OPERATING INSTRUCTIONS
Contents
1. 6 RobovieMaker Completing a connection Moving all servos to their installation position 4 RobovieMaker Fine adjustment of the neutral position Caution Errors in the assembly process could cause cer tain axes to run against their mechanical end stops when the servo power supply is switched on Check the freedom of movement of all axes when you switch the servo power supply on If any servo emits a loud noise or becomes hot switch the ser vo voltage off immediately and check that you have assembled the model correctly If you neglect to do this the result could be damage to servos and other robot components If you are satisfied that all axes have ample free dom of movement it is safe to start the fine adjust ment process as described in the next section Keep your fingers well clear of the robot when its axes are in motion Your robot is now completely assembled and is ready for crossing the final t in terms of adjustment This stage is important the more accurately you carry out the procedure the easier and smoother will be the sub sequent programming of the robot the model will also process the supplied motion sequences accurately if the fine adjustments are correct The final stage of fine tuning is carried out using the adjustment template as already mentioned in Part 1 of the Operating Instructions the template is also shown in the illustrations 1 Open the Fine adju2. 4 Z a Ki Ra 2 i i l d k h 3 R N 5 Se e lt a gt J VEN aai t a l z i i CR e on H OPERATING INSTRUCTIONS PART 2 SOFTWARE r M io S Ze d F Tii TR LoF r D t Aon Lk lie U D d L H d ai d a L GRAUPNER GmbH amp Co KG Postfach l242 73220 Kirchheim Teck Germany e www graupner robotics de 1 Contents E eut 2 Liability exclusion Epilepsy warning 2 Safety Notes and Operating Information 3 Introduction Warnings and Safety Notes Components and accessories Optional accessories System requirements Serial interface 3 Preparing the software 4 4 Roboviehaker 5 Start page buttons Setting the COM port Completing the connection 6 Moving all the servos to their installation position Fine adjustment of the neutral position 7 Operating modes 8 Servo positions Neutral Position Checking the axis assignments My first movement 9 Loop structure 10 Sequence menu File menu Edit menu Position menu Tools menu Propo mode 11 Automatic mode 12 Writing programs to the CPU board Settings 13 Digital output System and Screen Gyros 14 The def ini file 15 The sldpos dat file 2 Contents Liability exclusion You have acquired a kit which can be assembled into a fully working robot when fitted out with sui
3. Use the check boxes to activate the output you wish to use its Neutral Position is determined in the correspon ding range In our example only output 1 is activated with the Neutral Position of 0 This means if you add a position the value of the output is automatically O V this does not apply to a copy www graupner robotics de The illustration shows this output in the axis area a diffe rent value can be applied at any position In this case the voltage is 121 x 20 mV 2 42 V The maximum current is around 15 mV at the TTL level The output arrangement can be found in the Hardware section of the Operating Instructions System and Screen r System and Screen Serial PC port COM 1 4 Update axis area M Background axis area enable SES Ga Iv Background motion area enable Show axis value as Neutral Position offset The check boxes can be used to select whether you wish to display a background image in the axis and motion area The individual axis values can be displayed as offsets or relative to the current Neutral Position The update rate of the display in the servo range can be adjusted using the slider If your PC system is slow be sure to set an appropriate value BR If you wish you can replace the background pictures of the axis and motion area with your own images The pic tures shown here are the originals Be careful with the size of the bitmap it should be the same as the original ima
4. Change left and right button Interchanges right and left axis positions All axes to Neutral Position button Sets all axes to the Neutral Position Insert Between Position button EPO Inserts an intermediate position between the axis values OP Insert Copy button Inserts a copy of the current axis values DEL Delete button Erases the marked axis position IPR Delete Prior button Erases the previous position on the axes gt Start button Starts the programmed motion sequence Stop button Halts the motion sequence once started Next step with loop button gt p p Carries out the next step of the sequence including loop Next step without loop button Carries out the next step of the sequence excluding loop Settings button Opens the Settings menu Servopower On Off button Switches the servo power supply on and off Propo mode button Opens the Propo mode menu Opens the Automatic Mode menu Write files to CPU board button Opens the program download menu Connect Disconnect button Switches communication to the CPU board on and off E Ka Automatic mode button Ai ra Repeat loop button Sets the number of loop iterations meS Accept current tz aud OK time button Accepts the pre set time for all positions as a percentage pre set Setting the COM port
5. The COM port must be set correctly otherwise commu nication between the robot and the PC will not be pos sible In the previous section you established which port is available for the communication link We now explain how to select the corresponding port in the RobovieMa ker software Start the program click on the Settings button and switch to the Settings tab In the System and Screen section you can now change the COM port using the ar row keys system and Screen serial PC port COM 1 Once you have set the correct number click on the Apply and save button and close the menu by clicking on the button of the same name Everything is now prepared and you should be able to complete the connection to the robot RobovieMaker Start page buttons Setting the COM port 5 4 RobovieMaker Completing the connection 1 Connect the CPU board to your PC using the serial interface cable supplied in the set 2 Move the operating mode DIP switches to the position shown below 3 Switch on the power supply to the CPU board 4 Press the black Reset button adjacent to the DIP switches 5 Click on the Connect Disconnect button 6 If an error message appears check the settings of the COM port the interface cable the power supply and the DIP switch settings Moving all the servos to their installation position All the servos axes must be brought to their correct position before the
6. motion sequence The maximum number of positions per motion sequence is 100 Axis positions can be interchanged by adding them between the positions of a motion sequence Read the section entitled Buttons on the start page very carefully as this is the key to exploiting all the software s facilities to the full RobovieMaker My first movement 9 4 RobovieMaker Loop structure The previous section mentioned the creation of a motion sequence At this point we will explain the basic potential of loop structures EZ 100 OK E WW SW I ER WE OJ J spo SALT m al DEE Ke OR Ara G x fas GR i ew H HIGH Program sequence After starting the program e g by clicking on the Start button with the connection completed and the servo po wer supply switched on or using programmed Propo mode keyboard mode or automatic mode the steps are processed in turn producing the following servo positi ons Step 00 ideally the Neutral Position moves all axes to the programmed positions in 048 x 20 ms 0 96 s Step 01 is then processed no loop is present Step 01 moves all axes to the programmed positions in 075 x 20 ms 1 5 s Step 02 is then processed no loop is present Step 02 moves all axes to the programmed positions in 041 x 20 ms 0 82 s Step 03 is then processed no loop is present Step 03 moves all axes to
7. rious optional accessories which are not included in the kit Naturally the software already supports these appli cations there is no need to purchase additional upgra des The optional features are e controlling the robot using a transmitter and receiver e the use of gyro sensors e the use of the digital outputs for various consumer units such as LEDs System requirements Operating system Windows XP Processor Min Intel Pentium 4 at least 1 GHz Working memory Min 128 MB Interface 1 x RS 232 serial port Other CD ROM drive Serial interface The following illustration shows the standard commer cial 9 pin serial port on a PC Next to it is the correspon ding socket on the CPU board Safety Notes and Operating Information 3 3 Preparing the software This section describes the method of using the Robovie Maker software in order to bring your robot to life 1 Place the supplied CD ROM in your CD drive and copy the complete RobovieMaker folder to the hard disc of your computer 2 The software does not need to be installed To start the program all you have to do is double click on the file RobovieMaker RobovieMaker exe 3 The program is pre configured this means that once you have started it the only parameter which has to be set is the communication interface Le the COM port on your PC through which you wish to com municate with the robot You can find the port num ber by checking th
8. speed to their installation position Before you do this please read the Warnings and Safety Notes in both sections of the Operating Instructions Injury hazard 8 Click on the Servopower On Off button All the servos will now move to their installation position If any servo emits a loud noise or becomes hot switch off the servo power supply immediately then check the wiring and the installation 9 If all is well the servo power supply can now be swit ched off again and the robot disconnected Of course as an alternative you could adjust the neutral position of the servos to suit your own ideas and pre ferences However if you do this please note that the pre programmed routines will no longer work properly the robot could also be damaged if you choose unsuitab le positions 08 R_Hip fj 127 2 Reverse 22 L_Hip ma 127 Reverse 23 m 127 cz Reverse 24 09 R L LR 10 E 208 Reverse 123 Reverse 26 ken 127 Reverse on ken 127 Reverse frz7 Reverse ka _ 27 Reverse _ 127 Reverse 208 2 Reverse 123 2 Reverse _ 127 2 Reverse 127 4 Reverse Read setup from CPU board Connect Disconnect Reset settings Write setup to CPU board Servopower On OFF Apply Apply and Save Close
9. the button all the servos will move to their Neutral Position Take care to avoid injuring yourself 4 Switch the servo power supply on and you will hear the servos respond If any of the servos should become hot or emit a loud hum or buzz switch the power supply off again Of course this applies any time you are operating the robot 5 Now try altering the servo values one by one using the red and green arrow buttons and check that all the servos have ample freedom of movement to a position just short of their mechanical end points This procedure also allows you to check the correct axis assignments After a little practice you will find that holding down the Shift key on your keyboard enables you to alter the values in increments of 10 units 6 Never allow the servos to strike their mechanical end stops We recommend that you use this procedure to practise handling the software and familiarise yourself with the various axes of your robot You can also try clicking on Connect disconnect to open and close communication with the robot and switching the servo power supply on and off in this way you will eventually begin to feel at home with the program interface If you change values with the servo power supply switched off no axis movement will occur 8 RobovieMaker Operating modes Servo positions Neutral position Checking axis assignments 4 RobovieMaker My first movement This section describes th
10. the programmed positions in 059 x 20 ms 1 18 s Step 04 is then processed no loop is present Step 04 moves all axes to the programmed positions in 133 x 20 ms 2 66 s Step 01 is then processed this is carried out three times after which step 05 is processed jump out marker Step 05 moves all axes to the programmed positions in 037 x 20 ms 0 74 s Step 06 is then processed no loop is present Step 06 ideally the neutral position moves all axes to the programmed positions in 067 x 20 ms 1 34 s The motion sequence is concluded Sequence menu The first motion sequences can be started stopped or run through step by step using the Sequence menu or by clicking on the appropriate buttons provided that the ro bot is connected and the servo power supply is switched on If you select next step no loop for the function se quence any programmed loop structures are skipped Eile menu The created motion sequences can be stored using the File menu or the appropriate buttons The same menu is also used to open or save existing sequences Edit menu The motion sequences you have created can be pro cessed using the Edit menu by clicking on the appro priate buttons or by clicking with the right mouse button You will find a description of the start page button func tions in an earlier section When copying or exchanging positions from the left or right side the software pr
11. E 15 L_Should af Ip 02 A_Elbow um U 16 L_Elbow 145 Ip 03 R Wrist ra ap 17 L_Wrist ag 0 fd on a 15 en ear D S ai ll 18 ai 06 a TE 20 LEE ab ar a TE 21 Neck 100 ap A R_Hip a ap 22 L_Hip 0 DI a 09 R_L_LR ka ap 23 L_L_LR Low o IR L FR An an FA L L FR eu ear 11 H_Knee pa w 25 L_Knee o o 12 AF FB po po 26 L_F_FB LE pn 13 R_F_LR ea 0 27 L_F_LR a po 14 pa ZB Hesel sett Write setup to CPU board Servopower On OFF Apply Apply and Save Gline 14 RobovieMaker Gyros The permissible range for the offset values is 128 to 127 These settings can now be written to the CPU board by clicking on the appropriate button For each position it is possible to program the extent to which the gyro sensor feedback is required to affect the movement At this position the gyro sensor feedback will affect the position with a strength of 105 The illustration also shows the neutral position O and the servo output 14 Using this procedure motion sequences can be refined and optimised using the gyro sensors If you do not wish to use feedback for part of a move ment i e you want the axes to act solely in accordance with the fixed programming simply set the value in the top picture to O for these positions Naturally the installed position and attitude of the gyro sensors is very important as these aspects are crucial to their effe
12. U board If you wish to reverse the adjustments you have made click on the Reset settings button The Apply button accepts the current settings they are not stored when you terminate the program If you wish to read out the current setup click on the Read setup from CPU board button This tab also allows you to rename the axes and select de select particular axes RobovieMaker Fine adjustment of the neutral position 7 4 RobovieMaker Operating modes Your robot can be operated using any of the following operating modes they are selected using the DIP swit ches located on the CPU board 1 When all the DIP switches are in the up position as described in the section entitled Completing the con nection the connection to the robot is completed In this mode the model can be programmed tested and adjusted This mode of operation should always be selected whenever you wish to connect to the robot 2 PM means Prop Mode transmitter operation in this mode the robot can be controlled by the programmed and loaded routines using an optional transmitter and receiver 3 A1 A4 are the automatic modes 1 to 4 In these mo des you can run programs automatically step by step As soon as the robot is activated the prepared sequence which was programmed for the selected mode starts up 4 Whenever you wish to change the operating mode switch the robot off first Servo positions The
13. arc of travel of each servo or axis is 0 to 180 This range corresponds to the values between 0 and 255 va rying according to the Neutral Position and fine adjust ment of the neutral position It is never possible for any axis to move over its full theoretical range of 0 to 255 If you change axis va lues and a servo no longer moves despite not being stalled then you have exceeded the servo s 180 arc of travel This can and will cause permanent damage to your servos adjust the axis values immediately to prevent this happening Neutral Position The robots position which you set in the section descri bing the fine adjustment of the neutral position is exactly that the neutral Position All programmed movements now start from this position If you have set up the Neu tral Position correctly it will be possible to run programs developed using other RB1000 models without any pro blem Checking the axis assignments Now that you have become familiar with the basic ope ration of the software you should be in a position to test your robot and check whether you have assembled it cor rectly This is the basic procedure 1 Starting from the basic image complete the connec tion to the robot by clicking on the appropriate button wevey greaupner robotics ce 2 Check the axis values set in your software comparing them with the illustration above 3 When you switch on the servo power supply by clicking on
14. components of the robot can be as sembled correctly This is the procedure step by step 1 Complete the connection to the CPU board as described above 2 Check the Neutral Position values by clicking on the Settings button followed by the Neutral Position tab as shown below While you are there check the Reverse buttons Neutral Position 01 i 200 Reverse 15 Fe 200 Reverse R_Should L_Should 02 127 H Reverse 16 Gel 127 Reverse R_Elbow L_Elbow 03 eng pe 200 Reverse 17 gt 200 SS Reverse R_Wrist L_Wrist 04 127 Reverse 18 Z 127 Reverse 05 127 H Reverse 19 emm mmm 127 Reverse 06 ken 127 Reverse 20 ken 127 Reverse 07 ke DR I Reverse 21 Neck Echt H Reverse 3 If you find deviations from the values shown adjust them using the appropriate arrow buttons If you have selected the Reverse function for any axis the values for the axes will not coincide with those on the start page This is caused by a function which facilita tes symmetrical movements more details on this later 4 Click on the Apply and save button 5 Click on the Write setup to CPU board button to load the corresponding data into the robot 6 Re connect the robot to the CPU board by clicking on the appropriate button 7 Caution when you reach Point 8 all the servos will move at full
15. ct on the robot s axes More information on this subject is included in the instructions supplied with the gyro sensors 4 RobovieMaker The def ini file _AxisSymmetry PAIR_R 15 This file is located in the RobovieMaker program folder gt Symmetry axis of the robot linked to axis and contains all the information for the CPU board Ex 15 other side of robot perienced users can also alter the settings directly in this file However please note that the syntax you use must _GS_XCenterPosition 094 be exactly correct gt Gyro sensor calibration _ RobovieMakerVersion 2 _GyroNeutralPosition 1 _D I ONeutralPosition 0 gt RobovieMaker program version gt Gyro sensor Neutral Position _SerialportNumber COM1 _D VOf 1 gt Number of the serial port for communication gt Number of the output _Minimum Transition Time 4 _D I ONeutralPosition 000 gt Minimum possible time for reaching a position gt Neutral Position of the output _DrawMotionareaBG TRUE _i oMode OUTPUT gt Display motion area background gt Defined as output do not change this _DrawPoseareaBG TRUE _AxisUsable TRUE gt Display axis area background gt The output is used _ RelativeMarkOfAxisParam FALSE gt Display of axis values as neutral setting offset The sidpos dat file This file is located in the RobovieMaker program folder _PoseareaRedrawRate 2 and contains the positions of the individual axis sliders gt S
16. e aal all different hardware configurations Hardware Profiles System Properties Ez EJ General Device Manager Hardware Profiles Performance fe View devices by type C View devices by connection m Display adapters Floppy disk controllers y Hard disk controllers d HCFMODEM FH Keyboard ES gd Modem i re Monitors Ke Mouse sp Network adapters EJ R Ports COM amp LPT y Communicatons Port IC OM 7 Communications Port COM2 WY EPSON Printer Port LPT1 Sound video and game controllers i RO devices E el anel M se srsbkes le Properties I Refresh T Remove Print 4 The communication sockets vary from one PC sys tem to the next the illustrations above therefore serve only as an example to help you set up the COM port in the RobovieMaker software correctly 4 RobovieMaker Start page buttons E New button Creates a new motion sequence s Open button Opens a motion sequence Save button Stores the current motion sequence D Undo button Reverses the actions just carried out gt Redo button Restores actions after they have been reversed D Copy button Copies the marked objects ca Paste button Pastes the copied objects Copy left to right button Copies axis positions from left to right Lik Copy right to left button Copies axis positions from right to left Lak
17. e Control Panel on your computer The following illustrations show this clearly Documents Contral Panel ra Settings Ki Network Connections Ge Printers and Faxes wf Taskbar and Start Menu Search Help and Support SET Run Log OFF Tom E Control Panel CE Edit View Favorites Tools Help D gt eJ Search ar BE FA e Accessibility Add Hardware Add or Administrative Date and Time Options Remov Tools on Dis Pi Ki u A w Display Folder Options Fonts Intel R Controllers Graphics w o w Internet Keyboard Mail Mouse Network Options Connections a 5 3 Phone and Power Options Printers and Regional and Scanners and Modem Faxes Language Cameras d HD 3 8 8 R Riede SoundFusion Sounds and Speech Audio Audio Devices e 8 Taskbar and TOSHIBA User Accounts Wireless Start Menu Power Ma Control Panel 4 Preparing the software system Properties Automatic Updates Remote Hardware System Restore General Computer Mame Advanced Add Hardware Wizard gt The Add Hardware wizard helps you install hardware ah Add Hardware wizard Device Manager The Device Manager lists all the hardware devices installed on your computer Use the Device Manager to change the properties of any device Driver Signing Hardware Profiles Hardware profiles provide a way for you to set up and stor
18. e Data Cancel The Browse and Delete buttons can be used to write information to the CPU board in the form of stored Auto matic modes and the configuration of a Propo mode If you also wish to write the setup of the CPU board this can also be selected Naturally the robot must be con nected for this process Once you have written the data to the CPU board you must then switch the robot off in order to set the desired operating mode If you select transmitter mode always switch the transmitter on first and then the robot If you then switch the robot on with the desired operating mode set the robots own programming then starts immedia tely Caution Automatic mode 2 Automatic mode 3 Automatic mode 4 Propo mode Iv Additional CPU board setup 12 RobovieMaker Automatic mode Writing programs to the CPU board 4 RobovieMaker Settings The Settings menu can be opened via the Tools menu or by clicking on the appropriate button The following ranges can be adjusted using the Settings tab Digital Output It is possible to generate four voltages in the range 0 5 V which can be adjusted in 20 mV increments The voltage level is the mean value of a rectangular vol tage Digital Output wv D 0 1 enable Output Neutral Position 0 z l D 02 enable Output Neutral Position 127 e M D 0 3 enable Output Neutral Position 127 M D O 4 enable Output Neutral Position 127 e
19. e procedure for creating and testing motion sequences In order to carry out these pro cedures you must already have adjusted the robot and checked its freedom of movement Axis area NEW RobovieMaker File Edit Position Sequence Tools alala gt Mlele ronl BPO COP DEL npr b m gt Slelelzigl ES E ef E d 2o 02 Ss o NA 005 08 leg 09 EW v 23 IO ESP m w S i EE Si Ok le EES E ES PR Axis Servo Joint slider Lei 2 Axis position with arrow buttons for altering values A Axis position change slider zk Axis Neutral Position D Turns red when position is active E Position number step SS p EG Pre set position time RER Pre set time value x 20 ms Next position number or step number W Jump out marker for a programmed loop Motion sequence It makes sense to assign the neutral position to the first and last steps of a motion sequence as this ensures that the robot always commences its sequence from the same starting point One step in the movement range always contains all the positions of all axes If you create Between Positions and Copies of positions using the appropriate buttons they are always added after the active position When setting up loops always define a jump out marker that is higher than the position number otherwise the result will be an endless loop One loop structure can be programmed for each
20. equence Automatic modes can be stored or loaded using the Save and Load buttons When you initially select a sequence you can also determine how many times it is to be repeated This is defined in the Repeats of motion range The Connect Disconnect and Servopower On Off buttons are used for testing a programmed Automatic mode When carrying out such tests make sure that there is sufficient freedom of movement for the serial interface lead If you wish to test the Automatic mode you can enter the number of repeats of the whole Automatic mode in the Total repeats for test range If the robot is no longer connected for the testing procedure the selected Automatic mode will be carried out once During testing the Start Pause Stop and Next buttons are used to control the Automatic mode when the robot is connected The illustration shows an Automatic mode in which the program Hello txt is initially completed three times after which the program Wave_hands txt is processed once The folder containing these motions is also stated N Lab Writing programs to the CPU board The menu for downloading the Propo mode and Auto matic modes 1 4 is opened in the Tools menu or by clicking on the appropriate button Write files to CPU board Automatic mode 1 Browse Delete Browse Delete Browse Delete Browse Delete Browse Delete Writ
21. ervo range update rate and outputs The axes appear first in the file followed by the outputs _AxisNumberf 1 gt Axis number _AxisName R_Should gt Axis name _NeutralPose 200 gt Axis Neutral Position _ Axis TuningPrameter 003 gt Value of the Neutral Position fine adjustment _ GyroSetting 010 000 gt Offset values of gyro sensors 1 2 _AxisMovableRange 000 255 gt Axis limit input facility _AxisUsable TRUE gt The axis is used _AxisReverse FALSE gt Reverse of the Neutral Position RobovieMaker The def ini file the sidpos dat file 15 0 ee e i PN KG 01 if f bm e A i i W j eg i m Lk 2 j og A S Su ii a ii E j m ei ie 4 OOo GRAUPNER GmbH Co KG Postfach 1242 73220 Kirchheim Teck Germany www graupner robotics de
22. ge RobovieMaker Settings Digital Output System and Screen 13 4 RobovieMaker Gyros Two optional gyro sensors can be fitted to the robot The method of connecting these sensors to the CPU board is described in the Hardware section of the Operating Instructions Gyros Adjust gyro X Axis 94 M Gyro 1 enable on port 14 Neutral Position 0 e Adjust gyro Y Axis 137 l Gyro 2 enable Apply on port Neutral Position 0 z Once you have connected the gyro sensors to the CPU board and the robot is already connected you can calibrate the sensors by clicking on the Apply button Activate the corresponding sensor using the check boxes and determine its neutral position You then have to use the appropriate tab to enter the socket servo output on the CPU board to which the gyro sensor is connected In our example a gyro sensor is connected to socket 14 and is set to the neutral position O It is now necessary to activate the servo output for the gyro sensor using the Fine adjustment of the neutral po sition tab the following illustration shows this clearly You can now program an offset for each of the gyros using the Gyro offset values tab The further the sensor is moved from its idle position the more pronounced its effect on the servos Fine Neutral Position adjustment Gyro offset values Settings Neutral Posttion Axis Gyro 1 Gyre 3 Axis Gyro 1 Gym 01 A_Should po T
23. he Stop button concludes the keyboard control mode A motlon sequence can only be started when the preceding sequence is concluded This applies to Propo mode and keyboard mode alike The attitude sensor is an integral part of the CPU board that is the reason why the CPU board must be installed exactly as described in the instructions otherwise the sensor values would be incorrect When you are using keyboard mode make sure there is sufficient freedom of movement for the serial interface cable It makes sense to assign a movement to the Neutral field of the right stick which only contains the Neutral Position RobovieMaker Propo mode 11 4 RobovieMaker Automatic mode The menu for creating various Automatic modes is ope ned in the Tools menu or by clicking on the approp riate button Automatic modes contain various motion sequences which have already been created These se quences can be cascaded linked together and repeated as often as you like Automatic mode Filename Repeats Folder Hello txt 3 AA ProgrammejHello txt Wave_hands txt 1 AA Programme Wave_hands txt lt Browse Delete Save Load Repeats of motion z Connect Disconnect Servopower On Off Start Pau e Stoj Nexd Total repeats for test 1 Clase Motion sequences can be added and erased using the Browse and Delete buttons A new sequence is always added after the currently active s
24. he option of switching nine times generates a total number of 117 motion sequences which can be initiated from the transmitter Attitude sensor Dual ads attitude sensor Sensor values GS X GS Ye Browse Delete If sensor value lower as 110 en start motion Browse Delete l sensor value higher as 145 e start motion Belly position Back position If the robot is connected the current values of the attitu de sensor are displayed in the range of that name If you wish to make use of the sensor feedback you can select this option by clicking on the appropriate check boxes It is also possible to pre set the sensor value at which the selected program is to start The Save and Load buttons can be used to store and load the entire Propo mode Keyboard number block Use keyboard number block for right stick Connect Disconnect Servopower On Off The illustration shows the key assignment if you wish to start the right stick motion sequences from the key board 8 gt forward 4 gt left 2 gt back 6 gt right 4 8 gt left forward 4 2 gt left back 6 2 gt right back 6 8 gt right forward If you wish to initiate Propo mode from the keyboard you must first complete the connection to the robot and switch on the servo power supply Click on the Start but ton to initiate keyboard mode and you can then call up the appropriate motion sequences Clicking on t
25. in a safe place If you ever dispose of the model be sure to pass them on to the new owner The sole purpose of this manual is to provide informati on We reserve the right to alter the information without prior notification and it must not be viewed as an obliga tion on the part of the GRAUPNER company GRAUP NER accepts no responsibility or liability for errors or inaccuracies which may occur in the information section of this manual Epilepsy warning Please read through this information before you use the software or allow your child to operate it When subjected to particular flashing lights or lighting effects many people may be susceptible to epileptic fits or other mental upsets and it is possible that such individuals may be affected when using computer pro grams Even persons whose history of illness does not include epilepsy and who have never suffered a fit may be affected by this problem If you or a family member have ever noticed symptoms which might be connected with epilepsy Such as mental upsets or fits under the influence of flashing lights please seek medical advice 2 Safety Notes and Operating Information before you use this software As a basic rule parents should always supervise their children when they are using computer programs If you or your child should encounter symptoms such as dizziness vision pro blems eye or muscle twitches loss of consciousness disorientation or any kind of involu
26. mode Propo mode is started from the Tools menu or by cli cking on the appropriate button In this menu you can alter various aspects of the robot s functions 1 Controlling the robot using an optional transmitter and receiver 2 Controlling the robot using the keyboard 3 Defining the response when the robot is lying on belly or back position Right stick Aight silck Left Browse Delete Wetal Browse Delete Right Browse Delete Click on the Browse button to assign a stored motion sequence to a particular stick position Clicking on the Delete button erases this assignment again Neutral means no transmitter signal Left stick Leit slick Forsand WI Browse Delete Left Le 5 Right A Browse Delete Fore Browse Delete iD Back Browse Delete Click on the Browse button to assign a stored motion sequence to a particular stick position Clicking on the Delete button erases this assignment again The letters in brackets indicate the key assignment if you wish to start the motion sequences from the keyboard Browse Delete Switches 1 and 2 Switch 1 A swith2 A gt These switches enable you to switch the assignment of the left and right stick nine times This works in the same way as the optional two channel switch modules on the transmitter Since it is possible to assign eight positions to the right stick and five positions to the left stick t
27. ntary movement or Cramp when you are using a computer program switch the machine off immediately and consult your doctor before you resume working on the PC Cautionary measures when using the software e Do not stand or sit too close to the computer screen e Use a flicker free screen as the computer display e Do not carry out programming when you are tired or if you are short of sleep e Ensure that the room in which you carry out programming is always well ventilated e When using any computer program take a break at least every hour it should last a minimum of ten to fifteen minutes General Information It is important to start by reading right through Part 1 General Information and Hardware of the Operating Instructions Please read and observe all the war nings safety information and operating notes inclu ded in the hardware manual as well as those in this software manual Please note that the terms servos and axes always refer to the robot s joints Warnings Safety Notes e These instructions cannot and do not cover problems and queries specific to the PC or its operating system e We accept no liability for problems and damage which are caused by improper use of the RobovieMaker software on your PC system e We are unable to guarantee that any particular USB serial RS232 adaptor will work correctly since not all these devices communicate properly with the ro bot and or with the PC However the
28. ocesses the axis positions of the left and right side of the robot This is possible becau se the corresponding axes on the left and right sides are marked as a pair in the def ini file The Reverse selected axis function simply switches re verses the display of the selected axis values Position menu When creating motion sequences you can create or era se positions using the Position menu by clicking on the appropriate buttons or by clicking the right mouse button You will find a description of the start page button func tions in an earlier section If you insert an Between Position after a set positi on then the travel of the Between Position is always half way between the preceding and succeeding axis positions Tools menu Extra non standard functions can be carried out using the Tools menu by clicking on the appropriate buttons or by clicking the right mouse button You will find a de scription of the start page button functions in an earlier section It is also possible to read out the firmware version of the CPU board change the background pictures of the axis and motion areas and load a different initialisation file def ini Amongst other data this file contains the Neu tral Positions the axis names and the fine adjustment values 10 RobovieMaker Loop structure Sequence File Edit Position Tools menus 4 RobovieMaker Propo
29. re is nothing in principle to prevent you using such adaptors if your PC system does not feature a serial port e It is never possible to exclude the possibility of malfunctions with software products e Avoid programming sequences which involve very fast violent movements as they are very hard on servos and mechanical systems The result may be premature wear of these components e The programs supplied may cause damage to your robot if it is not assembled and adjusted very accurately e It is never possible for any axis to move over its full theoretical range of 0 to 255 If you change axis values and a servo no longer moves despite not being stalled then you have exceeded the servo s 180 arc of travel This can and will cause perma nent damage to your servos adjust the axis values immediately to prevent this happening Components and accessories GRAUPNER GmbH amp Co KG as manufacturer of this model recommends that you use components and ac cessories which have been tested and approved by GRAUPNER for their suitability function and safety The company accepts product liability if you observe this advice GRAUPNER does not accept liability if you use unapproved parts or accessories made by other manuf acturers aS we are not in a position to assess every in dividual product made by other companies for their sui tability and safety Optional accessories This manual also describes and explains the use of va
30. stment of neutral position tab in the Settings menu as shown below The illustra tion shows a robot which has been adjusted accura tely for the initial stage of adjustment the value 0 is assigned to all the axes Fine Neutral Position adjustment mb R Should Pa 15 Sho riy 027 REibow 3 2 16 Leow j 2 mp R_ Wrist __ 2 2 17 wee _ TS wS E a ter Sa m4 DE EE Ee Mech i osy RU ri Sie Feb 14 wy km Pe mej wp RKnee mi ZER jke ray Grine Pe Less Es md 13 RER rj zPLEFR ray oS 711 OE ee Read setup from CPU board Connect Disconnect Reset settings Write setup to CPU board Servopower On OFF Apply Apply and Save Close 2 Complete the connection to the robot and switch the servo power supply on 3 Move all the robot s axes to the correct positions using the arrow buttons The neck and arm axes can not be set up correctly using the adjustment template adjust these axes to the positions shown in the pic tures of the robot in the software taking care to keep everything symmetrical the same on both sides 4 When you have adjusted all the axes accurately click on Apply and save to store the data and write it to the CPU board This is carried out using the two but tons marked Apply and save and Write setup to CP
31. table acces sories However we as manufacturers have no control over the way you build and operate your model nor how you install operate and maintain the associated compo nents and for this reason we are obliged to deny all li ability for loss damage or costs which are incurred due to the incompetent or incorrect use and operation of our products or which are connected with such operation in any way Unless otherwise prescribed by binding law the obligation of the GRAUPNER company to pay compen sation regardless of the legal argument employed is ex cluded This includes personal injury death damage to buildings damage due to loss of business or turnover interruption of business or other direct or indirect conse quent damage whose root cause was the operation of the model The total liability in all cases is limited to the amount of money which you actually paid for the kit This model is built and operated at the sole and express responsibility of the operator The only way to avoid injury to persons and damage to property is to handle and ope rate the robot with the greatest care and consideration at all times Before you operate the RB1000 for the first time it is im portant to check whether your private third party liability insurance policy covers you for operating models of this type If you are not sure take out a special policy desig ned to cover the risks inherent in RC modelling These Safety Notes must be kept
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