User`s Manual
Contents
1. m 11 Ne mero User can test rero Head Module using Sensor menu on rero Controller Connect the Head Module to rero controller then go into Sensor Menu select the ID of Head Module in the list of sensors There are 3 features can be tested namely the sound sensor IR sensor and RGB LEDs The sound sensor value and IR sensor value is display as scrolling bar with the value that varies from 0 to 255 depending on the surrounding sound level or the reflected IR rays There are 3 check boxes to turn on or off the RGB LEDs colours User can turn on or off single or mutiple color by checking the check boxes SENSOR amp HEAD MODULE ui HEAD MODU LED MN RED E GREEN BLUE Sensor Menu and Head Module Test OFAC E ac O Head IR sensor IR sensor is located infront of the Head Module above the eyes IR sensor is used for trigger the robot to start when user wave their hand infront the face of robot Head Sound Sensor Microphone Microphone is located inside of the Head Module and it is invisible from outside Microphone can be used to detect maximum sound volume trigger robot to start by hand claps It has features of capturing maximum sound level detection hand clap counter and current sound volume level Sound volume is sampled at sampling frequency of 3 9KHz User can set threshold level for the hand clap detection Hand clap detection is done at interval of 800 miliseconds This means that when a cl2. User s Manual 1 0 2 0 3 0 4 0 5 0 6 0 Table of Content Introduction rero Packing List Product Overview 3 1 rero Hardware Modules 3 1 1 rero controller GC06 3 1 2 rero Cube Servo G15 3 1 3 rero Head Module 3 1 4 rero IR sensor 3 1 5 rero Ultrasonic Sensor Getting Started 4 1 Battery Installation 4 2 rero Controller Menu 4 3 Setting Cube Servo and Sensor IDs 4 4 Charging Battery 4 4 1 Charging on rero Controller 4 4 2 Advance Charging Method Build Your Own Robot 5 1 rero Hardware Construction 5 2 Dismantle rero into Parts 5 3 Wiring rero Programming 6 1 Teach Mode 7 0 rero Remote 95 8 1 rero LED Blink Status 104 1 0 Introduction Thank You amp Congratulations What is rero A F configurable FObotics Construction kit with flexible slide lock assembly mechanism rero does not use screw bolt or nuts for assembly instead it use novel slide lock mechanism which make it so simple and time saving to complete a robot rero come with loose parts which empower user s robot building creativity and imagination rero parts can be combined to build up robots redesigned taken apart and put back together in multiple ways There are no specific assembly rule that limits the user to build up new robots rero has several programming methods The most basic way to program a complete rero robot is Teach Mode User teach rero and rero replay back what it remember from the teaching With rero
3. 2 3 Numeric Keypad Key in the new ID of the servo sensor 4 New ID Shows the new ID keyed in with the numeric keypad 5 Battery Indicator Indicate the battery level of the rero controller 6 Exit Button Go back to the main menu SERVO Sub Menu Test the movement of the servo motor change the servo motor to wheel mode or position mode as well as set the path limit of the servo motor in this sub menu Upon entering this sub menu rero controller will search for all the connected servo motor and this will take up to 1 second All the servo motors will be listed under the servo list box Select a servo motor from the list and the following screen will be shown 28 SERVO MOTOR Set Path 1 Servo List Box List of the connected servo motors 2 Refresh Button Refresh the servo motor list 3 Angle Meter Touch the angle meter to command the servo to move to that position Only available when wheel mode is not enabled and the position is within the valid path of the servo a Needle Point to the position of the servo b Green Ring Valid path of the servo c Red Ring Restricted path of the servo In wheel mode the whole circle will be shown as red ring plim mi PO 29 4 Increase Button Increase the position of the servo by 1 degree In wheel mode rotate the servo motor counter clockwise or stop the motor 5 Decrease Button Decrease the position of the servo by 1 degree In wheel
4. The selected Cube Servo will turn on its LED when selected 67 a e EFO SERVO MOTOR O Please select a servo Refresh Select a Servo from the Servo list Press Set Path to start setting the path limit for the selected servo Rotate the selected Cube Servo together with the attached part in both movable directions to the maximum This is to let the rero controller knows how much angle that servo can move nm m a QO 68 Rotate the servotothe SERVO MOTOR Bi maximum limits 0 DEGREE Refresh Set Path i Set the Allowable moving Path for the Selected Servo You will notice the green and red sector on the position meter changed Green sector indicates the safe moving path and red sector shows the path that will clash and Cube Servo will not move into that region Press Save button to save the path limit to the selected servo Repeat the Set Path Limit procedure for all the Cube Servos that form the rero robot m 69 Ne mero SERVO MOTOR Green Colour Moving path 011 Red Color Path that due Cube Servo will avoid DEGREE Wheel Save Cancel Path Limit shown by Green and Red Color on Position Meter To set Cube Servo into wheel mode which the servo can rotate 360 continously in the Set Path Sub Menu tick the Wheel checkbox The whole arc of position meter will change to red colour indicates the Cube Servo is not in position mode but in w
5. Vs N a oa N Cube Servo and sensors can have ID as from 0 to 253 Remember to label the servo on ID sticker once you done Info setting ID of servo or sensor 4 4 Charging Battery rero battery level is always monitored by rero controller and is display by the battery icon at right upper corner The battery level is indicated by shaded level in the icon and also the colour of the icon The battery icon colour will change from green to yellow and red when low battery rero controller will display a empty battery screen when the battery voltage is too low It will shutdown in 6 seconds after the empty battery screen is shown User can charge the battery any time to keep the battery full 43 Critical Battery Empty Battery OUT OF JUICE SHUTDOWN In 6 Sec SHUTDOWN now SET rero battery status indicator rero controller comes with Lithium Polymer Battery LiPo with capacity of 1300mAh at nominal voltage of 11 1V Please use the provided battery charger to charge rero s battery Incompatible battery charger can damage the battery or even cause fire and explosion rero robotics kit come with quality LiPo Balance Charger Balance charger makes sure that all the cells in battery are charged in balance to reduce the risk of cell overcharge and undercharge m 44 ME cero rero s charger AC input 100V 240V 50 60Hz and charging cable 4 4 1 Charging on rero Controller Connect the Charge
6. animator user can create time lined motion sequences similar to making an action movie for rero Boost Your Creativity and Imagination with rero 2 0 rero Packing List rero setis packed in an elegant plastic storage box rero standard set included modules and parts shown as following L pre v l 9 4 rero Controller x1 Head Module x Cube Servo x8 Ultrasonic Sensor x Infrared Sensor x Ei pro LS a ae pae I3 1 l A i td Y IP pP ED LA LA U Joint x4 Long U Joint x4 Wide U Joint x2 Cube Joint x6 Slim Wheel x4 Fa A a 4 Rotatable Foot Plate x2 Claw x2 Inter Connect 15 Connector x10 Adapter Joint x5 2 LiPo Battery Pack Single Spacer x 10 Double Spacer x16 Wire Clip x12 Opener x2 for rero x a we rm O Male to Male Male to Female Male to Male Male to Female Extension Extension Extension Extension Charging LiPo Battery Cable 5 x2 Cable 5 4 Cable L x2 Cable L 4 Cable x1 Charger x1 EE rero 3 0 Product Overview 3 1 rero Hardware Modules rero consists of several modules and parts which can be assembled to build up a robot These modules are main controller Head Module and sensor modules rero parts includes joints connects wheel claw footplate spacers wire clips extension wires and rero opener Example robot assemblies with rero p m Ero 3 1 1 rero Controller GC06 rero controller is the brain of rero robot syste
7. file if you haven t do so and the Upload Motion message box appears Select upload location Oo OG E E File 1 Motion Teach Mode Time Frame 0000 File 3 Time sec 0000 File 4 rero Remote Android App Upload Motion to rero Controller message box File 5 rero Controller Play 1 amp 2 Select Upload Location Select the upload location based on where you want to play the Motion file If you have an Android smartphone or tablet you can download the free rero Remote App from Google Play DEAD a reo 93 3 Loop Select if you want to play the Motion file repeatedly when you press and hold the button on rero Remote or click Play on rero Controller You can stop the Motion by releasing the button on rero Remote or click Stop on rero Controller Download Motion There are cases where you wish to read the Motion file stored in rero Controller into rero Animator software For instance you have created a Motion using Teach Mode in rero Controller Now you want to save this Motion to your computer and at the Same time improve the the Motion using rero Animator software You can do that with Download Motion From the Download Motion message box select the location of the Motion file in rero Controller The valid rero Motion file will be transferred to rero Animator after clicking OK button Servo s and Action s in the Motion file will be displayed accord
8. obstacle and proximity When powered on the LED will be lighted on in blue color as power indicator By default the Red LED indicator of the rero IR sensor is off User can change the LED register of the control register to Make it when the sensor detects obstacle the red LED will light on The IR sensor can detect a white surface obstacle up to maximum 30cm Okro i CA O 16 rero IR sensor has auto calibration function to calibrate the sensor detection threshold to the surface that it will operate User can test rero IR sensor using the rero Controller Sensors menu Connect the IR Sensor to rero Controller then go into Sensor Menu Select the rero IR sensor ID to display the IR values The IR sensor values is display as scrolling bar with numeric value from 0 to 255 depending on the reflected IR ray intensity SENSOR amp HEAD MODULE INFRARED SENSOR Testing rero IR sensor using rero Controller Sensors Menu O o fre 3 1 5 rero Ultrasonic Sensor RR US 01 rero Ultrasonic Sensor Physical Appearance rero Ultrasonic Sensor is and ultrasonic ranging module which measure distance from the obstacle in front of the sensor rero Ultrasonic Sensor measure distance from at least 5cm up to 200cm It detects obstacle down to Ocm but the distance reading may be not true User can test rero Ultrasonic sensor using the rero Controller Sensors menu Select the rero Ultrasonic sensor ID to display the distance T
9. rono NU LITA SASAS n Fero d Vavaval Release rero spacer from rero controller slot A rero i EE rero Release rero Interconnect from Cube Joint slot 62 o eO Release rero claw from Cube Servo 5 3 Wiring Daisy Chained Cube Servo and Sensor In Daisy Chain connection multiple Cube Servo or sensors are wired together in sequence or in a ring Power and communication signal are transferred from one servo or sensor to another on the single serially connected line Hence not all the Cube Servos or sensors need to be connected directly to rero controller s output ports instead it can be connected to other Cube Servos or sensor to get power and communication line This can save a lot of direct connections from controller to servos and sensors and make the whole wiring simple and neater Connection to rero controller connection between cube servo or sensors 64 Elio rero 29 09 89 rero Daisy Chained Connection EE rero 65 EE rero Wrong or Broken Daisy Connection 66 6 0 rero Programming 6 1 Teach Mode Set Path Limit This is an important step the make sure all the Cube Servo will only move in a safe path that does not clash on other rero parts after itis assembled as a robot To Set Path Limit go into Servo Menu Every servo will need to set it path Select a servo from the Servo list displayed based on its ID
10. to the 5 Rectangle Buttons 5 motion files by the teach mode can be directly played from rero Remote using the rectangle buttons For Cross buttons and Circle buttons user can assign files to it using rero Animator software 102 Exit rero Remote Swipe from edge Al t 5 12 Navigation bar Swipe from edge Swipe from edge of screen to reveal back phone navigation bar and status bar rero remote will apply immersive full screen for Android version KitKat Android 4 4 API Level 19 and above To exit the full screen user will need to swipe from the screen edge to reveal the back button if the phone used has on screen navigation bar Press the back button to exit rero Remote Remember to turn off the bluetooth of the phone after exiting rero Remote if not using it for other app Eia Of O 103 8 0 Troubleshooting 8 1 rero LED Blink Status rero controller rero RGB LED will turn on or blink on several conditions as shown in table below LED System State Error ORO ee 104 ae EPO Cube Servo and Sensor Cube servo and rero s sensor red LED will blink on several condition as shown below Error Description Instruction Error Communication error wrong instruction Overload Error Cube servo unable to move for more than 8 seconds Checksum Error Communication error Data Check error Overheating Error Cube Servo overheat shutdown Angle Limit Error Cube Servo goal position is out of allowed moving p
11. to unlock the screen Opec m Kas l 40 USB Screen This screen is shown when the rero controller is connected to the computer via the USB cable mi cigio 3 gt 3 Turn on USB storage 1 USB Logo The USB logo is shown when the rero controller is connected to the computer via USB 2 Turn On USB Storage Button Press to enable the USB mass storage device to access the files in the SD card from the computer plim O OTO 41 4 3 Setting Cube Servo and Sensor IDs Every Cube Servo and Sensor has its own ID Cube Servo and sensor are preset with ID however user can still change the ID to a preferred number and re label it with the sticker provided User will need to make sure that all the Cube Servo or Sensors connected to a rero controller must has different ID else communication error will occurred and rero controller will not be able to detect the connected Cube Servos Sensor To change the ID user must connect only one Cube Servo or only one sensor to rero controller Go into SET ID menu of rero controller and key in the ID that you want to set and press OK button to set the ID User can press Read ID button to get the current ID of servo or sensor Remember to change the ID sticker and label it with correct ID after changing the ID There are spare stickers provided for this purpose which comes together with rero robotics kit SET ID Current ID Set ID menu a e EFO 42 o
12. SD card is used to save rero files and settings Rechargeable Battery Space rero comes with rechargeable Lithium Battery as main power source a rer O Battery Connector High Ampere Dean T connector to supply power for rero Cube servos and sensors Battery Cells Connector Connector battery cells to main controller Main Connector Battery and signal wires for rero main circuit board Always make sure the cable is properly latched to connectors after installing or removing battery 3 1 2 rero Cube Servo G15 LED Cube Servo Cube Servo is a Servo motor that user can set itto rotate and position itto certain angle position It can also operate in wheel mode for continuous rotation m e a Ot l To test Cube Servo using rero controller connect the Cube Servo to rero controller Go to Servo Menu In the Servo menu select the servo you want to test from the list of connected servo LED on Cube Servo will light on when selected Drag on the round meter to change the position angle of the servo SERVO MOTOR Select a Servo Drag here to test Set Path Testing Cube Servo with rero Controller OL 3 1 3 rero Head Module RR SH 01 rero Head Module has build in sensor of IR sensor and Sound sensor It has 2 RGB LEDs as the eyes rero Head module can be attached to Cube Servo give Head Module the flexibility to move or rotate IR Sensor Eyes Head Module Physical Appearance
13. ap has been detected the sensor will ignore any claps within the 800 miliseconds sensor will only detect for second clap after 800 miliseconds This to prevent a single clap being detected as multiple claps 255 Sound Level Time Audio sampling dashed line and Maximum sound level shaded on every sampling time 255 Clap 1 Clap 2 Clap 3 l l l l l Sound Level l l l l l l Clap Threshold ps vr A le i sas ca l l l l 0 amp _____ gt gt gt i C_ rr _ _ _ gt 1 gt 800ms i gt 800ms Time Clap Threshold dashed line and Clap detection m 14 Head Eyes RGB LEDs By default the eye will light on with white color when powered on User can set different colour to the eye to give beautiful outlook to the Head Module Eyes are composed 2 RGB LEDs the color of the eyes are based on 8 bit RGB true colour set by user User can utilize the to display different status of their robots too For advanced user Internally the eyes are used by Head module to notify user of certain information too Eyes will blink in red colour for 4 times if user call a reset factory defaults to the Head Module If user set alarm LED to on the eyes will blink when there is error packet received range error checksum error or instruction error 15 3 1 4 rero Infrared Sensor RR IS 01 Infrared Sensor Physical Appearance rero Infared Sensor is an easy to use sensor which detects
14. ath Input Voltage Error Input voltage is out of correct voltage range For Cube Servo Overload Error condition user will need to turn off the servo by removing the power to the servo or Communication error Data received invalid turn off rero controller to cut off the power in order to reset the cube servo to normal condition For Cube Servo Overheat Error condition user will need to turn off servo and wait for the servo to cool down EAS PRN 105 i EPO 8 2 FAQ 1 No Cube Servo G15 Detected Answer Check Cube Servo Wire Connection Unplug all Cube Servo and sensor plug only one G15 to rero controller and try again Check if there is 2 servos with same ID Check if the Cube Servo s LED blink once when the rero controller is power on If no check if rero Battery Dean T power connector is properly connected 2 Computer does not detect rero Storage Answer Check USB cable connection Check if pressed Turn on Storage on rero controller touch screen 106
15. ation Start Time bha Le e Jo Save EEE p4 Ll 0 6 g End Time Torque degree second 0 6 sec ns Search Motion Canvas amp Action Control Panel in Position Mode A Comment Stay tuned Moving Time C Duration Start Time I o je Save I 0 7 6 g End Time o second 0 6 li Wheel_L N Search Action Control Panel in Wheel Mode ORAO see ECO i 1 Actions in Position mode select one of the Actions to edit it 2 Actions in Wheel mode select one of the Actions to edit it 3 Moving Angle This appears when an Action in Position mode is selected It sets the Action s destination in degree You can edit the value in Destination box or directly click on the pie diagram to set the destination When rero Controller and the servo with correct ID are connected the servo will move simultaneously Destination End position of the Action Start position of the Start selected Action Destination of previous Action Sweep Destination Start Moving Angle Left click amp drag on the moving path to change destination degree Edit Moving Angle 4 Wheel Direction amp Speed This appears when an Action in Wheel mode is selected You may use it to change Servo s direction and speed at that time frame Click on Test Run to test the direction and speed Left click on the diagram to change direction Wheel Direction and Speed Direction Spe
16. be updated online through the USB bootloader rero controller has multiple menus that serve different functions to user Boot Page When the rero controller is turned on the rero logo is shown to indicate the system is booting up acme Reading Configuration 24 Main Menu This is the main menu of the rero controller and will be shown after the booting process completed REMOTE 1 Set ID Button Enter the set ID sub menu to read or modify the servo motor and sensor ID 2 Servo Motor Button Enter the servo motor sub menu to test and set the working path of the servo motor p m Ero 25 Sensor Button Enter the sensor sub menuto test the sensor and head module Teach Button Enter the teach sub menu to teach the motion ofthe robot with teach mode Play Button Enter the play sub menu to playback the motion of the robot Remote Button Enter the remote sub menu to control the robot via rero Remote Settings Button Enter the settings sub menu to change the settings of the rero controller Battery Indicator Indicate the battery level of the rero controller 26 SET ID Sub Menu Read or modify the ID of the servo motor or sensor with this sub menu Only one servo motor or sensor can be connected to the rero controller while using this function SET ID 1 Current ID Shows the current ID of the servo sensor 2 Read ID Button Read the current ID of the servo sensor Oko a
17. e IR Value Shows the infrared sensor value of the head module LED Check Box Toggle the RGB LED on the eyes of the head module Battery Indicator Indicate the battery level of the rero controller Exit Button Go back to the main menu 33 TEACH Sub Menu This is the sub menu for the teach mode where the motion of the robot can be programmed without using the computer Time Frame 000 Time Frame 001 1 File Radio Button Select which file to save the robot motion 2 Message Shows the operation guide and tips p Ero 34 Time Frame Shows the number of recorded time frame Teach Button Press to start teaching and this button will be changed to Next button Next Button Press to add the current position of the servo motors to the motion Stop Button Press to stop teaching Battery Indicator Indicate the battery level of the rero controller Exit Button Go backto the main menu 35 PLAY Sub Menu Sub menu to playback the programmed motion File 1 Motion Teach Mode la File e Time Frame 0000 File 3 Time sec 0000 File 4 File 5 1 File Radio Button Select which file to play 2 Message Shows the operation guide and tips 3 File Type and Name Shows type and name for the selected file p m Ero Time Frame Shows the currently playing time frame Time Shows the playing time in second Play Button Press to start playing the selected
18. e Upload Motion Uploads the motion to rero Controller Download Motion Downloads the motion from rero Controller Add Servo Create new Action behind the last column sa rero 83 4 Editing 5 Refresh 4 LI m Add Action Create new Servo belowthe last row Copy Action Copies the selected Action Current version only supports one Action copy Cut Action Cuts the selected Action Current version only supports one Action cut Paste Action Paste the copied cut Action to the selected location Refreshes current Motion f CAO l ia U 84 6 Information Displays information like software name software version company and rero website link Always make sure your copy of software is up to date by checking on rero website download page and this information message box gi cigo rero Animator Version 15 08 2014 Cytron Technologies Copyright 2014 wWww rero com mY Information message box If you are not sure about the function of a button mouse over the button shows tips button name and keyboard short cut key if available Bulle New Motion CTRL N fe New Motion CTRL N EB Mouse over tips 85 Motion Canvas 1 Time frame This column indicates the starting time and duration of an Action at the resolution of 0 2 sec frame 2 Servo It shows the ID number and name comment of a servo motor and e
19. ed 250 Ne e CW Test Run Test Run Stop button Change direction Edit Wheel Direction amp Speed no m i OO 91 5 Moving Time Edit moving time of the selected Action here Action starts to move at this time frame Moving Time Start Time 0 sec End Time 0 6 sec Edit Moving Time Duration Duration Action will move 0 6 Action stops to move at this time frame for this period of time second End Time Start Time Duration 6 Light Toggle on off the servo motor s LED for the period of time You can control the each servo motor s LED to blink at different pace 7 Torque Toggle on off the torque of the servo motor for the period of time When its ON the servo motor will move to the desired destination or rotate in the direction at the speed you set earlier When the torque is OFF the servo motor will not move for that period of time regardless of the destination direction and speed s settings 8 Servo ID amp Name This section is disabled in Action Control Panel However you can always edit the Servo ID and name in Servo Control Panel Always connect rero Controller to your computer while using TI rero Animator to enjoy better experience while J BD Connected programming your robot s motions I FEPFO Upload Motion After you have created your robot motion A click on Upload button in Menu Bar will prompt you to save your Motion
20. file Stop Button Press to stop playing Battery Indicator Indicate the battery level of the rero controller Exit Button Go backto the main menu 37 REMOTE Sub Menu Enter this sub menu to control the robot with the rero Remote Apps in your smart phone The name of the robot will be shown on the title bar and it can be changed by using the rero Animator 1 Robot Name Name of this robot 2 Battery Indicator Indicate the battery level of the rero controller 3 Exit Button Go backto the main menu Em Bi O 38 SETTINGS Sub Menu Setthe screen brightness and volume here SETTINGS Firmware Version Jul 21 2014 12 12 12 1 Brightness Button Reset the LCD brightness to the default level 2 Brightness Slider Set the LCD brightness 3 Volume Button Reset the system volume to the default level 4 Volume Slider Set the system volume l 39 mler Le a O O 5 Firmware Version Shows the controller firmware date and time 6 Battery Indicator Indicate the battery level of the rero controller 7 Exit Button Go backto the main menu Lock Screen rero controller will lock the screen and enter standby mode when the screen is not touched for more than 2 minutes To wake it up again simply touch the screen and unlock it by sliding the slider bar to the right acme REconfigurable RObot Slide to unlock gt gt gt 1 Unlock Slider Slide from left to right
21. fo Do not attempt to short any of the battery terminals which can cause fire or explosion For a prolonged storage of rero controller user is advice to keep the battery capacity at around 60 percent only for a greater battery life time 48 lrn a grc gie 5 0 Build Your Own Robot 5 1 rero Hardware Construction Joints 7 TA Most of the part has Joint as shown in figure o eO These Joints will be attached to connects to create robot assembly 49 Connects Connects Some rero parts have Connect as shown in the figure above These connects can be attached to rero parts that has Joint to build robot part G15 Output Connect G15 Output Connect has direction marking which user will need to follow when sliding it into the joint slot a 4 ES EFO 50 Direction Mark Follow the direction marking when connecting Cube Servo to joints Elio rero Interconnect Interconnect can be use to attach two joints together There is no direction constraint for interconnect Rotatable Connect Rotatable connect has similar physical appearance as interconnect but has 2 free rotating surfaces It is used to support U Joints connection and can be use to build free rotating wheels too U Joint Connected to Cube Servo are normally used as robot s Arms and Knees which has one rotation axis 52 p m Ero Wide U Joint can be use to build a compact 2 axes rotating Joi
22. he distance is display as scrolling bar with numeric value of distance from the object in front of the sensor Adequate area is needed for the echoing of ultrasonic sound especially if the object is at distance more than 30cm 18 m pe f U Mam U 4 0 Getting Started 4 1 Battery Installation First Time Only rero battery is not preinstalled in rero controller User will need to install it into the rero controller before starting the robot building process Follow the steps below to install the battery Step 1 Turn thumb screw counter clockwise to open the controller cover and reveal the battery compartment User can use a screw driver to help if its hard by hand m 19 Ne mero Step 2 Plug in the Dean T connector of battery and let the wires run under the wire guide Plug In Dean T lt Connector Elio rero 20 Step 3 Place the rero Battery into battery space Step 4 Plug in battery cells connector Oka a 21 Step 4 Close the cover and lock back the controller cover by turning the thumb screw clockwise see ECO 22 Step 5 Power on rero controller by pressing the Power Button to verify that battery is properly installed rero Controller will display the Main Menu after Boot Screen Rero controller Main Menu lrn a grc gie 23 4 2 rero Controller Menu rero controller has embedded operating system OS and the firmware can
23. heel mode nm m i QOO 70 SERVO MOTOR 0 DEGREE MV o Poo Set Servo into Wheel Mode for 360 continous rotation Teaching Motions Teach Mode is the most basic option to program your rero It is designed for beginner or those who wish to program a simple movement for rero Twist your rero robot joints or servos to the position or posture you want itto be then press save Repeat it for the subsequent robot positions so that it becomes a complete series of motions that you want the robotto move To enter this mode go to main menu and then press TEACH m 71 FI rero Teach Mode on rero Controller Select any file File 1 to File 5 that you want to save the motion file then press Teach TEACH o File File 2 Any re Time Frame 000 File 3 File 4 File 5 72 F Of O Now twist your rero to the first position the initial position you want it to be Every Cube Servo can be rotated You can rotate all of them or only part of them in the same time Frame When the rero is twisted to the desired position press NEXT The 15 time frame will be saved Time Frame 000 x a N a re N All servos LED will turn on after you have selected a file If there is any servo s LED does not turn on please check the wire Info connection rero Controller does not care the path taken when you twist your rero It will only remember the last position before you p
24. ing to their time frame in Motion Canvas O O_O Select the location of the Motion file in rero Controller Download Motion from rero Controller okpaga i EO 7 0 rero Remote Installation of rero Remote App ANDROID APPON da Google play gt rero Remote App Icon To install rero Remote app user can connect to internet and install it from Google Play Store https play google com store apps Search for rero keyword to find rero Remote Click install to install rero Remote app to the phone 95 rero remote Bluetooth Connection rero Remote main screen okro E Oro Bluetooth Status 96 An app wants to turn on Bluetooth Deny rero Remote request for Bluetooth to be turned on rero Remote will request user to turn on Bluetooth of the phone Touch Allow to turn on bluetooth of phone 97 If rero remote app had previously connected to a rero controller it will automatically search for the same rero controllerto create bluetooth connection Press Bluetooth Status to search rero Controller AutoConnect SEARCHING 000 rero Remote Searching for previously connected rero controller You can press the back button of your phone to cancel searching previous rero if you do not want to connect to it Press the bluetooth status icon to search for new rero controller that you want to connect oo 98 E Bluetooth C
25. m It controls all the Cube Servo movement and process all Signals from the rero sensors Touch Screen LCD m m TA LLW Charging Port Power Button 0 2000 OO OA O O O 6 O Main Controller Top View nm m i QOO Touch Screen LCD Touch screen Graphics User Interface GUl to access the main controller standalone functionality Charging Port Charging connector for rero battery charging Power Button Turn on and off the main controller unit Long press for 2 seconds to turn on or off the main controller unit USB Micro Port USB Micro port is for computer interface User can load the program from the computer into the main controller through this USB connectivity RGB LED indicator Status indicator of rero controller Bootloader Button Boot into bootloader mode by press and hold bootloader button while power on by pressing power button User can update rero controller firmware in bootloader mode Thumb Screw Access to the battery compartment under the LCD Loud Speaker Generate touch screen tone and system sounds Slot Latch p O rero Controller Side View Sliding Slot 6 Sliding slots with latch for assembly with rero parts to create a complete functional robot Output Ports 6 output slots at two sides or the rero controller for daisy chain servos and sensors EE rero Connector rero Controller Battery Compartment MicroSD card Micro
26. mode rotate the servo motor clockwise or stop the motor 6 Wheel Mode Check Box Indicate whether the servo motor is in wheel mode To change the mode press the Set Path button and toggle this check box 7 Set Path Button Set the moving path of the servo motor When this button is pressed it will be replaced with Save and Cancel button a Save Button Save the moving path of the servo motor b Cancel Button Discard the moving path of the servo motor 8 Battery Indicator Indicate the battery level of the rero controller 9 Exit Button Go back to the main menu 30 SENSOR Sub Menu Sensor can be tested in this sub menu The eyes LED of the head module can be tested here too Upon entering this sub menu rero controller will search for all the connected sensor and head module This may take up to 1 second All the sensors head module will be listed under the list box Select a sensor from the list and the following screen will be shown INFRARED SENSOR oppo E ac 31 O If the head module is selected the following screen will be shown SENSOR amp HEAD MODULE HEAD MODULE 1 Sensor List Box List of the connected sensors head module 2 Refresh Button Refresh the sensor head module list 3 Sensor Type Shows the type of the sensor head module plim mi PO a 32 Sensor Value Slider Shows the sensor value Mic Value Shows the microphone value of the head modul
27. n below rero Animator new Comment Stay tuned Comment Interface Overview 1 Title amp File name Software name and current motion file name are displayed here Shows new if the current motion has not been saved Asterisk symbol 5 behind the motion file name indicates that changes has been made 2 Menu bar Find basic tool for working with motion file here 3 Motion Canvas Create amp edit your robot motion here 4 Control Panel Tune Servo and Action s settings here To be explained 81 Menu Bar The Menu Bar consists of large buttons with thumbnail image Menu bar 1 Motion File New Motion file O Create new motion file amp automatically detect Servo s available if rero Controller is connected amp powered up Open Motion file You can browse saved or downloaded Motion file via the file browser window Save Motion file Saves current Motion with desired file name You will see this rero Motion file icon appears as the saved file if your system supports this feature nm m a EPO 82 2 Robot Connection Connected Not connected 3 Add Servo amp Action 4 gt o Robot connection status Shows USB icon with tick symbol v when rero Controller is connected and powered up otherwise shows icon with cross symbol x Robot Name Read amp edit robot name saved in rero Controller This name will appear in rero Remot
28. nables you to configure each servo motor A Servo can be configured to Position mode or Wheel mode Servo in Position mode will move to the desired position angle in degree and stay there until next position is updated Servo in Wheel mode can rotate 360 degree clockwise or counter clockwise continuously 3 Action gives you the control over servo motor s position speed LED amp etc at different time frame and duration Motion Canvas 86 Eg a rero Servo Control Panel Comment Stay tuned Save Click to edit color oc amo Search Servo Control Panel in Position mode without rero Controller connected 1 Selected Servo Click on the Servo ID column to select a servo 2 Robot Connection Status USB symbol with X sign shows rero Controller is not powered up and or not connected to computer You will see USB symbol with v sign when rero Controller is detected he Disconnected 2 Connected rero Controller is disconnected rero Controller is connected 8 a rer O 3 Servo ID Servo ID can be edited by click on Edit button Valid ID range is between 0 to 253 It s recommended NOT to edit the pre set Servo ID to prevent having two Servo motors with the same ID in your rero system Servo ID Edit Servo ID save Press Save Editing Servo ID 4 Servo Name You can give a name to the selected servo motor to improve the readability of your
29. nt which can be use at shoulder and ankle of robot Elio rero 54 LI al rero Controller Slots In Order to connect rero parts to rero controller user MUST use Adapter Joint to convert rero controller slot into Joint Then rero part can be connected to Adaptor Joint to attach it to rero controller Recommended Adapter Joints direction facing on each rero Controller slot is as shown below 56 Single and Double Spacers are used to fix the Adaptor Joint position in the rero controller slot as shown by figures below Eg a rero 57 Elio rero Wire Clip Wire clip is used to organize and tidy up dangling wire on rero robot after all the hardware setup and wiring is done Organizing wires and connectors using wire clip Ea re O 59 5 2 Dismantle rero Into Parts To dismantle rero parts the basic step that apply for all parts that locked together by the latch is shown as following Step 1 Push the rero opener into the slot to push down the latch to release the locked part rero Part rero Part rero 60 rero Part Push the Connect part locked by latch in the Joint Slot to the direction of the rero Opener to release the part from the slot at the same time release the force on rero Opener Or Push the part with Joint to opposite direction of rero opener to release the Connect parts o Oa CRESTA
30. onnection Status Searching Connected Disconnected Du Gis Il Devices Found DMLING C4 46 19 E5 01 14 IDRIS PC 48 5A B6 05 6D 28 rero AD CD EE FD FE FD Refresh button to search again Bluetooth Devices around again if first search failed L Ge ma MZ lli c rero Devices Found 1 DMLING C4 46 19 E5 01 14 IDRIS PC 48 5A B6 0 A rero AD CD EE FD FE FD 5 Select rero to connect 99 Selectthe rero controller to connect The bluetooth address of every rero controller is different You can check the bluetooth address of your rero controller from the Bluetooth Menu of rero controller When rero Remote is connected to rero controller the bluetooth icon will change to show connected status and battery icon will shows the battery level of rero controller Battery Bluetooth Level Connected rero Remote Connected to rero controller ILE E Oro 100 On rero Controller user will need to go in the Remote Sub Menu in order to enable bluetooth communication and control from rero Remote REMOTE Remote Sub Menu on rero Controller 101 a ES EFO rero Remote Control Buttons Cross Buttons Circle Buttons Rectangle Buttons User use these rero Remote control buttons to run rero program that is assigned to the buttons In order to play file by using rero remote rero controller must be in REMOTE menu By default the 5 files saved in teach mode is assigned
31. program 5 Servo Mode amp Diagram Configures the selected Servo to Position mode or Wheel mode The diagram shows the moving path in when Servo is in Position mode or wheel image in Wheel mode Moving path Position mode selected Position mode Select Servo Mode Position Wheel mode selected Wheel mode 88 a m ES EFO 6 Moving Path Configures the moving path of a Servo in Position mode Use the slider or buttons to change the values You will notice the green sector changes when you modify the limits Click Apply after setting the desired moving path for the changes to take effect You can read the current moving path of the selected Servo by clicking Read too Please note that this facility is mainly for fine tuning the existing moving path It s recommended to set new moving path using rero Controller s on Read Read moving path paki Apply moving path 7 Group colour You can change the colour of each Servo using the colour picker to improve program s readability board function Moving Path Edit moving path Configure Moving Path Group Color Picker a o Oo o o o E persessesson Novseccsssee BENE EEE IRHENT e a o 3 o o o 2 wa LILI Define Custom Colours gt gt Carosi Group Colour picker Example Ea 89 O Action Control Panel Comment Stay tuned Destination Dur
32. r to the rero controller with the charging cable provided as shown by picture following EE rero 45 Green Finish Charging rero s battery in rero controller wait for all Charger s LED turn Green for full charge There are 3 bicolour LED on rero s charger After power on the LED will be green colour and red LED will blink every 2 seconds When the charger is charging all the LED is in red colour Each LED indicates a battery cell in rero LiPo Battery The charging process is only completed when all the 3 LEDs indicator turned green colour pe rero i 4 4 2 Advance Charging Method Adult supervision is needed for this method of charging This method is to charge rero battery directly from charger without rero controller User can get access to the battery by opening the battery compartment To get access to battery compartment user will need to unlock the thumb screw on rero controller by turning it counter clockwise to open the rero controller casing rero Battery Compartment 47 ME cero Green Finish Charging rero s battery standalone charging without rero conteroller battery is full only if all the LEDs turn Green Color Battery can be taken out from the rero controller after disconnecting the battery cells connector and Dean T power connector Connect the battery cells connector to the charger to charge the battery Wait for all LEDs change to green color for a full charge In
33. ress NEXT rero Controller is unable to repeat the path how you twist your rero from one position to another position in one time frame Instead it will move from 1 position to next position using the shortest path Please separate complex motion into more multiple time frames to make perfect motion plim mi PO 73 Repeat the same process for the second desired position and the subsequent positions Time Frame 001 Twist robot to desired position then press NEXT to record all servos position into time line Oko e 74 To teach the wheel mode s servo to move forward slightly rotate 10 to 90 the wheel Cube Servo in the desired direction Do not rotate more than 1 rotation to avoid confusion to the rero Controller Teach wheel mode Servo to rotate in the desired direction 75 se ECO Press stop when you have done and then X to go back to the main menu TEACH O Time Frame 003 ly N Ve N You can teach up to 65535 positions or time frames in 1 file Each time frame positions will take 1 second to Info complete m m a QO 76 Playing Motions To Play the motion file that has been saved from the teach motion step Go into PLAY Menu Select the file that you save the motions PLAY ui File 1 Motion leach Mode File 2 Time Frame 0000 File 3 Time sec 0000 File 4 File 5 Ea O 77 Press Play to star
34. t playing all the motions that was save Observe the running Time Frame and Time on screen PLAY O File 1 Motion Teach Mode Time Frame 0000 File 2 File 3 Time sec 0000 File 4 Filen rero robot will start moving once you pressed the PLAY button Ea Mas O To Stop the rero robot press the STOP Button If the screen is locked slide the Slider on screen to unlock the screen Motion leach Mode Time Frame 0002 Time sec 0002 You can record different series of motion into all the File 1 to File 5 and play different motions by playing the different file nm m i OO 6 2 rero Animator Minimum System Requirements for rero Animator Software Prerequisites Microsoft Dot Net Framework 4 5 Operating System Microsoft Windows XP Windows Vista Windows 7 and Windows 8 32 64 bit with the latest updates System Requirements Processor 1 5GHz or faster RAM 1GB or more Software Installation Download rero Animator software from rero website s download page http rero com my downloads Double click on the downloaded file to initiate software installation Follow the simple installation steps A short cut will be created on your desktop Double click on it to launch rero Animator software OAC OL MA AGA O rero Animator icon 80 Interface Overview Every time you open rero Animator software you will see the programming interface as show
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