RoboBuilder UXA-90 Light Manuel utilisateur
UXA-90 Light
Multipurpose Humanoid Robot
Operation Manual
1"
1;
R0B0193MUP=I(~)FNM
-
Table of Contents
-
# CAUTION ..............................................................................................................................................................3
# BASIC OPERATION ..................................................................................................................................................4
1.
POWER ................................................................................................................................................................5
1.1
REGULAR POWER .........................
.........................................................................
....................................................................................
............ ...................................... 5
1.2
BATTERY POWER ........................
.................................................................. ......................
... ............ ........................................... ... ................. ...................
.................... ..5
2.
USB DRIVER ..........................................................................................................................................................6
3.
FIRMWARE DOWNLOAD..........................................................................................................................................9
3.1
HEAD BOARD ..................................................................................................................................................................................................................................................9
3.2 SWITCH BOARD .........................
............................................................................... ........................................................................................................... .. .......
.......... .....12
3.3
RED INTERFACE BOARD ..................... ... ....................................................... .............. .. .................................................. ........... .. .................................... ..... .................. ...12
3.3. 1 Main Controller.... ..... ---- ............ .. ............................ .......... ... .................................................. ... ................. .. ------ ... ..... .......
12
3.3.2 Sub Controller
....... ................. ................ ..................... .....................................
........................................... ......... ........ ... ... .....
13
4.
SAM ID SETTING ..................................................................................................................................................14
4.1
SAM ID SETTING ........................................ ............... .............. ........................................ ..................... .................................................................
.......................... ... . ...... 14
4.2 SAM INTERFACE SINGLE BOARD EXPLANATION ......................................................................................................................................................................................14
4.3
SAM ID SETTING DIRECTION .....................................
.......... ................................ . ................... ........... .. ..................................................
............................................. 15
S. SOFTWARE ..................................................................................................
........................................................ 16
5.1
SOFTWARE DIRECTION
...................................................................... .. .................................
............ .... ................................................................................................. 16
5.
1.1 ROBOBUILDER DOWNLOAD TOOL .......... .................. ...... ........... . ... ..... ..... ... ..... ......... . .............. . ......................................... .....
16
5.7.2 MOTION BUILDER... ............................. .. ..... .. ..................... . .......... .... ............................. ............ . ....................... ...... ........... ....
18
5.2 ZERO SETTING DIRECTION(ROBOBUILDER DOWNLOAD TOOL) ........... ............................................................... ............ ... ........................................ ............... ...... 30
5.2.1 ZERO SETTING
-
7 (PC NETWORK) ..................... --- ... ..................... . .... . ....... --- .... . ..... . ... ........ .... .... ........ ... ...................... ..
30
52.2 ZERO SETTING 2 (Remote controller on Robobuilder Download Tool
-
Zero setting macro) .................................................
32
52.3 ZERO SETTNG- 3 (MOTION INPUT)... ...... ... ........ ... .... ... ....................
..... ..... ... ..... ...
............... ........... ... ................ ... ... .... ... ....... .
33
6.
OPERATION METHOD ...........................................................................................................................................34
6.1
RBTooL ..............................................................
................. ........................................ ................................................. .. ..... ... .............
.........................
................................. 34
6.2 RE MINI CONTROLLER ...........................................................................................................................................................................................................................35
7.
APPENDIX...........................................................................................................................................................36
7.1
REMOTE CONTROLLER KEYMAP ........... ...... .. ....................................... ................................................ ..........
................................... . ............................... ........... ........36
7.2
ID MAP ..............................................................
......................................................... .. ..................................
...................................
..................... ...................................... 37
7.3 BATTERY SPECIFICATION ......................................................................................................................................................................................................................38
IN
LZUtIi I [si
ilk
I
-
When taking UXA-90 out from the carrier, lift by holding the handle on the back and have the
robot sit on the floor.
-
It is dangerous to put your hand into the servo motor area when UXA-90 robot is in action.
-
Connect the regular power supply (power adapter) to check if the power works properly. (Do not
use the battery at first.)
-
Always check for damages in UXA-90 robot after use.
-
Do not put UXA-90 robot on an elevated place such as on a table and work on the floor to
prevent the robot from falling.
-
In case of an emergency, press the red button on the SW board during
operation for immediate stop.
-
Do not put your hand into the fan on the knees.
-
Be careful with motions and orders that require immoderate movements
as they may damage the robot.
-
Assure a safe distance from the robot when testing a new motion (movement).
-
Connecting a safety cable is recommended in case of unexpected movements (falling, etc.)
during the test.
-
The manufacturer is not responsible for arbitrary remodeling/improvement or inappropriate
management of the robot.
3
# BASIC OPERATION
The following is based on <Chapter 6.2 RF Mini Controller>, and it explains the initial operation of the
robot.
c
Press the power switch on the SW board with the UXA-90 seated, and check the LED light on
after the robot is turned
on(*Press
the power switch more than 3 seconds when you turn on
the robot's computer together
I
You can control the robot's basic motions without turning on
the computer).
©
Press the power switch on the RE mini controller to turn on the power.
(
Press
0
button on the RF controller to have the UXA-90 stand up in the initial position.
@
Press the button to have the robot move from the initial position. (Reference— Chapter 7.1
Remote Controller Key Map)
<RE controller key arrangement>
4
1. POWER
*
The power for UXA.90 robot is 18.5V, and it operates with
regular power (power adapter) or a battery.
*
The power switch consists of SW board, red interface board,
and PWR board. Among these three powers, red interface
wd>
board and PWR board shall stay 'on' at all times, and turn on
and off the robot with the SW board.
1.1 REGULAR POWER
*
When using the regular power, connect the power adapter provided with the package to the power
supply part(FWR Board) of UXA-90.
1.2 BATTERY POWER
Check the specification of a battery first before use (Refer to
Chapter 7.3 Battery specification). Connect the battery to the
cable inside of the battery case. Remove the power adapter
before use.
5
2. USB DRIVER
Use the Micro-USB cable to connect the PC and UXA-90. Here, the connecting part on the UXA-90 is
the micro socket on the switch board (Refer to Chapter 3.2 Switch Board.). See below for driver
installation guideline and a few setting methods.
<Figure 1>
1)
When the UXA-90 is connected to the PC with the Micro-USB cable, the automatic installation begins
as shown in <Figure 1>
If auto-installation does not begin, try connecting the USB again.
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<Figure 2>
2)
After completing the installation, check the port setting on Device Manager.
Reatorm Defaults
<Figure 3>
3) Click on the Advanced button in the port settings.
OK
rtr
C
USB
Transfer Sizes
.
Canud
Select
lower settings
to
correct performance problems
at low
baud
rates,
I
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Select higher
settings for footer performance.
Receive
(Bytes)
koWr
-1
(Bytes)
-
1d09
-J
BM
Options
Miscellaneous Options
Select lower settings to correct response problems.
Serial Enumerator
Serial Printer
Timer
(insec)
It.
'.'j
E
Latency
Cancel
If
Power
Off
L
M
Event
On Surprise
Removal
E
l-
Tmeouts
Set
RTS
On Clone
C
Disable Modem
Ctrl Al Startup
C
Minimum Read Timeout (msec)r
[o
I
Enable Selectee Suspend
Minimum
Write Timeout (rosec);
0
Selectee Suspend Sille Timeout (secs);
<Figure 5>
5) Change the COM Port Number to [COM3], and Latency Timer (msec) to [1].
-
7
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Keyboardn
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LPT)
Prooenno
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Sound video and game 000tro6ern
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<Figure 6>
6) Check that the port number has been changed to [COM3].
3. FIRMWARE DOWNLOAD
*Fi
rmware
download is not required unless update notice is released by Robobuilder (p9p13).
The four boards to download the firmware are head board, switch board, and red interface board
(main controller, sub controller). The program used to download the firmware is 'Flash Loader
Demo.exe'. Be careful as each board requires different switches to be pressed before downloading the
firmware.
3.1 Head Board
A. Connect USB to UART to the PC and the head board. The Boot switch is to be pressed when
power is supplied, so press the Boot button while the Reset button is being pressed, and only
keep the Boot button pressed.
Por
t
Name
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Paflty
Baud
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a
te
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Echo
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Data Bits
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Tfrnout(s
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B.
Open Flash Loader Demo.exe and set the USB to UART port name and the rate. Press <Next>.
C.
Click <Next>.
D.
Check the list and click <Next>.
10
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