ソフトウェア : DR-Visual Logic
Contents
1.2.
3. 03 ei E Documents and Settingswskang 1
4. X
5. Output Input gt a e LN an LN
6. PART HOVIS 0 A 7 L
7. PC Dongbu Robot DR SIM DR Visual Logic DRC DRC HDV 0 DRC
8. 49C 120T
9. 1 2
10. 05 m shubp drnt FanturB rt 1 Hgln drrt 2 HU5hU rt 3 sitHnwn mt 06 0 DR Visual Logic Task Editor DR SIM HDV Ws
11. 192 01 02 ON 03 127 lt 128
12. 01 02 03 04 Hovis Lite 04 0 Eas 05 10 11 DRC 12 DRC 1 ORG 02 DRC Register Protocol 15 DRC is cs ir 1 6
13. Ria EE I PART HOVIS 0 3 3
14. 21 20cm DR Visual Logic mW 06 Sensor gt Dynamics Sensor Acceleration Sensor Acceleration Acceleration Gyro Z 4096 Z 4096 4096 1g 100 EE
15. 3D 3 3D y LED 3 2 1 BY DGD 4 O mip fF O gb gt 3D 9 _ mm 5 BY 05
16. ID1 2 menu ok PSD Acc Gyro 1 2 2 Menu Light Cds
17. 2 ei NE i
18. DR SIM fh np EE TE On 7Y lt FOLDER EDacuments and Settingsweskang capture dmt hella drnt pushup dmt sitdown dmt
19. lt 1 X LElick_ Data gt Variable StartPoint Start Point 04 05 C Like Graphic C like Task sgEHW LTnrnCtrl 55 ingql 1 SA 1 ing 25 DD 100 Ingt 235 OD 1 100 C C
20. Data gt Variable StartPoint StartPoint SEHVO_TarqCtrl 25 jagt 512 0 254 100 jogt 235 OD OD 100 jngt 235 1 100 jngt 7B 0 3 100 jngt 78 4 100 dalaw 15H while true 1 i MPSLU_SnundHecngFlag amp amp MMPSU_SnundDir gt 1 1 jngt 512 0 2H delayt 5IH jogt 235 DO OD dD delayt 1500 continue Yariable Twbe MSelecl cw lt ristart TYP Bal nt Cnhstart IL 04
21. Data gt Variable StartPoint StartPoint SEHVO_TarqCtr 25 jngt 512 0 254 100 jng 235 OD OD 100 jogt 235 OD 1 100 jngt 789 0 3 100 jngt 78 4 100 delawt 1500 whilet true 1 i Ct MPSLU_SnundHecngFlag amp amp MPSLU_SnundDir gt 1 1 jagt 512 H 1 2h delayt 5O0 jagt 235 OD dD delayt 1500 continue Yariable Twbe MSelect ct lt Servo maMu ef nstaHt Th Bal nt Cnhstart IL 04 05 C Like Graphic
22. DR SIM DRC www hovis cokr guide Data gt Variable La Elick_ 1 StartPoint Start Point 3 4 5 5 7 8 10 11 TI sgEHWw _TnrnCtrl PE ntinnraadwt
23. Non Volatile EEPROM Register Volatile RAM Register DR Visual Logic DRC
24. 23 ag UI GEMR PEEen 24 a DR Visual Logic novis IRReceive Sound IRReceive Sound Sound 1 8 Motion gt Sound Note Pitch DRC 0 37 3 00 Sound
25. 5 Motion gt Move Play Stop Play Motion Index 5 5 Eh0a SI Motion Ready True 12 Delay Motion Ready Delay 1 5 lowe Flay tn Mntinn nd ntinn Raady Tiua Fake Dynamic Sensor Sensor Type Celeration Jr 3 y dl _ F Combare Yalue lo Switch 1 3 Motion Ready False 14 0 4096
26. 4 Switch re m oston gt P slti n otor I 9 2 0 TI 0 Delay Time True 1 True Motion gt Motor Mode Position Position 512 512 Time 20 90
27. Gyro Acc Gyro Acc Gyro 18 NNE novis 4 DRC K Motor ID1 Motor iD2 e Test Mode Navi Key s Navi Key
28. Shift 06 otinn Editor Er SS lehWhihahshN gh EE9BE Frame 35 LED H MN LL EE LI FP 07 08 1 USB to Serial PC USB Port T Eb 08 2 USB port PC Serial Port
29. 9 Motion gt Motor Mode Position Position 235 235 RG Motor ID 0 ID 0 Time 100 1 12 klotor Hg Positiorn EN OC ntnr ID nm hilotor ode ostnn Fosition a 7 o Ontor ID Time mn re ode Fosition 7 pb ntor ID 3 Time mn Mode Postion Position 235 235 Motor ID 1 1 Time 100 1 12 Mode Postion Position 789 789
30. Motion Ready True False 9 Motion gt Move Play Stop Play Motion Index 0 0 Ai Motion Ready True 09 Delay MotionReady Delay 1 5 Lonop Fnhitinn Forewver Distance Sensor 5BITS F 1 W higital inffargd nirt 2 11 m le Forever 1 1 20cm Sensor gt Distance Sensor Sensor Type Digital Infrared Port 1 Value 1 10cm
31. DRC Description Et Move Motor Motion LED Sound Sound Sensor Touch 8 2 wy OY Sensor a Distance Dynamics IRRciever Communi cation Button LED LED EE Buzzer g H Data 2 Flow ir iii ee Operator Variable Loop While Switch kd Wart Continue Break for
32. Microsoft Net Frame work3 5 DR SIM HDV Ws Hello DR SIM DR SIM ph sm O DS By 5 Se OGD mW 4 c oie O gb Be lt SN A 4 2 n m LED MotorlD Value 0 1 2 3 4 5 5 7 All LED Control tyo LED MotorID Value DR SIM ES 0 1 DR SIM
33. Sound Sensor Sample 1 Delay Sound Sensor Sample 2 CDS PSD Digital
34. DRC DR Visual Logic DR Visual Logic hovis 0 4 DRC Hovis Lite 6 2 PSD Gyro ZigBee DR Visual Logic DRC
35. 4xBlue 2xGreen 1xRed DR Visual Logic novis WI23 UI Motor Mode M
36. DR VisualLogicC DR VisualLogic 1 LE o lt Motio Move Motor LED Sound Sensor Sound Sensor Touch Sensor Light Sensor Distance Sensor PSD Digital PSD Analog Dynamics Senso Accermeter Gyro Communication IRReceive ZigBee Button Data Operator Variable Flow Loop While Switch Wait Delay Continue Break PART 6a DR Visual Logic DR Visual Logic Hm Module Pack
37. Velocity 1023 1023 Motor ID ID Time 1 11 2ms 100 1 12 V Motion gt Motor Motor DR SIM Motion Editor Motion Editor Task Editor
38. 3 200 10 1 1 4 5 4 x
39. HOVIS 10 HOW Dongbu Robot 12 ee ss Product Name Model Name Serial No Purchase Date
40. 3D 02 3D 3D Alt 1 3D FZ2 MP3 3D F3 F4 y LED 3 2 1 DR SIM QB589 8 3D
41. 0 Output True False Switch ete Mode Position 9 lt oo Mntnr ID A Time 1 IM e1e g Mode Position EC 2 4 otor ID C Time i 1 True False True False True Motion gt Motor Mode Position Position 700 700 Motor ID 1 ID 1 J Time 20 False Motion gt Motor Mode Position Posi
42. 1 For Flow gt Loop Condition For Valuable Name i Valuable Range Start 1 Valuable Range End 2 2 19 lt hove Flaw5tnh 1 a 2 atinn Indesx False a PESeId Ayingiintioan 1 ntinn REary rue Fake Yariable 20 MPSU RAM Dat Playing Motion MPSU RA for 8 PlayingMotion 1 ta Ld 21
43. True False Up Button Up But ton tue falses 8 Communication gt Button Button Value Up 16 04h 04nh BtnEnd Yariable Tybe SS variable Name BtnEnd Operator perator Tbe Ln IC Logical perator Operator Oneratnr TyhB Logic Logical Operator BtnEnd False not True btmEnd BmEnd Data gt Operator Operartor Type Logc Logical Operator Up BtnEnd false True True 5996 Data gt Operator Operartor Type Logic Logical Operator amp amp
44. 2 FlayinqMatign Yariable Tybe MEBLU RA Data PBU RA FlayinnlMntinh Loop Move loop Move UPA U E IS loop Move loop Variable gt MPSU RAM Data Playing Mo tion Playing Motion Playing Motion Wait Loop
45. 4 4 x Blue 2 x Green 1 x Red Data gt Varable Type Contant Constant Type int Constant Value 4 4xBlue 2xGreen 1 x Red Blue 4 x Blue 2 x Green 1 x Red Data gt Operator Operartor Type Arthmetc Arithmetc Operator X 2 4 Blue Yariable Tybe Constant Tybe 3 ET Int Yariable Tybe EC Wariable ame TBBIT Operator neratnr TyhB rithetic v FE Arithmetic Operator Ee 9 x 4 x Blue 2 x Green 1 x Red Data gt Variable Type Contant Constant Type int Constant Value 2 4xBlue 2xGreen 1 x Red Green 4 x Blue 2 x Green 1 x Red Data gt Operator Operartor Type Arithmetic
46. 10 20 30 12 24 36 MS PSD ADC 1 10
47. DR Visual Logic gt gt m 5 UL U hotion hiowe hiotor LED Sound Sensor SoundSensor TouchSensor Ligh ensor DistanceSensor DynarmicSensor Carmrmunicatinn IRReceiyer Eutton Data Operator Variable WM Flow Loop While Navigation DR VisualLogic Helo gt DR VisualLogicl DR VisualLogicl
48. DR SIM Motion Editor ER PKGc 5 GeECT Hm j W 4 27 Android 6 www hovis co kr guide www dongburobot com English Customer support For Services YY Archives www dongburobot com Quick Menu For Service Archives 4 8 PART HOVIS 0
49. Output Yariable Tybe SY Sry Ra TnrnCTrl SEryo I lt 0 ylowe Flay5tnhn Flay Otinr Tdes E gt lo otinn Ready Truel Fala TnrqCHH Delay TI 5 96 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion Ready Motion gt Move Play Stop Play Motion Index 2 2
50. 20 EE howis 4 DRC DB P E Motor ID1 Motor ID2 e Test Mode s OK e e ED 2 novis PA DRC PSD psd sensor A
51. 5cm PSD PSD HUW 0 DRC Motor ID1 Motor ID2 Acc Gyro gt ACC Test Mode Acc Gyro s
52. lt Es X LElick_ Data gt Variable StartPoint Start Point sgEHV LTnrgCtr BE motionreadyt D1 delaut T1500 whilet true 1 T PSH_aDCTM ga1 PELH ahDCWal1 1 jj 1 mntinn H waitwhilgt FESLH_Plauingkntinn MPSLH_aDCTMpg1 98 MMPSH DCWal1 1 fort i 1 2 1 motiont 1 Yariable Twbe Selpcl ct lt sewemAaM 9 Constant a Bal i Cnhstarnt IL Input ee 04
53. hH SlM lt 05 DR SIM H DH SIM hH SllM NN pdate MET Framework Ln C hiH 5 06 07 Windows gt gt Dongbu Robot gt DR SIM
54. PART HDV 01 Humanoid DRC Mode OK OK 1 2 4 5 6 Mode OK TX RX Spare LED 1
55. 1 Fow gt Desy Tme 10 1 Delay 10 0 ode Motion gt Motor Mode Position Position 235 235 Motor ID 0 ID 0 9 Time 100 1 12 11 Delay 1 9 Fow gt Delay Te 10 1 Deay 12 1 Mode Mode Postion Position 235
56. ID 20DOF 16 19 Li A 16 DOF ID 0 ID 15 ID 16CID 19 Dummy 18 DOF ID O ID 17 D 18 ID 19 Dummy 20 DOF ID 0 ID 19 HDV 1 Humanoid DRB 0009 U2 type Bracket 4ea DRB 0011 U4 type Bracket 3ea LT
57. lt H C 07 Windows gt gt Dongbu Robot gt TE DR VisualLogic NEE a a Hello DR Visual Logic 16DOF Data gt Variable Start Point
58. 39 43 2 Nu ON ay 44 10 3o 45 46 DR Visual Logic 58 Hello DR Visual Logic 62 67 68 69 76 77
59. 3 OK Sound Sensor 1 2 PSD Digital PSD 10cm 10cm 5 PSD Analog PSD PSD 10 cm 3 Acc Acc Gyro Acc Acc
60. 2 2 Motion Ready True True Motion Ready Delay 1 5 98 Loob Condition Forever wf a mm ylowe Flaystob otion Index pe ut EN FlayingFlntign ntinh REaHy i TE Fake capture drnt 1 nushung drnt e sltHnwh dmt test Hrnt 10 Forever 1 1 Motion Ready False Motion Ready False DR SIM
61. Delay 0 5 Delay klotor ode Position tnr IL TI El 1 Dielay TI i EE OC ontinue 90 4 Motion gt Motor Mode Position Position 235 40 Delay 1 5 Delay 1 5 Delay Loop 9 22 2
62. E HDV 0 DRC PSD psd sensor 3 Motor ID1 Motor ID2 PSD PSD Test Mode PSD PSD PSD
63. ID Mode Ok Mode Ok Mode Ok HerkuleX Manager DR SIM Visual Logic Mode Task Task task User Spare task User Spare 3 LED 20 4 novis pA DRC DRC
64. loop Move loop Variable gt MPSU RAM Data Playing Motion Playing Motion Playing Motion Wait Loop Data gt Variable Type MPSU RAM Data MPSU RAM Playing Motion Output Wait 21 Wait W 22
65. Serial Port USB to Serial 08 3 RS232c os 08 4 Port DRC PC Serial Port Port Pot 08 5 DR SIM ES9 COM Port 9 DR SIM version PORT Baudrate Stopbit Parity Flowctrl CoM12 115200 1 None DRC ID 253 F W UPDATE 10 Hmvis lim 1F DOF DR SIM 6 0 Howis Lite 18 DOF ES SnDR 16DOF cdHgye Eco 20DOE bnn Hovis Lite16 DOF 1 1 C
66. jagt 7 1HH jngt 7 100 dglawt 15HH Text jg 84 D1 1H1 de jogt EEO 4 10 dglawi TOON ingl 1 1 110 ingl 10 alawt TDN gd 4 dD jngt bB1 0 5 dD dglawt dHH ing Ed dD ing OB 4 dD ing 5 5 dD dalawi dHH ingt EE 1 dD ing Eh8 DL 2 dD jg 5 dD ingt 1 dD Ingt Tl ingt 43 D2 dD ingt 512 4 44D dglawt 3HH ingt 512 1 1 dD J ingt 1 2 dD dglawt 5HH ingt 374 0 1 1H ingt BEH OD 1H dglawt ZIH ingt gd5 1 1H ingt 7 4 101 dalawt gHH Yariable Tybe MSupr ot gt SeoRAM LnIstart Tpe Ba Int Lnhstart ILia nnut mee po pb 06 Variable Type Constant Constant Value 96 TorqControl 96 0x60
67. 193 hhlg Apply Apply 194 DR SIM 01 gt Apply 02 EE
68. PSD Analog Accerlateration 1 8 DRC 1 lt 8 With Sound DRC LED with LED V Motion gt Move Move Move DRC DR SIM DR SIM
69. 1 Motion gt Motor Mode Position Position 235 235 ER Motor ID 0 ID 0 Time 100 1 12 hilotor m Position 7 5 tor IL Time nm hiaotor mm Fosition ntor Ih 1 3 P Time i Le hode Fosition 7 o tnr I 7 3 C Time ETC Mode Postion Position 235 235 Motor ID 1 1 Time 100
70. Motor ID 3 3 Time 100 1 12 Mode Postion Position 789 789 Motor ID 4 4 Time 100 1 12 Delay Tirme Loop Condition Light Sensor Formbate 13 Delay Flow gt Delay Time 1 5 15 Delay 14 Loop Flow gt Loop Condition Forever 15 Light Sensor Sensor gt Light Compare
71. HDV A _ DRC ED Damosd 1 4 ZigBee 5 2 IR Receiver 2 1 9 Ear phone Jack PC HDV 0 DRC DRC Input Output LED DRC UserInterface Input LED Output
72. Input klotor im P siti In tor I a Tirme i nm are m Fosition a hotor ID 7 EE C TI nm 06 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion gt Motor Mode Positon Position 512 512 Motor ID 254 254 Time 100 1 11 2ms 100 1 12 1 12
73. 0 Continue 3 Loop 29 2 Delay 3 0 31
74. fy eml 3p Timeline LED Navigation New Heln gt FT rT COM 3D LED Web 44 EE DR SIM HDV 0k DRC
75. loop Move loop Variable gt MPSU RAM Data Playing Motion Playing Motion Playing Motion Wait Loop Data gt Variable Type MPSU RAM Data MPSU RAM Playing Motion Output Wait 99 ik a 1 i J MPSU RAM em ee 19 Wait 20
76. 2 3 10 DR SIM HDV 0 DR SIM DR SIM Motion Editor DR SIM DR SIM Motion Editor
77. ID 1 1 ID Spare LED ID Mode OK
78. Output 69 TnmCtH Yariable Tybe GETY 5BTY Ra TnrnCTTl 5Efyn ID 2 hilotor Position Fosition a ea tnT ID Time EE 7 ET re Mode Position EE 7 EE ntnr I TI 06 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion gt Motor Mode Positon Position 512 512 Motor ID 254 254 Time 100 1 11 2ms 100 1 12 1 12
79. Playing Motion Wait Loop Data gt Variable Type MPSU RAM Data MPSU RAM Playing Motion Output Wait 9 lainnhatinn Distance Sensor Sensor Type 7 Digital Infrared Port 3 i 2 sl Switch Loop Condition For 3 Fa harne ariahlg RarngetEnd a 2 10cm Sensor gt Distance Sensor Sensor Type Digital mfrared Port 1 Value 0 10cm 10cm True
80. Motor ID 0 ID 0 9j Time 40 ERRbIE 19 EggU2 re MR 2 UEk 20 cds dIC HOV Sensor gt Sound 77 Sound Sensor Sound Sensor DRC
81. BuzzTime 3 6 ay P dlEMR2 2 NUEsgm 37 1 8 Task HOW Troubleshooting O01 gt RAE a Fa DR Visual Logic PC gt 191
82. Motion gt Motor Mode Position Position 235 235 KS Motor ID 0 ID 0 Time 100 1 12 hilotor ode Fosition Position a 1 EE ntnr IL 3 1 Ti nm hilotor ml Fosition 7 Mntnr ID Tirma 2 oo re ode Fosition Fosition 7 EN OC tnr I 1 EC TI ri nm Mode Postion Position 235 235 Motor ID 1 1 Time 100 1 12 Mode Postion Position 789 789 Motor ID 3
83. 15 3 16 1 16 2 1 7 D pn EL Em ms k 1 18 19 20 Delay
84. eV Sensor gt Light Light CDS Data gt Variable StartPoint Start Point 5 light tsk linht tsk whid maint sEHw _TnrnCtrl sd ing 1g DL A 100 jog ga5 OD DO 100 j gt gd5 1 1 ingt nd DL 3 100 ingl Bd 100 dglawt 1BhHH whilet trug 1 CDS wal lt gh 1 1 ingt TDD OD OD 2 Yariable Constant Tybe Bon Int
85. 5 07 PC USB USB to Serial COM port ON Play 08 COM COM2 PC Baudrate Stopbit COM12 ysnn DR SIM HDV 0 lt I SD EO SCE RMD 6
86. DR SIM Motion Editor DR SIM UI LED DR SIM LED mm 800Mhz Windows XP Windows Vista Windows 256 MB RAM 300 MB USB Po Macintosh DR SIM HDV 0
87. Red Yariable Name 24 Red LED Up Red Red Button 5 Right Buttnn Valug rn Right e Down Right Yariable Button Button walue Mode Up Left OK Down Right Yariable Type 26 Green LED Right Green Green 27 Down Down 28 Blue LED Down Blue Blue EE EE a EE EEmH gt BtnEnd i EE Variable Tybe BOB ss Constant Tybe 3 _ Cnnstant yalug Yariable Tybe Blue ef 0 yariahle Name Operator perator TyhB Fithrmetic LED LED 4 x Blue 2 x Green 1 x Red
88. Value 200 200 200 output True False 127 witch klotor lode Fosition a a tor I 7 EE C Tirme a sl 2 Pe Mode Fosition 9 lt hntor I oo pb Time a 7 EE CC True False 200 True False Motion gt Moter Mode Position Position 700 700 Motor ID 0 ID 0 9 Time 20 cds J Motion gt Moter Mode Position Position 235 235
89. 1 lt 32 IR ZigBee CPU ATMega 128 Size Weight 108 x 58 5 x 33 mm 82 g Operating Voltage Tolerance Range 6 5V 10V Recommended Voltage 7 4V Serial Speed 115 200 bps 666 667 bps Consumed Current When IDLE 50mA Overall Max Current 3A PTC Fuse Interface Button 6ea MIC 2ea LED 7ea External I O Servo Motor 6ea PSD Sensor 2ea Back Cover O ZigBee 1ea Gyro Sensor 1ea Internal I O Sound Sensor 2ea Light Sensor 1ea ovis 0 DRC DRC 209 6 PowerLED
90. Constant Value False ITrirRiareia Ln Instart Type EE Int Yariable Data gt Varable Type Variable Variable Name rmcReceived rmcReceived loop 1 8 loop False loop True wariable ame FMmcReceived IR Receive Length 1 EE a Data Communication gt IRReceive ee 906 a Length 0 000 EE 3 5 gt py IncReceiyed Data 1 Bd 1 Switch True Variable ial NotePitch 3 25 Scale Data gt Variable Type Contant Constant Type
91. 5EHw _TnrnCtrI 25 motionreadyt 0 delaut T1500 whilet true T MPSU_IDCTgpg1 1 MMPSLU_ DCWal1 a 1 mntinni ND iT MPSU_ADCTwng1 1 MMPSH_ DCWal1 lt 1 mntinnt 2 Yariable Twbe Selpcl ct lt Constant a Bal i Cnhstarnt IL 160 04 05 C Like Graphic C like Task C C Text 06 3 Variable Type Constant Constant Value 96 TorqCo
92. DRC DRC DR Visual Logic Task Editor 3 capture dmt i gt sitdown dnt a OB GE T rdrmt wv 01 DR SIM 6 EE 02 FOLDER EDocurments and Betlingstwskan PC pe
93. Navi Key 19 novis 4 DRC Motor ID1 Motor ID2 gt e Test Mode Cds
94. 3D otinrn Editor 01 gt f t F12 LT t CT 02 aa ORS SY Eo OOO 3D LED MotorlD Yalue LED MotorID walue By DGEG D 0 1 2 3 5 6 7 All LED Contral 03 2 04
95. 06 3 Variable Type Constant Constant Value 96 TorqControl 96 0x60 Output 151 Yariable Tybe SY wf SY TnrnCTTl WW Se tw nID 5 BP hove Flay sStop hotion Index lotiorn Ready True Delay Time lt 5 07 06 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 08
96. 1Byte 8 1 0 DRC 6 1 0 6Bit Bit 1 0 Button 16 Right 00100000 16 20h h 16 Down 00001000 16 08h Up Down 00001100 16 0Ch 104 EE BGR True 1 False 0 0 0000 1 0001 Blue False 0 0010 True 4 3 001 1 Green False 0 4 010 0 True 2 D 010 1 Red False 0 6 0110 True 1 7 0111 led led 4XBlue 2X Green 1XRed LED DRC 7 LED Task 3 Red Gre
97. P A Wd mm lms mue mE ms 18DOF 20DOF 195 D TT Tm EE LS EE 14 Apply 0 Apply 03 04 05 0 Wd mm md le mm mE mE 1 14 6 Apply 06 20DOF TE ee EE EE 14 Apply O07 197 HOW ID DRC ID ID
98. 8 1 2 6 3 02 EE NN Dongbu Robot 8 Www hovis CO kr guide www dongburobot com gt English gt Customer support gt For Services Archives www dongburobot com gt Quick Menu gt For Service gt Archives Homepage www dongburobot com
99. Yariable Tybe yariable Name 17 Up Up BtnEnd false 18 True 19 Red Red Operator 20 perator TYHB Red True False False Tue Lngical perator Yariable 21 Red Twybe Red True False False True Yariable 22 True Tyhe Bt nEnd False True Data gt Variable Type Contant Constant Type Bool Bool True False Constant Value True Yariable 23 BtnEnd True TyDB True BtnEnd BtnEnd True loop up
100. 24 yy Move 22 3 For Moton 3 For 1 3 Motion Ready Tiua Fake Motion Index 23 10cm 10cm For 24 7 5 2 Om f pu MM a lf Ni 10cm V
101. PIN NR NR NR BR BR BB NN KR NR HB HH HH DRB 0010 U3 type Bracket 4ea DRB 0008 U1 type Bracket 4ea DRB 0003 Foot 2ea 0 es HDV Task 7 Humanoid DRC 209 LED3 1 2 3 Mode Task Navi key Ok Mode OK Mode OK LED IDIE
102. Forever While if else Wart Delay Continue Break 3 Delay Continue Break 11 LOOI V gt Input Output Output Input Input Output
103. Index eK 6 Move Motion Motor LED Sound Sound Sensor Sensor Light Distance Dynamics om IRRciever cation Button Move DRC DR SIM DR SIM DRC LED With Button 1 8 With IRRecieve Sound Sensor DRC
104. Saund i Motion gt Sound Mode Melody Note Melody 9 Mode Note 36 7 EC hnte hitrh Note Pitch 0 37 3 I Note Length 32 nt Length 1 3 C Note Pitch i gt 30 31 32 33 34 35 36 37 qin NO O J OO mm NN RR Z i 5 77 NJ Ny Note Length 0 1 2 3 4 6 7 8 9 6 12 18 24 36 48 72 96 144 192 38 4 76 8 115 2 153 6 230 4 307 2 460 8 614 4 921 6 1228 8 2 16 9 8 9 4 2
105. 24 V Sensor gt Sound Sound Sensor Sound Sensor DRC Sound Sensor Sample 1 Delay Sound Sensor Sample 2
106. 2 3 Motor ID1 Motor ID2 PSD PSD gt e Test Mode es PSD PSD es 10cm 10cm PSD On Off PSD PSD
107. Mode Position Position 235 235 KS Motor ID 0 ID 0 Time 100 1 12 hilotor ode Fosition Position F 1 EE ntnr IL 1 Ti 3 lt nm hilotor ml Fosition 7 o ntnr ID Tirma 2 oo re Fositiohn Fosition ntnr Th TI 1 no Mode Postion Position 235 235 Motor ID 1 1 Time 100 1 12 Mode Postion Position 789 789 Motor ID 3 3
108. Position 789 Motor ID 4 Time 10 44 Delay 02 45 46 DR Visual Logic novis PART 06 Button LED Button LED DRC Button LED Button LED Button LED 16 2 16 0 4 2 0000 0 100 Right Down Ok Button Left Up Mode EX Right 0 h 0010 000 0 Down 0 8 h 0000 100 0 Button DRC 6 1Byte 1Byte 8Bit
109. Delay OSC TE RT OOOO 21 LED 22 23 Play 24 3D DR Visual Logic mW 07 DR Visual Logic DR Visual Logic Dongbu Robot Graphic Drag amp Drop D
110. 0 448 Motion gt Motor Mode Position Position 681 Motor ID 5 ID 5 Time 40 0 448 Delay TI 7 EN CC Te m Fosition hotor ID 4 kl 2 Time a 0 bl hklotor Mode Fosition 3 7 oo Imimm n Time 4 kl nn 03 Oo Delay Time ds 5 2 Motion gt Motor Mode Position Position 589 Motor ID 2 DD 2 Time 40 0 448 Motion g
111. 1 12 Mode Postion Position 789 789 Motor ID 3 3 Time 100 1 12 Mode Postion Position 789 789 Motor ID 4 4 Time 100 1 12 Delay TI 15 3 a a 5 1 kntor Mpdg 2 45 Poo 45 Position hm Motion gt Motor Mode Position Position 374 374 45 Motor ID 1 ID TI 1
112. Scale note Motion gt Sound Note Length 3 8 153 6ms scale scale Note Pitch MPSU RAM Data BuzzTime BuzzTime 6 4ms 1 0 0 BuzzTime Raw Data Data gt Variable Type MPSU RAM Data MPSU RAM BuzzTime 34 Wait Buzztime 0 35 rmcReceived True scale Soumd Sound
113. Start Point 2a JR 2225 22 0 SERYO_TorgCtrl sd BE ingt 512 ss4 100 dglawt 1HHH ingt 235 D OD 100 daglawt TOOD ingt 235 1 100 Yariable Th Constant TYP Ecol i Cohnstant ale Graphic C like Task Task C CO Text Variable Type Constant Constant Value 96 9
114. 4096 4096 3500 3500 Sensor gt Dynamic Sensor Sensor Type Acceleration hh Axis Z Compass Value 3500 15 f True 171 lowe Playistop otion Indes lt ntinn REady Delay HB i T love nD E Ll CF tn lotiorn Indesx lt otion Ready re Fake 16 Motion Ready True Fa
115. Ze pa pi A 8 9 DD 5 Wy 2 1 3D gt gt 3D 3D ES 3D 3D pe sru 7a7aTnLea mma Lee Oo bb SS 8 06
116. gt UT Servo Program EXEC TX RX Spare LED Power CdS DRC ID No HerkuleX DR SIM Visual Logic Task gt Dill Dill Light Sensor HOVIS Task Task Mode Navi key Ok LED 3 1 2 3 Ear phone jack ZigBee ID Mode Ok
117. if else loop loop oO NN mm ww gt DR Visual Logic Flow Flow Motion Sensor Communicaiton Data LOIC HOVI gt Flow Flow Flow Loop For
118. 14 20cm Sensor gt Distance Sensor Sensor Type Digital nffared Port 1 Compare True Value 20 20cm 15 20cm True 163 Move Play Stop PlayingMotion Motion Index lt Motion Ready True Tybe MPSU RA Data MPSU RA 2 Motion Ready False 5 20cm 20cm Loop Move loop Move
119. 96 Variable gt Type Servo RAM Servo RAM TorqCtr Servo ID 254 254 Forever 0 4096 4096 4096 3500 3500 Sensor gt Dynamic Sensor Sensor Type Acceleration Cc Axis Z Compass Value 3500 Switch Mntinn Index i ntinn RaaHy Trua Fale Delay Time EE OC 10 lf True False NE 11
120. Canture drnt hella drnt pushup drnt sitdown drmt 04 FOLDER EDncuments and Settingswskang oo ae Ld ERP pushup dmt sitdown drmt
121. LED 3 ID LED DR SIM HDV 0 gt DR SIM gt gt
122. task User Spare TX task User Spare RX na LED LED 50 PART HOVIS 1 Humanoid DRC Mode OK RX LED TX LED LED ID 512 LED ID 0 15 ID 0
123. Firmware Task Task Editor DR Visual Logic Task Program Navi Key Firmware Mode Task Task Task Navi Key Ok Firmware 1 Navi 2 Mode or Navi 3 Task Mode Mode Na Ok 9 7 16 mm PART 02 Main Button Navi Key Firmware Navi Key Task LED mode LED Power Sensor Mode ok gt
124. ID 15 MD 010 DRS 0101 6 olD amp Policy pkRR de 0 Fault Check save load ID 012 DRS 0101 ADC LED Stop Overload Servo ID 253 IID 5 253 DRS 01 01 O ID 013 DRS 0101 45 45 27 150 mp DRS 0101 Policy rone Feadony o KO 5 Plicy Vin Error Position Limit Errar 5 N 2 gt Temp Error wv Packet Error OverlnadError Driver Error 3 RN ID Policy 6 Torque vIn Error Position Limit Errar Policy o Calibration CEO EE ED Temp Error cket Error Owerlnad Error Driver Errar ID Scan Difference 15 CJN 12 3 EEP Error Broadcast Hex View Status oo WnEmor PositonLmitError TempError PacketEror Overioad Eror Driver Enor Code value CHKSUM Error CMDCodeEmor ADDREror GBG Detect Eror Moving Inpos Fe HerkuleX Manager MI Debug Graph HerkuleX P Save ID 000 DRS 0101 ss ID 001 DRS 0101 ID 002 DRS 0101 1022 ServoID
125. Sound Sensor 23 Sound Sensor 2 Compare Sensor gt Sound Sensor Compare Value 1 1 Switch 24 Switch IF True hilotor _ 2 1 Tm Fost 1 True Fosition 0 Motion gt Motor Matar Th Mode Position Position 512 512 3 C ns Time 20 5 EE C Delay Time os C 0 Delay lotor lode 3 Position 789 Pnisitin hl 5 p41 EE C tnr I 5 Time 7 EE Time a 15 Delay 28 Delay 1 5 Delay
126. Arithmetic Operator X 2 2 Green Opergator Operator Type i Data gt Operator Operartor Type Arithmetic Arithmetic Operator arithrmetic Oneratnr 31 34 2 Yariable Tybe 4xBlue 2xGreen 1xRed 9 oO yariahle Name Red Operator Operator TyhB a 4 x Blue 2 x Green 1 x Red Data gt Operator N Pe Operartor Type Arithmetic dq a Ol em Arithmetic Operator 35 Red 2 LED 38 LED lode Motion gt LED ar Mode Controller LED LED Value LED 39 LE
127. FI E Program Files hnnghu HnhntWHH WisualLngic H hH yisualLnnic mn E m MM CR IDH Vignallngic be x 04 IH WisualLngiE Us PL M lt Dn ymuahgr og DR VisualLogic IH WsualLnglE EE pTs ll 06 IH WisualLngir
128. Ver 1 1 2011 02 15 Manager COM Port DongbuRobot 5 2 COM Port ID Scan ID Scan 2 9 MnEmor Position LimitError TempError PacketEror Overload Eor DrMerEmor EEP Error CHKSUMEror CMD Code Emor ADDREmor GBGDetsctEmor MoMng Ipos MIRON Fe HerkuleX Manager 02 HerkuleX 3 ID 000 DRS 0101 Max Threshold ID 001 DRS 0101 1023 1022 0D 00s1 os nm DRO ID 0061 ons 0101 ID 007 DRS 0101 v ID 253
129. 2 Scale Scale 27 Variable 21 3 gt 3 Scale Scale 29 Variable TyDe Ty Variable DB Yariable Type Constant Type ei Constant Value 22 4 gt 4 Scale Scale 30 23 5 gt 4 5 Scale Scale 32 24 6 gt 6 Scale is Scale 34 Yariable Type 7 Scale 6 Scale 36 Yariable Constant Type Baal 1e iia Constant Value Variable al ITncReceived Rm mcReceived Constant TB 3 Boo
130. Start Point ERHV LTnrgCtr BE motionreadyt D1 delaut T1500 whilet true 1 T PSH_aDCTM ga1 PELH_aDCWal1 1 jj 1 mntinni waitwhilat IFSLH_Plauingkntinn T MPSLH_ DCTMpg1 2 8 MMPSH DCWal1 1 fort i 1 2 1 motiont 1 1 Yariable Twbe Selpcl ct lt Constant a Bal i Cnhstarnt IL 04 05 C Like Graphic C like Task ES C C Text
131. 01 TP HH gtun_lananBsS nsl DH SIM 02 DR SIM HH SIMM i DR SIM 03 m TF E WPrngram Filss ongbu HanhntWhH lM fH hH SIM E lt DR SIM 04
132. DI alE 52 ID Mode OK 5 PSD Mode OK 0 lt 9 ovis 01 Humanoid DRC SerVO HerkuleX Manager HerkuleX DR SIM DR SIM Visual Logic rogram Visual Logic Task Mode Task Task EXEC
133. Position 374 4 am Motor ID 1 Time 10 lt 0 rm ode Fosition so pr ntnT ID 4 lt 2 pr Tirme nn pp Delay Time po totoF Mode Positinn Fosition 7 CC hntor ID 1 pp Tirme 45 Motion gt Motor Mode Position Position 650 Motor ID 4 Time 10 02 10 Motion gt Motor Mode Position Position 235 Motor ID 1 Time 10 0 448 are m Pnsitinh 7 0 Ontor IL Time a Delay Tirme 2 EN 43 4 Motion gt Motor Mode Position
134. Task Mode Main Button Ok Navi Key Servo Program EXEC LED TX Sensor Cds Task DRC ID 0 as HerkuleX DR SIM Visual Logic Task 062 Light Sensor 14 EE RS HDV pp DRC Register Map amp Protocol DRC ID
135. True False Mowve 13 Flay tn 10cm Motion Ready False ntinn Index R EE CC Motinn Ready Ti Flsa Variahle Type PSLI Rah hiata Me Loop Move loop Move loop 1 Move loop am Variable gt MPSU RAM Data Playing Motion Playing Motion
136. oc 3 gt oto 1 lt 1 Time 2 mo Mini Map 1 EZ O O Wheel Up Down amp C Graphic to Text Text C l 0 3 OO PART Js DR Visual Logic Im gt
137. 05 C Like Graphic C like Task St C C Text 06 3 Variable Type Constant Constant Value 96 TorqControl 96 0x60 Output _ 3254 TnrmCtH Yariable n SETfvn Ra TnrnCTrl GEry ni Loob Cohnditinn Forewer Mw yhnamic Sensor SETI5 f Tybe Caleratinn Mf
138. Sensor gt Analog Distance Analog Distance Sensor 10cm 6 80cm ADC 1 PSD A Data gt Variable StartPoint Start Point
139. Task ShifaFd Task PART DR Visual Logic novis 011 DRC 16DOF 18 20DOF ID DR SIM
140. Task ES LED C C Text Yariable a MSelert cnn nristarTt Tybe 3 Select Eon Int Cnrstant ale 4 Select mi pm Yariable Tybe yariable Name 3 Red 151 t LED False Data gt Variable Type Contant Constant Type Bool Bool True False Constant Value False False Data gt Variable Type Variable Variable Name Red LED False True Yariable TyDB a
141. Time 10 0 112 klotor ode 45 Position 7 EN ntnr IL Time sl Motion gt Motor Mode Position Position 650 650 45 Motor ID 4 ID 4 Time 10 0 112 Delay Time 7 klotor ode Position 52 ntor I Time 0 DD rel lode Fositinn EE C hntor ID lt Time lt jn bl 1 0 O 3 90 90 NE Motion gt Motor Mode Position Position 512 512 90 Motor ID 1
142. 16 18 20 ID 16 18 20 ID ex 9 10 9 100 20 254 ID ID 10 9 100 10 HerkuleX Manager 253 ID 15 HerkuleX Manager Dongbu Robot http www dongburobot com jsp cms view jspD code 100122 Debug Brap 1 0 1 DRC HerkuleX 9 Ver 1 0
143. Motion Index 0 0 AG Motion Ready True MotionReady Delay 1 5 Lonop Cnrditinn F TEEF Wt Distance Sensor T SFi5 f 1yHB R naln ITfTarg Port 3 1 a Formbare Switch Forever 20cm Sensor gt Distance Sensor Sensor Type Analog Infrared Port 1 Compare gt True Value 20 20cm True False Distance Sensor Sensor TyhB 7 ln Infrarg Port 3 i 2 M Combare lt gt lt Valug Switch 13 20cm CN Motion Ready False
144. Variable Name scale 0 Communication gt IRReceive Length 1 000 1 90 Data 0 1 Output True False True False JIRReceive while While True IRReceive Out put False True loop 1 Yariable ybe t Data gt Variable Type Contant Constant Type Bool Bool True False
145. EE C are mW moton Fosition 7 EE C ontor I lt Time a oo 03 3 o Delsy Time de 7 4 Motion gt Motor Mode Position Position 575 Motor ID 1 Time 40 0 448 Motion gt Motor Mode Position Position 343 Motor ID 2 Time 40 0 448 hlator ode Position mma 7 2 tnr IL 9 Bb Time 1 helay lll 7 klotor ode Fosition OE hotor I NN 4 Time oo Motion gt Motor Mode Position Position 512 Motor ID 4
146. C Text PS _Rmeclength gt MPSU_HmcHata 5 1 1 rmcheceiwed true h SB 1 TMPSU_HmcLangfh gt PSLU_Hmchata 5 1 1 rmcheceiwed true 1 i TMPSL_HmcLangth gt MMPSU_HmcData 7 1 rmcheceiwed true F alse 1 i TMPSLU_HmcLangth 7088 MMPSU_Hmchata C lB 7 rmecheceiwed true FMmcheceiwed 1 nnta scalg 3 waltwhilgt PSL_EuzzTirng Yariable 06 Tyhe lck Data gt Variable Type Constant PJ Constant Value 0 Canstant nstart The Enon lll Cnrstarrt alue Variable TyhE Yariable Narne scale IR Receive Length mm oo Data Operator Operator Tybe Logical Operator EB 0 8 amp 8 Play Data gt Variable Type Variable
147. ID 1 Time 10 0 112 90 Motion gt Motor Mode Position Position 512 512 90 Motor ID 4 ID 4 Time 10 0 112 Delay Time a 7 hlotor mm Position 1 5 hotor IL Dt TI 1 hlotor m Position a 1 oo ntor I Time F Io 1 0 O 4 1 Motion gt Motor Mode Position Position 449 449 Motor ID 4 ID 4 Time 40
148. LED Green Blue LED Button LED ML oe Data gt Variable StartPoint Start Point Hg fa FBBT fal Blue talse EtnEnd falsg whilet true 1 I PSU_ButtnnStat Hs 1 BtnEnd 1 1 Hgd IHigd BtnEnd true alse 1 CC PSU_ButtnnStat Hs2H 1 et BtnEnd 1 Fan reen BtnEnd true lse 1 ChAPSD Buttonstat HsHB 1 BtnEnd 1 1 Blue IBlue 1 BtnEnd true ed Bu ts Green Hgd 1 ET hAPSD _Butonstat HsHH 1 8 BtnEnd 1 1 1 tnEnd talse 04 LED 05 C Like Graphic C like
149. 15 rr ID Scan ID 012 DRS 0101 ADC LED GBG Stop Overload Servo ID ID 013 DRS 0101 Oo 45 45 18 27 150 PD 253 DRS 0101 a gsiey fvone ress on LED Eln Error Position Limit ror Oy 1 p Error Facket Err Inad Error Driver Errol EEP Error Torque in Error Position Limit Error Policy Ws s0srens Calbraton Gr Gr IE vwETIna rror Jriver rror ID Sean Difference 15 CN C12 3 EEP Error Broadcast Hex View Status oo MnEmor Position Limit Error TempError PacketEror OvalpadEor DrverEnor Clear Code Value CHKSUMEor CMD Code Emor ADDREmor GBG Detect Emor Moving COM6 Baud Rate 115200 Fe HerkuleX Manager 04 Debug Graph HerkuleX ID 000 DRS 0101 Max Threshold PD ors on ws ID Scan ID MD 005 DRS 0101 253 1 5 ID a 01 5 DRS ID 006 DRS 0101 HD 007 DRS 0101 MD 009 DRS Ten 1d 0101 Save EE 8 olD amp Polic oRs 0i0s a ma 5 ID ADC
150. 2 Move 79 85 ass 104 Ei 123 UI 130 OO1D 69 139 sh 150 OTNEIIoYG 159 NG 166 Sound ee 176 nowis DRB 0001 DRB 0002 DRB 0003 DRB 0007 DRB 0008 DRB 0009 DongbuRobot 16DOF 20DOF 26 ER DR VisualLogic DR SIM
151. Time 40 0 448 03 Oo Delay Tme 8 5 Motion gt Motor Mode Position Position 512 Motor ID 1 Time 40 0 448 re ode Position Motion gt Motor Mode Position Position 512 Matar TD Motor ID 2 Time 40 0 448 gt Time lt Delay Tim 05 kontor Mode 9 45 45 Fosition 3 Motion gt Motor Mntnr ID Mode Position
152. hotor I Time lt nm 06 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion gt Motor Mode Positon Position 512 512 Motor ID 254 254 Time 100 1 11 2ms 100 1 12 1 12 3 Motion gt Motor
153. 3 Time 100 1 12 Mode Postion Position 789 789 Motor ID 4 4 Time 100 1 12 Delay Time Lonp nritinn mm mm mm ound Sensor Lombare 13 Delay Flow gt Deay Time 15 1 5 Delay 14 Loop Flow gt Loop Condition Forever 15 Sound Sensor Sensor gt Sound Sensor Compare gt Value 0 2 2
154. Data gt Variable StartPoint Start Point 178 MMPSLH_HmcHata D1 FmcRHeceiwe false PS _Rmclength 5 MMPSU_HmchData 1 1 1 c rmeheceived true Blse 1 h TdPSL_ Rmeclength 8 MMPSH_Hmchata 2 1 1 1 scCale 27 FCHacgiwg tTUg Blse 1 i ET MPSLU_HmcLangth Dag MPSH_HmcHata 1 1 Scale 2d FcHacgilwg tTU lse 1 h AFS _ Rmeclength EE MPSH_Hmrchata 4 1 1 Fmi Hacglwg tTI 04 05 C Like Graphic C like Task IRReceive C
155. PosIIOT Position 127 1152 21 1002 bp tig i 512 512 Hovis 512 90 Motor ID Motor ID ID Time 1 11 2ms 100 1 12 Time 512 1002 oO 21 159 8 159 8 TA Recommended Range eH No Full Range 1023 0 166 7 87 166 7 Mode Welocty Welocty gtor ID CD 10 2
156. C like Task ES C C Text ESOUa 06 Variable Type Constant Constant Value 96 TorqControl 96 0x60 Output Yariable Tybe GETyn R rr 5ETwn Ra TnrnCtrl lotor Positiorn Fosition tnr ID Time EE nm hilotor m Eoston
157. Int Constant alue 4 re Wi Fale 8 Scale Scale 37 rmcReceived True scale note Data gt Variable Type Contant Constant Type Bool Bool True False Constant Value True Yariable 28 rmcRecei TyDB rmcReceived variable Name rmcReceived Operator Operator Tybe Data gt Operator Operator Type Compare Compare Operator rmcReceived True rmcReceived True ITncReceiwyed Switch True Variable TyDB Variahle Name scale Saund ml EE Length Yariable Twybe PSU RAM Data wv Scale Note scale
158. Sensor gt Digtal Distance Digital Distance Sensor ADC 1 Data gt Variable StartPoint
159. int Constant Value 25 25 Canstant a Eool igi Constant walue Yariable JTyhe Variahle TPg n rmstart TYP Baal Int Constant La Yariable Twne 2 Yariable Name rmcReceived Play scale Data gt Variable Type Variable Variable Name scale 25 input mmcRecieved Te 18 Data gt Variable Type Contant Constant Type Bool Constant Value True Data gt Variable Type Variable Variable Name rmcReceived True input Variable 1 9 1 gt 9 1 Scale Scale 25 Variable 20 2
160. 235 Motor _ID 1 Time 100 1 12 65 13 gt gt Compile Download 3 14 DR Visual Logic Hs 0 In Out DR Visual Ln Ek I a em 4 REPZPS7 Motor i I ES CE EE EE EE EE EE EE oo ma
161. 4 True Motion gt Motor Mode Position Position 324 324 Motor ID 4 ID 4 Time 20 klotor m ositinn Position htor I 1 1 Me Time 7 EE CC 22 4 False Motion gt Motor Mode Position Position 789 789 MotorlD 4 ID 4 Time 40 23
162. ntnr Ih lt Time EE lt 0 ylotor ode Fosition 5 pp otor IL lt Time 1 n Tel m Fosition 7 EE C tor I lt TirTa 1 n Motion gt Motor Mode Position Position 608 Motor ID 2 Time 40 0 448 Motion gt Motor Mode Position Position 435 Motor ID 4 Time 40 0 448 Motion gt Motor Mode Position Position 512 Motor ID 5 Time 40 0 448 pg 4 d 4 Delay TI ktotoF Fosition a EE tnF IL 7 EN CC Time
163. DRB 0006 4 EE ym 2 7 4V 2 800mA L Po 0 nks0I0I DRS 0101 3 PSD 3 iR DRC 8 Gyro ZigBee LO 11 P novis 0E Hovs Lite Controller 1 L type Joint Single Nut 70 74V Li poBatery L type Joint Douple Nul 10 AC adoptor 1 a SM Ne L 1 Ftype Joint 009mmHole only reiuexDRS00 Wo Ftype Joint 125mmDouble NuU 60 Front Back 4 Ftype Joint 60mmHole ony 20 L 1 Hand 4 V type Joint 20mmSngeNu0 20 Ll Foot 4 V type Joint 120mmDoube Nu 20 Universal Plate 40 Bushing Set 30 Ankle Plate
164. PFnslti 1 hotor I Time lt mn 06 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion gt Motor Mode Positon Position 512 512 Motor ID 254 254 Time 100 1 11 2ms 100 1 12 1 12 J
165. Data gt Variable Type MPSU RAM Data MPSU RAM Playing Motion Output Wait P 15 9 DR Visual Logic novis a Ww Motion gt Motor Motor Motor 2 1 Mode
166. 05 C Like Graphic C like Task 3 C C Text Variable Type Constant Constant Value 96 TorqControl 96 0x60 Output 25 TnmCtH Yariable Tybe GETyn R rr Sr RL TnrnCtrl kotor ode Fosition ntnr ID Time nn re Mode Eoston Nl Fositiorn 7 EE
167. 2 1 delaut T1500 whilet true 1 mntinn 2 waitwhilgt PSH_Plagin kdntinn Yariable Twbe MSelect ct lt PD sewe RA Cornstart Tbe Ecool i Cohnstaht Lia 04 Motion ready 05 C Like Graphic C like Task C C Text SC 06 Variable Type Constant Constant Value 96 TorqControl 96 0x60
168. Acc s Acc Gyro e ACC e e Acc Gyro 1 24 EE b unyie WE Hovis Lite PSD DRS 0101 16 9
169. Cnrstant walle Graphic C like Task ECU C C Text Variable Type Constant Constant Value 96 TorqControl 96 0x60 Output 254 TnrqCtr Variahle THE MSel poo mrfuin TnrgCTTl WW GET TD
170. DR SIM 2 gt Frame 0 LED MotorID yalue LED hotorID Value 9g 0 1 10 2 11 3 12 4 90 13 5 6 7 3D 14 15 15 All LED Contral ze bia pi A 9_ 0 DR SIM F1 BP 9 E 9 3D LED
171. DRC 18 20 21 se 22 23 2 ele 1G lt 25 ys lt 26 Wallel 6 29 Humanoid DRC 31 05 DR SIM 35 Hello DR SIM
172. PH T 2 0X4 Bolt PH T 2 0X5 Harness Clamp 4 HDV WE Hovis Lite gt lt 2 DRB 0001 DRB 0002 DRB 0003 DRB 0004 Front Back Hand Foot Universal Plate DRB 0005 DRB 0006 DRB 0008 DRB 0009 Ankle Plate Dummy Servo U1 type Bracket U2 type Bracket DRB 0010 DRB 0011 U3 type Bracket U4 type Bracket ce DRJ 0001 DRJ 0002 DRJ 0003 DRJ 0004 10 L type Joint Single Nut L type Joint Double Nut L type Joint Hole only type Joint 109mm Hole only DRJ 0006 DRJ 0007 DRJ 0008 DRJ 0009 type Joint type Joint V type Joint V type Joint 12 5mm Double Nut 16 0mm Hole only 120mm Single Nut 120mm Double Nu a i 0 ee DRJ 0011 Bushing Set A as DCW 0001 DRI 0002 DR 0003 DRH 1001 5 Wheel White 60 Serial Cable USB to Serial Gender Horn Plastic 28 EE HDV 01 Humanoid ID ID ID ID
173. 0Mhz Windows XP Windows Vista Windows7 256 MB RAM 300 MB USB Port Macintosh 611 PPP BD apaness Msi DH WiEualLn ic DR VisualLoqic HH WisualLnglE Fm lt sB xcD gt DR Visual Logic mm 0 1 02 ETE1I Tie 2 03 HH MsualLnglE em lo le MUEW se eal im al 2 Ume ie illuw so
174. 8 Dummy Servot 4 Nut M2 40 U1 type Bracket 6 Nut M3 IO U2 type Bracket 8 Bolt PH T 2 0X13 25 U3 type Bracket 6 Bolt PH M 2 0X4 50 U4 vpe Bracket BM Bolt PH M 2 0X5 20 Bolt PH M 2 0X6 150 Seral Cable DSUB Bolt PH M 2 0X8 20 9Pin 3p Audio Jack Bolt PH M 3 0X6 10 USB to Serial Gender 1 Bolt PH M 3 0X8 20 Wheel White 60 4 Bolt PH T 2 0X4 40 Horn Plastc 5 Bolt PH T 2 0X5 60 Harness 75mm 4 Harness 100mm 4 Harness 200mm 6 Harness 300mm 2 Hamess Clamp 20 5 Hovis Hovis Lite Main DRC 005T EE DRL 0728 DRQ 0002 DRS 0101 Controller 7 4V Li Po Battery AC Adaptor HerkuleX Smart Servo 3 000mA amp od amp DRA 0002 E33 DRA 0003 DRA 0006 ER 5 Harness 75mm Harness 100mm Harness 200mm hai DRA 0051 DRA 0052 DRA 0054 DRA 0056 Nut M2 Nut M3 Bolt PH T 2 0X13 Bolt PH M 2 0X4 F DRA 0057 DRA 0058 DRA O0059 DRA 0061 Wu Bolt PH M 2 0X5 Bolt PH M 2 0X6 Bolt PH M 2 0X8 Bolt PH M 3 0X6 a a ss DRA 0062 DRA 0063 DRA 0064 DRJ 0010 Bolt PH M 3 0X8 Bolt
175. D 4xBlue 2xGreen 1 x Red Button 40 Bitton al 3 BtnEnd 3 a True BtnEnd True EE BtnEnd False CIE hinwrn Right Motion gt Button Button Value Variahle Tybe BtnEnd True BtnEnd BtnEnd Operator aratnr TYP 7 BtnEnd True mm berator 2 m gg i Ad Data
176. HDV User GUDE gt e Dongbu Robot SS a NN i EN Dongbu Robot 2 Hovis Lite User Guide DR Visual Logic 2011 11 18 Dongbu Robot 11th Floor Bucheon Techno Park 401 Yakdae dong Wonmi gu Bucheon crty Gyunggi do 420 734 Korea 82 32 329 5551 FAX 82 32 329 5569 Dongbu Robot Dongbu Robot All rghts reserved PART 7T HOVIS 0W Hovis Lite 4 Android DR Visual Logic Task Editor DRC 24 Drag amp Drop
177. LED GBG Stop overload Servo ID DRS 0101 i Shy ee em i DScan ID RAM Reg vIn Error Posit HG ister RAM Register ID EEP Error Tamee Eror Paton Un Eno Save Palicy o Calibration EE ED Temp Error EEW rim IDScan Difference 15 CN C123 Eat A i MG ID EEP Register ID Status oo WnEmor PositonLmitError TempError PacketEor Overioad Eror DrerEnor Clear Code Value CHKSUM Error CMDCodeEmor ADDREmor GBG Detect Eor Moving Inpos 05 HerkuleX Manager ID Scan ID HOW 12
178. OM Port PORT Baudrate 3tnphif Farity FInwrrtrl PORT COM Port CE COM Port 12 13 On play 14 6 Off 15 1 15 2 3D 3D
179. Time 100 1 12 Mode Postion Position 789 789 Motor ID 4 4 Time 100 1 12 Delay Time EE CC Loop Condition F TBwET SoLlnd Sensor COMmbare Flow gt Deay Time 15 1 5 Delay En Flow gt Loop Condition Forever Sensor gt Sound Sensor Compare gt Value 1 0 1
180. TorgContro 96 0X60 Output Yariable Type EY WW BfW R Torgctrl yl ETY ID kotor lode Fosition hator I mm Time 1 no Delay Time 7 ET 96 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion gt Motor Mode Positon Position 512 512 Motor ID 254 254 Time 100 1 11 2ms 100 1 12 1 12
181. en Blue LED3 3Bit LED Byte Bt Red Green Blue LED LED LED LED 2 2 2 00000010 Green LED 0 00000000 LED 7 00000111 LED Blue 2 4 Green 2 Red 1 Blue Green Red true false LED LED 4x Blue 2 x Green 1 x Red LED Blue Green true Red false 4 x Blue 2 x Green 1 x Red 6 6 2 00000110
182. gt Operator Operartor Type Logic a Logical Operator amp amp Switch 43 Tf True Yariable Tybe Constant Tybe eco Int Constant value True Yariable Yariable yariable Name BtnEnd False BtnEnd True False Data gt Variable Type Contant Constant Type Bool Bool True False Constant Value False BtnEnd False BtnEnd BtnEnd False E 4 7 48 Up Red Right Green Down Blue
183. lse Motion gt Move Play Stop Play Motion Index 0 0 Motion Ready True 17 Delay Motion Ready Delay 1 5 dn Motion Ready False 1 MPSU RAM ke lawinqvlatian MPSU RAM Playinghotion SL RM hata WW Flayin lntinhn ft 19 Z 20 Loop Move loop Move
184. ntrol 96 0x60 Output TorqCtr Yariable Tybe Seryo RA wv Seryo RAM TnrnCtrl Sgryn ID EN oe Playistop hotion Indesx i otiorn Ready ei Delay Time 15 pr 96 Variable gt Type Servo RAM Servo RAM TorqCtrl Servo ID 254 254 Motion Ready True False 9 Motion gt Move Play Stop Play
185. ode Postion Pnsitinn Velocity Position Motor ID Time ntnr ID 1 0 Time DD DR Visual Logic mm 07 Compile Download Taols Help FE F5 _ shift F5 Task F9 5 6 9 F10
186. ongbu Robot DRC amp C like Text C C 80
187. riable yariable Name Fee gt Be 1 0 3 Yariable Tybe Varisble i ariahla Name d Variable Tial arise 4 ag dd ER Name BtnEnd Data gt Variable Type Variable Variable Name Green LED False True Data gt Variable Type Variable Variable Name Blue LED False True False False True True False Data gt Variable Type Variable Variable Name BtnEnd Yariable Tybe 1 0 bP1 yariahla Name BtnEnd Loohp Condition Forever WW Buttorn Btton walue wa de Lp Le OF own Right Red Green Blue BtnEnd 4 False Forever
188. t Motor Mode Position Position 608 Motor ID 4 Time 40 0 448 ylotor Fosition lt 5 Mntnr I EhI 5 Time a oo Delay Tin hlotor de oston Fnslti IT sl 5 tor I sl 1 pr Time 0 pr Motion gt Motor Mode Position Position 416 Motor ID 5 Time 40 0 448 03 Oo Delay Time 6 3 Motion gt Motor Mode Position Position 416 Motor ID 1 Time 40 0 448 7 Y 4 4 3 4 re Mode Pnsiti n
189. tion 235 235 Motor ID 1 ID 1 Time 40 Sound Sensor Combare gt i Switch 9 E 1 ylotor ode Position hntor I lt Time a 1 19 Sound Sensor Sensor gt Sound Sensor Compare Value 0 2 2 0 Output True False 20 Switch IF True False True False 2 1
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