technology Corp M16C CPU capable of high speed command execution 24 ports that can be configured for output or input and support PWM as well as H L signals High Speed 115200bps Serial Port used for PC communication and a low speed serial port used for communication with a Kondo wireless radio control receiver 3 analog sensor ports Analog sensor inputs from gyros accelerometers or other sensors can be mixed and used to control multiple servos or to control conditional branching during motion sequence execution Part Names Output 15 Output 14 Specs be Op ee Dimensions 35x45 mm Output 1s tout 11 Maximum height 14 5mm Output 10 Weight 12g FA mput 3 Interface input output WH a Output ports 24 Supports PWM serial servo Output 21 output H L ICS control etc out Input ports Output 23 7 Output 8 High speed serial port 1 Output 24 NL tput 7 Low speed serial port 1 Analog input ports 3 Capacity Motion sequences 80 max Objects per motion 255 max Note The actual number may be decreased slightly based on the motion sequences used Scenarios 5 max Scenario capacity 200 motion sequence references max Output 6 Mr Output 5 em Output 4 Output 3 Output 2 l Output 1 Low speed serial connector High speed serial connector LED1 red L
76. splays the motion s compiled data which is sent to the RCB 3 Data dialog A data dialog opens when you double click on the data sheet Double clicking on a blank area of the Datasheet will display the Data DataDialog Dialog window Enter the name you want associate with the motion in the Data Name text box Note This is the name that will appear in the Data Data dalle Table listings No Title The Control Input box is used to assign an integer code to the motion Remote Control Gode that corresponds to the remote control button codes The default value is 65505 Capture 65535 no button The Capture button is used to automatically capture transmitted remote control button codes This process Is explained in more detail later in the manual OK Cancel Click OK to save any changes to the data Note This data is not updated on the RCB 3 until the motion is written to the controller Datasheet Objects BS Release Selection Right clicking on a Datasheet object displays the menu shown on the right ee The menu includes object editing conversion and property functions including tal the object name and display color PC Release Selection Deselects any currently selected objects R i i Open Copy Copies selected objects to the application clipboard SFR Paste Pastes copied objects from the application clipboard to the Datashee ie Convert Opens the Convert window Delete Insert Used to automatically insert new POS objects b
77. tart Switch is pressed while the scenario is playing it will stop playing at that point iy Pressing and holding the Start Switch again will cause the scenario to replay from the AT beginning Adding an External Switch For ease of access and operation an external switch can be added in parallel with the Start Switch Note Use a 2 54mm pitch board cable connector Point Since both switches are connected in parallel pressing either switch will trigger playing of the assigned scenario It is not possible to disable one switch while enabling the other 69 Advanced Playing a Low Power Scenario The RCB 3 monitors the power supply voltage level and can generate an interrupt when the voltage reaches a pre set limit value This can be used to automatically play a scenario Set up 1 Load the current Data Table from the RCB 3 and select a scenario to be played when the low power limit is reached 2 Click the Option icon on the main menu to display the Option window Use the Low Power motion pull down menu to select the desired scenario Confirmation The Option window will not be displayed unless the RCB 3 is turned on and properly connected to the PC Enter the desired low voltage limit value 3 Range 5 5V to 15 0V Points The current power supply voltage can be checked using the Analog window Option Motion replay Enable KRG Start switch motion GFF Power up motion MeO StartUP
78. this section when you want to learn the name and operation of each part of the application Introduction This section explains the basic operation and functionality like creating simple motions The HeartToHeart3 application was specifically developed for use with the RCB 3 controller Using the applications GUI interface you can easily create motion sequences for the robot This section will teach you the basic functionality Intermediate In addition to the operations explained in the Introduction the Intermediate section provides explanations of operations like creating motion sequences that utilize gyro sensor compensation and wireless radio remote control With the functions covered in the Introduction and Intermediate sections you should be able to do almost all the operations you were able to do with the previous control boards Advanced The Advanced section provides explanations of more complex advanced operations including link function convert function conditional branching automatic detection of which direction to get up based on acceleration sensor input and motion scenario execution in different situations In addition to this manual more advanced operations are explained on the Kondo Robot website Also check the support page regularly for information concerning this manual or updates after purchase http www kondo robot com EN 2 Cautions The contents of this manual may be updated without prior notice
79. tical Use of Gyro 36 Intermediate Controls all ICS settings 37 Intermediate Preparing a Scenario 38 40 Intermediate Using Display Function 41 42 Intermediate Jumping to Motion Scenario Calling 43 46 Intermediate The Dividing Function 47 48 4 Table of Contents Advanced Advanced Advanced Advanced Advanced Advanced Advanced Advanced Advanced Update Update Update Update Update Update Update Update Update Update Update Update Position Editing using the Link Function Motion Editing using the Converting Function Motion Preparing using the Diverging Function Example of How to use Diverging Function Automatic Judgment with Acceleration Sensor Example 2 of How to use Diverging Function Playing Motion Scenario using the Start Switch Playing Motion Scenario when the voltage is low Playing Motion Scenario using Sensor cut in 1 Speeding up Motion Play Speed 2 Jumping to Motion Scenario addition of Calling Function 3 MIX Object 4 Trim Position Switch 5 Dividing Function 6 Parameter Setting to Converting Funct 7 Function to Speed Setting of Converting Function 8 Turning Objects and Settings into Files 9 Modification of Data Table 10 Modification of Environment Setting eDeleted Functions e eOtherse Needs to be redone based on the new page layout and page numbers 49 52 53 56 57 58 59 60 61 65 66 67 68 69 70 71 12 14 15 76 17 77 77 77 77 77 78 78 78 79 79 Hardware RCB 3 Characteristic
80. tion eReturn from a Call The Return from a Call function transfers execution play back to the original calling motion and continues play with the object immediately following the original Call object Note If there is no Return from Call Set object in the destination motion then the motion execution will stop Also if the motion is played directly without being called then the Return Set object will be ignored select the motion or scenario to play ME No Title 11 23 23 22 11 l F Ma ME TESTOO 11 23 04 14 M7 f ME Na Title 11 23 23 22 M8 Untitled M1 Walk FWD Start Y Call up POS T F F F SETZ Pee Return from EP Y call up End Call 8 No Title 11 23 23 22 46 Intermediate Insert Function During motion creation the need to add additional robot poses comes up frequently H2H3 makes this easy using the Insert function The function supports automatic creation of a number of new POS objects between any two existing sequential POS objects Exam ple HeartToHeart 3 emnon y7 sf 6s 4 Create two POS objects POS1 POS2 on the Datashee 2 Fom 4 mm GD mm GP 9 DD represent two different robot poses M2322 43 gt Write successful EDIT Mo title LIST 2 Use the Flow Wiring tool to connect the two POS objects ha HeartToHeart 3 POS EDIT No title LIST Fas F POs 3 Select POS1 and POS2 and right click with the mouse Select the Insert
81. tor Set Home Position Background Image Display Background Panel Lock MB Persian blue WB Turquoise green Yellow green Panel Display Color Display Scale Factor Set Home Position Background Image Display Background Panel Lock Setting the Background and Servo Panel Colors The POS Editing Window background color can be changed using the pull down Color menu In addition a BMP picture file can be used as the window background using the Background Image menu option and toggled off and on using the Display Background option The display color for individual servo panels can be modified by right clicking and selecting the desired color from the menu Panel Color Example Panel Name Window Click on the Name option to display the Panel Name Window This allows the replacement of the default names CH1 CH2 with user defined names CHI CHIT o cHe CHIR 00000 cma ems oo cH CHO CHa CHT CH2 CH22 0 cka CHEB omp fors Display Rate Setting The numeric values displayed in the servo panels are expressed in terms of incremental rotation based on the servo resolution not angular degrees To display the values in approximate degrees a display scale factor can be applied using the Display Rate Setting option Click on this option to display the Display Rate Setting window Enter the appropriate scale factor for the servo panel to be modified Typical Scale Factors Panel Dis
82. unctions The Convert functions enable the editing or modification of multiple servo values simultaneously For example servo values can be calculated reversed or swapped om sj om f rv cHio fel omme fv om sj om 0 x omr f el cH oma sj om 3 cH4 sjon om ej oa SY et omme fe on fs Load Save Delete Ok Cancel e Convert Window Explanation CH1 CH24 Pull down menus determine the convert function to be applied to each channel Name Assigns a name to each set of Convert operations The function can then be saved and easily applied again later using the pull down menu Open Previously saved Convert functions can be opened from the PC disk for use Note The file extension used for Convert functions is the same as Motion Data RCB however the internal data is different The creation of a separate file folder for Convert file storage is recommended Also if a non Convert file is opened then nothing will happen Save Used to save the current Convert function to the PC disk for later use Note The Convert function name must be set prior to saving the Convert Function to the PC disk Delete Deletes the current Convert Function OK Closes the Convert window and makes any changes effective Cancel Closes the Convert window without making any changes effective 53 Advanced Convert Function Definitions CopyTo Copy Copies the current CH value to the CH
83. unded to the nearest whole number SPD Function Formats n gt SPEED n sets the SPEED to n n gt SPEED SPEED n increments the current SPEED by n n gt SPEED SPEED n decrements the current SPEED by n n gt SPEED SPEED n multiplies the current SPEED by n n gt SPEED SPEED n divides the current SPEED by n Usable range 1000 00 to 1000 00 54 Advanced Convert Function Example Mirroring Poses Using the Change and Reverse functions key portions of the robots pose can be easily mirrored This example uses the 1HV011_bowing RCB motion to illustrate th mirroring process To bow D To bow D i Select the POS object s to be modified then right click and select the Convert option To bow 030 To bo D 4 To bow 05 TT Properties Delete To boy 0 Select All 3 The Change functions shown in the Convert window below Mirror_01 will swap the CH values with the CH values indicated in the parentheses ca cH fs Shane v CHI el omme EO Chane cmi Chae l HID vi Chanee B vw cm2 Chae vw ck vi CHI3 Chane cH CHI4 Chanee 20 omr CHIS Change 21 om os ej omg fr Mirror 01 Load Dave Delete kK Cancel Note This example uses the KHR 2HV CH servo assignments 55 Advanced 4 Following the same process the Reverse functions in the Convert window below Mirror 02 will reverse the assigned CH values
84. ured position data to within the allowable range Intermediate The RCB 3 supports Calls and Jumps from the current motion to other motions This is accomplished using SET objects created within the motion O Sensor Sense Enabled r Loop Counter AD OFF i 7 M ADI OFF C Set Comparison Register AD OFF D AD OFF ADS OFF ADS OFF Timebase Set Sensor Reference Value J Gall Return eJump to a Destination Motion The Jump function performs a unidirectional jump from the current motion being played to another motion It does not support a return from the new motion see Call below Creating a Motion Jump This is a simple example to illustrate the Jump creation process In actual use the SET object would be inserted into a motion with several objects 4 Write in a motion to a motion number you like In this explanation we will let this motion be the destination of the jump 2 Place SET object SET1 on data sheet ha HeartToHeart 3 TD RE TE ET TEN BR Cob 4 m atm Hm aes ARAA A EE EDIT No title LIST SETI 43 Intermediate 3 Double click on the SET object to display the SET Object Editing window Select Jump and use the pull down menu to select the destination motion Notes The destination motion must already have been written to the RCB 3 memory Make sure to read the current RCB 3 Data Table prior to creating Jumps C Capture FREE Servo Values C Sensor Contr
85. utput HF Output 21 e Mi iy D a D AQ a a Output oe lilt Ni Output 23 oi Output 24 vi 118 Ve 8 S77 Output T amp 7 Output 2 Low speed serial terminal If Output 1 High speed serial terminal LED1 red Power supply setup AD input 3 LED2 green AD input 2 ADinput 1 External switch connection tex Setup 1 Load the current Data Table from the RCB 3 and select a scenario to be played when the Start Switch is pressed i 2 Click the Option icon on the main menu to display the Option 9P49n a window Use the Start Switch Motion pull down menu to select the desired scenario Confirmation The Option window will not be displayed unless the RCB 3 is turned on and properly connected to the PC Motion replay Enable KRC start switch motion 51 Demol Mig nian sp The Option window will not be displayed unless the er aoe J RCB 3 is turned on and properly connected to the PC My M80 Start UP 6 26 13 02 S f in 53 S Sh a ay 3 Close the Option window to apply the changes Timebase 15ms 68 Advanced Confirm Operation Press and hold the Start Switch until the Green LED LED2 turns off approximately 3 seconds then release the switch to start the scenario playing If the S

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