Control Software for Program Control Tracer Instructions
Contents
1. Cardboard The optical sensor protective cover is printed on the back of the assembly instructions Cut it out and place it ona sheet of cardboard Cut the cardboard to match Glue and assemble the cover Place icons on the Routine When you complete your program transfer it to the program control tracer following the procedures below Example Routine sa a Remove the optical sensor from the program control tracer Press down the rivet collar and remove the rivet from the back of the sensor board 2 Put the optical sensor on the data transfer area Make sure the sensors are right above the white circles Data Transfer Area in the black squares If the sensors and the circles are not aligned adjust the position of the black squares with the bar at the bottom of the Data Transfer Area FOM the Run menu select the Transfer option Program Control Tracer SS ea File F Edit E Run R Help H Transfer T 4 When the Data Transfer screen pops up turn ON the program control tracer and listen for a long beep Make sure to keep holding the optical sensor on the Data Transfer Area Click OK on the Data Transfer screen to start the data transfer Data transfer kare You will see a progress bar and How to transfer a Control program 1 Darken the room as much as possible hear an occasional short beep OF 2 If the program control trac2. 06 Repeat start NO G 07 Repeat start End motion sequence NO Calibrate the sensor 0 Go 5 0 S YES Right turn 1 08 Subroutine 1 NO Touch senser 6 0 S NO Left turn 4 08 The control program you created on the PC can be transferred to the robot via optical communication To ensure proper data communication keep the computer screen out of strong light Make necessary lighting adjustments if the robot has difficult seeing the flashing lights It may help to cover the sensor with your hand Please note that the following may affect data transfer Light shines through a window onto the computer screen Bright lights or lamps are reflected in the computer screen The computer screen has a high gloss surface excellent color performance or high contrast Troubleshooting data transfer problems Close curtains to shut out strong light coming in through the windows Darken the room by turning the light off Angle the computer screen to your side While holding the sensor on the data transfer area with one hand shade it with a notebook or piece of cardboard Use the included optical sensor protective cover to shut out unnecessary light Adjust the brightness and contrast of your computer screen according to the manufacturer s directions Optimal settings may vary depending on the monitor type and compatibility with the optical sensor Data Transfer Area Data Transfer Area
3. colors or more 800 x 600 pixels or higher resolution For Window Vista users How to change start up settings in the Control Software Open O W Run as Administra w Right click the Control Software tor Enable Disable Digital Signature Icons icon to show the pop up menu E Select compatibility tab EJ Check Start this program in compatibility mode EJ Check Execute this program as an administrator E3 Click Apply A user account control warning message may appear when you start the Control Program If this happens ei ea give the program permission to start ee A Disable display scaling on high DP settings 2 Line Tracing Mode Operate the robot in line tracing mode Use the included course sheet for line tracing experiments to verify that the tracing robot functions properly How the optical sensors work The optical sensors mounted on the sensor circuit measure the intensity of light reflected from the ground The intensity of light reflected from the black course line is different from that reflected from a white surface The sensor identifies the course line by detecting the difference in light intensity How the Program Control Tracer works When the right hand sensor detects a black line it knows that the course travels to the right It stops the right hand motor allowing the left hand motor to turn the robot to the right When the left hand sensor detects a black line it knows tha
4. instructions Verify that the circuit board is properly assembled and that the wiring is correct Check all the parts with polarity to see if they are attached in the proper orientation Carefully consult the assembly instructions Check whether the soldering was performed properly Verify that no conductive wires are short circuited 093558 Program Control Tracer soldering required 093559 Program Control Tracer The robot does not operate properly The robot does not move Batteries may be drained Replace old batteries with new ones Check if the robot is assembled properly reading the assembly instructions carefully Check if all wires are connected properly Solder the conductive wires if necessary to complete the wiring The wheels rotate in the wrong direction Compare the robot to the assembly instructions Ensure that the gear box is properly mounted The Touch Sensor does not work The Touch Sensor may not detect dry fingertips Moisten your fingertip with water Be careful not to get the circuit board wet or it may be damaged The sensor may not work properly due to reduced sensitivity if batteries are drained Replace old batteries with new ones You have trouble getting the robot to use the optical sensors In operating these programs the sensors measure the light intensity of the starting point and use it as a reference value Light intensity values the same or higher than
5. the reference value are considered white values below are considered black Make sure to keep the starting point bright enough If the light intensity of the starting point is close to that of the black course line the sensors will have reduced sensitivity resulting in difficulty detecting course lines Perform the experiment under constant lighting conditions Make sure no part of the course sheet is shaded by anything as this may affect the operation of the sensors Adjust the optical sensors properly Refer to the back side of the assembly instructions for the adjustment procedures The sensor may not work properly due to reduced sensitivity if batteries are drained Replace old batteries with new ones The program does not transfer Adjust data transfer settings referring to 5 Transferring a Control Program to Program Control Tracer on page seven of the Control Software instructions The sensor may not work properly due to reduced sensitivity if batteries are drained Replace old batteries with new ones DISTRIBUTED IN THE US BY JAPAN ARTEC INC ADDRESS 21151 S WESTERN AVE TORRANCE CA 90501 EMAIL INFO ARTEC EDUCATIONAL COM WEBSITE WWW ARTEC EDUCATIONAL COM z 1 2 CONFORMS TO THE SAFETY REQUIREMENTS OF ASTM F963 K0812
6. Control Software for Program Control Tracer Instructions Index 1 About the Program Control Tracer gt P 1 2 LNE Tracing MOOG aa ey ek ee Fe as PZ 3 Programming MOG F x s am P 4 4 How to Use the Control Software P 6 5 Transferring a Control Program gt Pad 6 Measure the Movement of the Program Control Tracer P 9 7 Operate the Program Control Tracer on a course sheet P 10 9 Oner PUNCHONS 2 ee ee oo e a ee 4s P 11 9 TFOUDIESHOOINS s s s a ee oe a es P12 1 About the Program Control Tracer The program control tracer operates in two different modes e Programming mode The program control tracer will follow the moves you programmed Use the dedicated software to program your robot e Line tracing mode In line tracing mode the program control tracer moves along a course It uses optical sensors to detect black course lines PC requirements for the Control Software OS Windows XP Vista Windows 7 VVindows XP SP2 or higher Vista users will need to change the start up settings for the Control Software Your security software may delete the Control Software or prevent you from launching it If these things happen please consult the security software instructions CPU With specifications sufficient for smooth operation of the installed OS Memory With memory capacity sufficient for smooth operation of the installed OS Recommended display 65 000
7. ce motion icons a time setting icon will automatically appear below them on the second row If you want to change the default time icon replace it with a different one You can edit icons placed on the Routine Edit menu To show the edit menu right click on the palio 0 Delete a column Y Routine icon you want to change Add a column 2 Delete removes an icon Delete a column removes a column pulling the ME remaining columns to the left EE Insert a column puts a new column in between two existing ones Program Control Tracer e Useful Functions Edit E Run R Help H File gt Open Opens saved data Open 0 File Save As Saves created program Save As S Exit X T rra e Useful Functions Edit gt Reset Start over with a new program Program Control Tracer File F Edit E Run R Help H Edit gt Reset times Resets all time settings to default without deleting pata 1 oe 7 an existing program Edit gt Display text Shows a readable text version of the program you created Example Routine Routine 5 Transferring a Control Program How to transfer a control program Reset P Reset times T Display text Z II Saal Text example Program Control Tracer Start motion sequence Basic motion 01 Repeat start 02 Repeat start N 03 Repeat start 04 Repeat start NO Subroutine 1 Basic motion 05 Repeat start
8. e Select the File menu Select Exit to end the Control Software E Program Control Tracer co El E Edit E Run R Help H Goer Save as S gt exit X e Program Control Tracer Control Software icons Basic operation icons Motion icons 4 Go Go Right turn Right turn Left turn Left turn Time related icons There are nine time setting icons By default time periods from 1 0 to 9 0 seconds are allocated to the icons To change the time period double click the time setting icon A time settings pop up menu will appear From here you can set the time period between 0 5 and 25 5 seconds in 0 1 second increments Advanced operation icons Start repeating a an part of a program Repeat weve from this point Stop repeating here 9 005 times repeat Subroutine Sensor related icons nese icons are needed to write programs that use the optical sensors 7 See 6 Programs using the optical sensors on page six E ae The sensors use the light intensity of the starting point as a reference value Light intensity values the same or higher than the reference value are considered white values below are considered black LI Until both sensors detect white color N I L Until either of the IL sensors detect E white color Until both sensors detect black color O insert a certain action sequence in your program Allows you to 2 Subroutine Allows y
9. eep ends When you take your finger off the touch sensor you will hear a short beep and the tracing robot will start moving Let s see whether the tracing robot follows the line and stops successfully Turn the power ON Japan A Tet ae Program Control N 7 oy sensor 1000UF QO Touch the sensor with your fingertip until you hear a beep The touch sensor is a short circuit switch The circuit is completed when a finger bridges the gap between the lead wires The touch sensor may not detect dry fingertips Moisten your fingertip with water Be careful not to get the circuit board wet or it may be damaged Place the robot on the black line matching up the robot body and the line Course sheet for the line tracing mode Stop position Troubleshooting The tracing robot does not move The programming mode might be activated Turn the power OFF and ON again with a finger resting on the touch sensor The line tracing mode cannot be activated gt The touch sensor may not detect dry fingertips Moisten your fingertip with water The tracing robot does not follow the line In the line tracing mode the program control tracer uses the optical sensors to detect the intensity of reflected light Because the sensors are susceptible to the surrounding environment perform the experiment under constant l
10. er is ON turn it oe aver at lemeshvereeame chirping sound while the program 3 Tur can tenes ontrol tra d wait for a long beep to ond data is being transferred 4 Click OK to start the data transfer CTT TL m When the data transfer is completed you will hear a long beep and the programming screen will reappear You will hear no beeps or chirps if the data transfer fails Return the sensor board to the main body To execute the control program tap the touch sensor on the main circuit board with your fingertip To repeat the same program tap the touch sensor again When you turn the power OFF the program data in the robot will be erased After you complete a successful data transfer return the sensor board to the main body Tap the touch sensor to execute the program Q 6 Measure the Movement of the Program Control Tracer The motor integrated gear boxes control the motion of the program control tracer The performance of individual gear boxes may vary If the two gear boxes provide different performance the robot may veer slightly as it travels forward Performance is also affected by the state of the batteries It is recommended that you fine tune your program for optimal performance To determine what adjustments are needed create a test program with the Control Software and let the robot run on the measurement gauges Adjust your program based on the measurement results Please use t
11. he measurement gauges on pages 11 and 12 Measuring straight movement Create several control programs that make the robot move straight Use the gauge ruler on page oF to measure the following How many seconds does it take for the robot to travel a given distance How far can the robot travel in a given time period Use the table on page GB to record the results 10 1234567 89 111213141516171819 Measuring a turn Create several control programs that make the robot execute left or right turns Use the protractor on page 4 to measure the following How many seconds does it take to turn the robot to a given target angle How far can the robot turn in a given time period Use the table on page P to record the results ay og T oe T D a T K oon OOM 0 elke I Two different measurements Measure the distance traveled in a given unit of time Measure the time needed to travel a given distance By performing these experiments you will understand the capabilities of the robot _Q 7 Operate the Program Control Tracer on a course sheet Download a course sheet for the programming mode from Artec s website Course sheet for Programming Mode How to use the course sheet Create a control program that makes your robot to travel from the Start through the Turn areas and arrive at the Goal Utilize the optical sensors To create a program that uses the optical sensors drag amp dr
12. ighting conditions If the room is too bright the sensors may not work properly Do the experiments in a room with the ceiling light ON and the curtains closed Make sure no part of the course sheet is shaded by anything as this may affect the operation of the sensors Adjust the optical sensors properly Refer to the assembly instructions for the adjustment procedures mere 3 Programming Mode Use the software to create a program for the robot Instructions for installing the Control Software from the CD ROM J icon onto the desktop nstructions for installing the Control Software from the Internet Visit Artec s web site http www artec kk co jp pct download the Control Software and place it on the desktop Double click the Fm icon to open it Programming Icons faa Program Control Tracer b E E File F Edit E Run R Help H Data Transfer Area Motion Commands Data Transfer Area Programming Area e Programming Screen The figure above shows the screen you will use when creating your own control program To write a program just drag amp drop icons to the programming area You can place 24 icons on the Routine tab and 8 icons on each of the Subroutine tabs The tasks specified by the icons will be executed in numerical order You can transfer your completed program from the software to the robot via optical communication Exiting the program control tracer Control Softwar
13. op the Kaul icon onto the first column in row C Example Routine Routine Row A aie ee EA BS kros BEI iL iL ik rewc ey a Ea When the above program is executed the sensors will calibrate by measuring the light intensity of the start point They use this measurement as a reference value Light intensity values the same or higher than the reference value are considered white values below are considered black The larger the difference between black and white the easier it is for the sensor to detect the course line 8 e 9 The Sensor Calibration icon instructs the robot to calibrate the light sensors Once this is done it moves to the next step in the program The robot goes straight until both sensors detect black then it proceeds to the next step The robot keeps turning right until the right sensor detects white color then it proceeds to the next step The robot keeps turning left until both sensors detect black then it proceeds to the next step lo id The robot goes straight until it detects white The program is complete D Starting point 10 8 Other functions Advanced operations Using the Repeat function This function allows you to repeat a portion of your control program Bracket the desired portion between Place a Repeat icon at the beginning and a 9 icon at the end of the portion to be repeated icons on Row A Setting the number of repea
14. ou to insert a certain action sequence in your program Until either of the sensors detect white color LII Until the right A sensor detects white color Until the right AO sensor detects black color Until the left sensor detects white color Until the left sensor detects black color Pause the program wa Use the touch sensor to end the pause Touch sensor Configure ICONS You can change the set values of the time related icons and the repeat icon Double click Time setting Hog Set the time period Using the time setting icons you can set nine different time periods between 0 5 and 25 5 seconds The minimum unit is 0 1 second Repeats g E a e the icon to show the pop up window Change the set value and click OK to change the setting The number of repeats You can specify between 1 and 255 repeats The minimum unit is one 4 How to Use the Control Software Program Control Tracer Een File F Edit E Run R Help H Data Transfer Area Motion Commands i Optical sensor c Left turn Nema lo Sec a Ee e Creating a Control Program Drag and drop basic advanced icons onto the Programming Area to create a program Place repeat icons on Row A Place motion icons Subroutine 1 amp 2 icons and Touch Sensor icons on Row B Let s practice creating a program Drag amp drop the GO icon onto the first row of the Routine When you pla
15. t the course travels to the left It stops the left hand motor allowing the right hand motor to turn the robot to the left When both sensors detect a black course line the robot knows that the course ends and stops both motors How to get a course sheet for line tracing mode You can download a course sheet for line tracing mode from Artec s web site You can also create your own course How to create a line tracing course Use a black marker to draw a 20mm wide course line on a sheet of white paper Let the program control tracer run along the course The program control tracer cannot follow sharp turns or small curves with a diameter of 100 mm or less To prevent the robot from running astray keep these things in mind when you make your Own course 20mm e Example course If you draw a circuit course the program control tracer will keep running Draw a circuit course like the one in the figure to the left Draw a black line along the edges of the paper to catch the robot if it strays 2 e How to use line tracing mode Place a course sheet for the line tracing mode on a flat surface Place the robot on the black line matching up the center of the robot body and the black line Make sure neither of the sensors lie above the black line Switch on the power while one fingertip rests on the touch sensor You will hear a beep when the line tracing mode is activated Keep your fingertip resting on the touch sensor until the b
16. ts Double click the EA icon to show a pop up window Row A The repeat function is applicable to two or more commands Row B You cannot repeat just one command Place a Repeat icon before the beginning and a Repeat 005 icon after the end position How to use the Subroutines Use the Subroutine 1 amp 2 tabs to program a list of commands to be called from the main Routine tab Click the Subroutine 1 tab to show its programming area Place icons on the Subroutine in the same manner you did on the Routine The Repeat Subroutine and Touch Sensor icons are not available on the Subroutine When you finish placing icons on the Subroutine go back to the Routine tab Define where to execute the subroutine by placing the Subroutine 1 icon on Row B You can create and insert a Subroutine 2 program in the same manner as the Subroutine 1 Example Subroutine Go Right turn E Left turn t Rig A JER T E Routine Order 2 How to use the Touch Sensor icon The Touch Sensor icon pauses the program execution Define where to use the Touch Sensor by placing the Touch Sensor icon on Row B The robot pauses the program at the position you placed the Touch Sensor icon Tap the Touch Sensor to resume program execution Example Routine BD 8 Ufo ato AV Order n sensor 9 Troubleshooting 093558 Program Control Tracer soldering required The robot does not operate properly Refer back to the assembly
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