Manual for Mini Robot Arm Educational Kit
Contents
1. Ovd vvd IVd SVd 9Vd Vd LNd F m tvd E NVL ria NMC 5 IG NMC SOATHS _ _ 1 3INV L Sid 9 55 SOASIHSS SVIVNT 8 o Vd mr Vd _ _ w NMC 5 NMC OASIHS 9 NMC COATHS ra NMC IOANES SV ITNI o m Tvd _ _ 7 Ld OA3HSS COAYASS IOASIHSS r E I 71 E PCB ROBOT ARM RA2 HOBBY V3 49 Hood E 2 e C O C N m O vo X in NE S a i T a B 28 2 9c31 29 2 27 01201 166 4 165 R24RZicq R33 ag Xum gt 5 aS De N 00 TE E _ Bpo C22 um m EH C6 OTN mane e R2 rao SS 3 Rd ER B MAIN_PWR td 0 ROBOT RH v3 ar o CE A pm mo 1017145 722. Press ENTER to continue Select C b ra te th e 255553555555555555555555555555555555555555555555555555555555355555553 I Robotarm Selftest 2 b 1 FE FFFFFFF8FFF2FFFFFFFFFFFFFFFFFFFFFFFFFFF2FF2FFFFFFFFFFFFF2EFFFFFF EEEE ca t n p rog ra m to Main Menu 3 Advanced Menu F222 H t t sta rt Ca bratio n n 0 Run ALL Selftests 1 4 c Calibrate Robotarm 1 LED Test m Current Measuring Servos 2 Voltage Sensor Test b Start Position t 3 Buzzer Test t 4 Servo Test System voltage 04 90V t t Please enter your choice 0 4 c m or b RobotLoader c Calibration To calibrate the robot arm in the right position you have to calibrate the robot arm in the same position as the picture in the manual chapter calibration Bring all servomotors into central Serv portion UNE position so that the Robot Arm It will stop de calibration program like on page 51 The servomotors 2 6 are approximately in a central position and th
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4. Battery terminal 9 to 14 Volt DC Terminal 2555 9 to 14 Volt As soon as the Robot Arm is connected to a power supply the servos move slightly and the yellow LED Power LED lights up So the start was not as difficult as that and it looks as if the job is finished now The real hard work does only start now But first let s look at chapter 6 in which we will install the software 26 6 Software Installation Let s do now the software installation A properly installed software is of paramount importance for all following chapters As you need administrator rights you have to log into your system as an administrator We recommend to read the whole chapter thoroughly first and then start with the installation step by step The user must have basic knowledge of Windows or Linux based computers and be familiar with current programs such as file mana gers web browsers text editors file compression software WinZip WinRAR unzip and others and eventually Linux shell etc If your computer knowledge is very limited you should learn more about systems before you start using the Robot Arm This manual is not intended as an introduction to computers which would go much too far It is only aimed at the Robot Arm its programming and the spe cific software required The Robot Arm CD ROM You have probably already inserted the CD ROM into your computer drive if not please do i
5. Warnings The right of return does not apply after opening the plastic bags containing parts and components Read the manual thoroughly prior to assembling the unit Be careful when handling tools Do not assemble the robot in presence of small children They can get hurt with the tools or swallow small components and parts Check the correct polarity of the batteries Make sure that batteries and holder remain always dry If the ROBOT ARM gets wet remove the batteries and dry all parts as thoroughly as possible Remove the batteries if the ROBOT ARM will not be used for more than one week 1 3 What can we do with the Robot Arm gt Transfer example and new programs into the Robot Arm Control the Robot Arm via keyboard Control and program the Robot Arm via the RACS software Extend the Robot Arm with ready to use extension modules so that it can hear feel and see in order to react to its environment Just as genuine robots can build e g cars this robot can also do some tasks for you The Robot Arm can communicate with its environment and many other units via its I2C interface Artificial intelligence The Robot Arm improves its software automatically via its selflearning software 2 Required tools Needle nose Sidecutter Screwdriver set Screwdriver Double open end wrench Included IE Selftapping screws behave like wood screws i e they cut a thread into the material in a
6. 8x 2 4 Mounting instructions mechanical Mounting the bottom servo Following parts are required 1x Bottom plate 1x Maxi servo Bg Screw M3x8 C2 4x Round head screw M3x8 4x Nut M3 Fasten the servo exactly as described in the drawings Servo Bottom plate M3 Nut Mounting the servo arm 1x Bottom plate with servo Following parts are required 1x Servo arm 1x Servo screw large M2 3x6 Servo arm screw UM Cc Servo arm Fasten the servo arm on the servo see detailed drawing 10 Mounting the bottom servo Following parts are required 1x Bottom part 1x Maxi servo holder LUPUS TOTEN 4x Servo screw small M2x6 Maxi servo holder Mount the servo holder on the servo arm please look at the detailed drawing Bottom plate Mounting the servo holder 1x Bottom plate with servo Following parts are required holder 1x Disc with axis 1x Round head screw M3x8 Round head screw M3x8 1x Locknut M3 Disc with axis Servo holder Locknut Bottom plate Mount the servo axis on the servo Please refer to the detailed drawing 11 Mounting the servo 1x Assembled bottom plate 1x Servo large 1x Servo spacer 4x Round head screw M3 5x8 Following parts are required Servo IMPORTANT Don t forget the spacer for the servo Bottom plate Mounting the cover for the servo holder Following parts are required 1x Assembled bottom plate Selft
7. Compiling C Robot Arm_Leds c avr gcc c mmcu atmega64 1 gdwarf 2 DF_CPU 16000000UL Os funsigned char funsigned bitfields fpack struct fshort enums Wall Wstrict prototypes Wa adhlns Robot Arm Leds Ist std gnu99 MMD MP MF dep Robot Arm Leds o d Robot Arm Leds c o Caterpillar Leds o Linking Robot Arm Leds elf avr gcc mmcu atmega16 1 gdwarf 2 DF_CPU 16000000UL Os funsigned char funsigned bitfields Creating load file for Flash Robot Arm Leds hex Creating load file for EEPROM Robot Arm Leds eep avr objcopy j eeprom set section flags eeprom alloc load change section Ima eeprom 0 no change warnings O ihex Robot Arm Leds elf Robot Arm Leds eep exit 0 Size after AVR Memory Usage Device atmega64 Program 3074 bytes 4 796 Full text data bootloader Data 68 bytes 1 7 Full data bss noinit EEPROM 14 bytes 0 7 Full eeprom end gt Process Exit Code 0 gt Time Taken 00 04 63 The Process Exit Code 0 at the end is most important It means that no error occurred during compilation If another code appears there the sourcecode contains an error that must be corrected be fore it will work In this case the compiler will output various error messages that give some more information Please note however that the Process Exit Code 07 is not a guaran tee of a fully error free program The compiler will not find flawed thinkin
8. ET WWW ROBOTERNETZ DE AREXX Engineering AREXX Engineering DAGU HI TECH ZWOLLE The Netherlands AREXX Holland and DAGU China English translation The Netherlands 92 AREXX AREXX Eng inee ring E Impressum This manual is protected by the laws of Copyright It is forbidden to copy all or part of the contents without prior 2007 AREXX Engineering written authorization Nervistraat 16 8013 RS Zwolle Product specifications and delivery contents are subject to The Netherlands changes The manual is subject to changes without prior notice Tel 31 0 38 454 2028 You can find free updates of this manual on Fax 31 0 38 452 4482 E Mail Info arexx nl http www arexx com Robot Arm PRO und Hobby are registered trademarks from AREXX Engineering other trademark are the property of their owners We are not responsible for the contents of external web pages that are mentioned in this manual Information about limited warranty and responsibility The warranty granted by AREXX Engineering is limited to the replacement or repair of the Robot Arm and its accessories within the legal warranty period if the default has arisen from production errors such as mechanical damage or missing or wrong assembly of electronic components except for all components that are connected via plugs sockets The warranty does not apply directly or indirectly to damages due to the use of the robot This excludes claims that fa
9. RobotLoader RobotLoader Optionen Ansicht Ro bot Lo a d er Schritt 1 Port w hlen Schritt 3 In den Mikrocontroller laden 7 PortOffen verbinden Schlie amp en C Aktiv Schritt 2 Hexfile hinzuf gen ausw hlen Zuerst Kategorie v 96 Zuerst Kategorie hinzuf gen Mikrocontroller Steuerung If the voltage drops below NON 6 7 V a warning is displayed Im Reset Modus halten Loader texviewer Terminei Displays 159 Other useful extra functions are built in such as a simple terminal program 1 RobotLoader RobotLoader Options View 2 Calibrate the robotarm servomotors Press ENTER to continue SSS SS fffffffff Robotarm Selftest fffffffff 5 WI n d OW E2222 Main Menu 2 22 2 Advanced Menu trtft E t 0 Run ALL Selftests 1 4 c Calibrate Robotarm 1 LED Test m Current Measuring Servos 2 Voltage Sensor Test b Start Position 3 Buzzer Test z 4 Servo Test System
10. WinAVR WinAVR is as the name says only available for Windows Linux users can skip to the next section WinAVR pronounce like the word whenever is a collection of many useful and necessary programs for the software development for AVR micro controllers in C language In addition to the GCC for AVR designated by the term AVR GCC more details later WinAVR includes the convenient source text editor Programmers Notepad 2 that we will also use for the program development of the Robot Arm WinAVR is a private project that is not supported by a company It is available for free in the internet You will find updated versions and more information at http winavr sourceforge net In the meantime the project gets the official support from ATMEL and the AVRGCC is available for AVRStudio the development envi ronment for AVR s from ATMEL However we will not describe it in this manual as Programmers Notepad is much better suited for our purpose The WinAVR installation file is on the CD in the folder CD ROM drive gt Software AVR GCC Windows WinAVR The installation of WinAVR is simple and self explanatory Normally you don t need to change any settings So just click on Continue 28 If you use Windows Vista or Windows 7 you must install the latest version of WinAVR It should also work perfectly with Windows 2K and XP If not you can try one of the older versions that are also on the CD before you make a new ins
11. configure prefix PREFIX target avr enable languages c c N disable nls disable libssp with dwarf2 gt make gt make install After the N just press Enter and continue to write This way the com mand can be spread over several lines but you can also just drop it AVR Libc And last but not least the AVR libc cd Robot Arm bunzip2 c avr libc 1 4 5 tar bz2 tar xf cd avr libc 1 4 5 configure prefix PREFIX build2 config guess host avr make make install V V V V V V 33 Important at build config guess make sure to put a backtick the grave accent on the a and not a normal apostrophy or quotation marks as this wouldn t work Set the Path You must make sure now that the directory usr local avr bin is registered in the path variable otherwise it will be impossible to retrieve the avr gcc from the console or from the makefiles To that end you have to enter the path in the file etc profile or etc environment or similiar varies from one distribution to another separated by a colon from the other already existing entries It could look in the file like PATH usr local bin usr bin bin usr X11R6 bin usr local avr bin Now enter in a console avr gcc version as described above If it works the installation was successfull 34 Manual Installation If you prefer to install the compiler manually or the installation via th script failed you c
12. drive gt Software Java JRE6 you will find the JRE1 6 as an RPM SuSE RedHat etc and as a self extracting archive bin Under Linux it is advisable to look for Java packages in the package manager of your distribution key words e g jre java6 and use the packages of your distribution rather than those on the CD ROM However make sure to install Java 6 21 6 or a newer version but definitely not an older one Under Ubuntu or Debian the RPM archive doesn t work directly You will have to use the package manager of your distribution to find a suitable installation package The RPM should however work well with many other distributions like RedHat Fedora and SuSE If not you always have the solution to unpack the JRE e g to usr lib Java6 from the self extracting archive bin and set manually the paths to the JRE PATH and JAVA HOME etc Please refer to the installation instructions from Sun that you will find also in the above mentioned directory and on the Java website see above 37 You can check if Java has been correctly installed by entering the command java version in a console The output should be approximately as follows java version 1 6 0 Java TM SE Runtime Environment build 1 6 0 b105 Java HotSpot TM Client VM build 1 6 0 b105 mixed mode sharing If the output is totally different you have either installed the wrong version or there is another Java V
13. has been enabled the Robot Arm will keep processing all items continuously The step time defines how long in seconds the robot will wait until it processes the next item in the list If the list contains only very short travels the selected time may be short If on the contrary very long travels have been programmed e g full 180 servo motions the selected time must be set longer as the robot will not reach its target position and will proceed prematurely to the next step item The process is paused The process is stopped 57 7 3 1 RACS WIRELESS With the RACS Software and the AREXX ARX APC 220 set you can control the Robot Arm also wirelessly Below we describe step by step how it works Connect the RP6v2 Programmer and the APC 220 to the PC exactly how it is described on the CD Connect the other to the PCB of the Robot Arm see page 16 Upload the Wireless Racs HEX data into the Robot Arm processor Select the correct COM port in the RACS software Push the start button Robot Arm PCB Enable Wireless Connect and Servo Power Now you can control the Robot Arm wirelessly RACS PM PRO V3 connection servo control enun u p Wireless 7 3 2 ANDROID PROGRAM Our ARX BT03 set enables you to control the Robot Arm by Bluetooth or an ANDROID application Follow the instructions below Connect the Bluetooth Module to the PCB of the Robot Arm s
14. interface This interface has been initialized by plugging in the USB programmer Attention The name of the interface differs from one computer to the other 55 Select the new interface connection update connect Fig 4 Enable the checkbox Connect connection update Fig 5 Enable the checkbox servo power servo control Fig 6 servo power Move the slider to control the servos If an error occured during the establishment of the connection following window appears The connections must be established again repeat steps 2 6 and check the interface ERROR Fig 7 Connection Failed 56 7 3 RACS Automated Position Control Following controls are available in the window below run repeat pause stop save load Shep ine 5 j 1 add replace insert clear Add Replace Insert Clear Save Load Run Step Time Pause Stop this button adds the current slider position to the list the selected list item will be replaced by the current slider positions the current slider positions will be inserted above the selected list item the selected list item will be erased the list items will be saved in a file the list items are uploaded from a file Caution the current list items will be erased The list items are processed in sequence starting at the top If the Repeat option
15. manager of your distribution by searching for avr start up and uninstall the three above mentioned packages as far as they exist in your computer You can find out easily if the avr gcc has already been installed or not via a console as e g which avr gcc 29 If a path is displayed a version is already installed So just enter gt avr gcc version and look at the output If the displayed version is smaller than 3 4 6 you have to uninstall in any case this obsolete version If the version number lies between 3 4 6 and 4 1 0 you can try to compile programs see following chapter If it fails you have to install the new tools We will install hereafter the currently most up dated version 4 1 1 status March 2007 together with some impor tant patches If the packages above do not appear in the package manager alt hough an avr gcc has definitely been installed you need to erase manually the relevant binary files i e search in all bin usr bin etc directories for files starting with avr and erase these of course ONLY these files and nothing else Eventually existing directories as usr avr or usr local avr must also be erased Important You have to make sure that the normal Linux develop ment tools as GCC make binutils libc etc are installed prior to compiling and installing The best way to do so is via the package manager of your distribution Every Linux distribution should be supplied with the requ
16. preferably even earlier when the voltage drops below 6 7V 47 7 6 SELFTEST The yellow voltage LED lights up when the Robot Arm is switched on The status LED Blinks off when a HEX file is uploaded If this worked you can execute a small selftest program to test the functioning of all robot systems Please click on the button Add on the bottom of the Robot Loader window and select the file RobotAr mExamples MINI 11 SelftestiRobotArm Selftest hex in the example directory This file contains the selftest program in hexadecimal format that s why this kind of program file is called hex file The file just selected appears afterwards in the list This way you can add other hex files from your own programs and from the examples programs see screen shot where some hex files have already been added The Robot Loader is able to manage several categories of hex files This allows to sort the files in a clear way e g if several program mable extension modules are mounted on the robot or different program versions are used The list is automatically saved at the end of the program Of course only the paths to the hex files are saved not the hex files themselves If you work on a program you just need to add and select the hex file once Then you can load the new program into the microcontroller after every re compiling of the program you can also use the key combination STRG D or STRG Y to start the progr
17. qND T 19pe H TAM Vp M 81 1 word 3ovrod ASNA 1 14 I 69 C CIRCUIT DIAGRAM CONNECTORS RA2 HOBBY V3 8 L 5 v t I pIEAeH Sopunuoqp xx3x4v SPUDLONION 941 y 712245 tlOCtO cc 211042 SU 108 Eds XXT y 9 IDDAISIA42N p COETOC 19 quinN 40722uu0 WMV LOGON VL 504 IOA3IHS TMS 9 anp 9 55 094 OSINW t8d ISOW c d SOd IOA3IHS LAS SS9 9IIAA Ten T TMS 9 LNI 9Ad IHSHWIN JOA LAHP LVd ASS CVd 9AHPI 9Vd 4 SAHM SVd IAS3 IVd FAH3 rVd OASDI 0Vd SASDI ONIV OMOX TAd Idd 00Xw 0Ad L LXH OGd 0GX L THd HHAOd OAHS DOA DOA LLNI ZHd 454 451 IGd 0GX3I 08d 3OS T8d TSN ax JDA DOA NL A DOA OGd 0GX L THd OSIN LAVN DOAd ODA 70 D CIRCUIT DIAGRAM KEYBOARD RA2 HOBBY V3 y 2 4 Jo 19946 OTOC un eq UOISIA Q Joquinyy 9714 ML ped 1xo
18. source usr local avr build As suggested you can execute rm rf usr local avr source usr local avr build This erases all temporary files that you will not need anymore You can skip the next paragraph and set the path to the avr tools If the execution of the script failed you have to look attentively to the error message scroll the console up if necessary In most cases it is just a matter of missing programs that should have been installed earlier as e g the before mentioned texinfo file Before you continue after an error it is recommended to erase the already generated files in the standard installation directory usr local avr preferably the whole directory 292 If you don t know exactly what has gone wrong please save all command line outputs in a file and contact the technical support Please join always as much information as possible This makes it easier to help you GCC for AVR The GCC is patched compiled and installed a bit like the binutils gt cd Robot Arm bunzip2 c gcc 4 1 1 tar bz2 tar xf gt cd gcc 4 1 1 patch pO gcc patch Ob constants diff patch pO gcc patch attribute alias diff gt patch p0 lt gcc patch bug25672 diff patch pO gcc patch dwarf diff patch pO gcc patch libiberty Makefile in diff patch pO gcc patch newdevices diff gt patch p0 lt gcc patch zz atmega256x diff gt mkdir obj avr gt cd obj avr gt
19. voltage 04 90V E t Please enter your choice 0 4 c m or b FEFEFERFEEREREEZSERESZSERERERESEREEEREREESEREREZSEZREREEEEESEEREEREEEEEEEEEEE E 21 Flash Loader HexViewer Terminal Displays tog The RobotLoader itself doesn t need to be installed Just copy the program somewhere in a new folder on the hard disk 41 7 2 Connection of the USB interface Windows Linux users can skip to the next section There are several options to install the USB interface the easiest being the installation of the driver BEFORE the first connection of the hardware The CD contains an installation program for the driver For 32 and 64 Bit Windows 7 XP Vista Server 2003 and 2000 systems CD ROM drive MSoftwareNUSB DRIVERNWWin2k XPNCDM Setup exe For old Win98SE Me systems such a handy program does unfortunately not exist You need to install an older driver manually after connecting the equipment see below Just execute the installation program There will just be a short note that the driver has ben installed and that s all Now you can connect the USB interfac to the PC PLEASE DO NOT CONNECT TO THE ROBOT YET Just connect to the PC via the USB lead Please touch the PCB of the USB interface only at the edges or at the USB plug or at the plastic shell of the pro
20. 0 pin ribbon cable to the PROG UART connector on the Robot Arm Robot Arm MUST BE SWITCHED OFF The 10 pin ribbon cable is mechanically protected against polarity inversion As long as it is not forced it can t be connected the wrong way round Then start the RobotLoader Depending on which language you have selected the 11 menus might have a bit different names German screen shots show the English version Via a the menu item Options Preferences you can select under Language Sprache the required language English or German and then click on OK RobotLoader Einstellungen German Once you have selected your language you have to re start the Ro bot Loader to validate the changes Open a port Windows Select the USB port As long as no other FT232R USB UART A9008Z2h USB gt Serial Adaptor with FTDI controller is connected to the PC you will see only one single entry that you have to select If more ports exist you can identify the port via the name Robot USB Interface or FT232R USB UART Behind the port name the programmed serial number is displayed If no ports are displayed you can refresh the port list via the menu item RobotLoader Refresh Portlist N WARNING If the voltage drops below 6 7 V a warning is displayed 46 7 5 Open a port Linux Linux handles the USB serial adaptor like a normal comport The installation of the D2XX driver
21. 1x Base assembly Following parts are required 1x ARM assembly 4x Round head screw M3x6 53 gt M3x6 100 211 gt Cai 222241 IMPORTANT Complete all the wiring prior to proceeding with these steps Please refer to the circuit diagram on page 25 and 51 21 READY 5 ELECTRONICS 5 1 Features and technical data This section provides an overview of the robot arm features and an introduc tion of some basic keywords to make you familiar with the terminology used in this manual Most of these keywords will be explained in later chapters Features components and technical data of the robot arm e Powerful Atmel ATMEGAG4 8 Bit Microcontroller Speed 16 MIPS 16 Million Instructions per Second at 16MHz clock frequency Memory 64KB Flash ROM 4KB SRAM 2KB EEPROM o Freely programmable in C using WinAVR avr gcc e Flexible expansion system based on the I2C Bus o Only two signals required TWI gt Two Wire Interface o Transfer speed up to 400kBit s o Master Slave architecture o Up to 127 Slaves may be connected to the bus simultaneously o Very popular bus system The market provides a lot of standard ICs sensors and other components which may often be connected directly e Mounting possibilities for wireless modules RP6 WIFI Bluetooth APC 220 e USB PC Interface for program uploads from PC to microcontroller Wired connection for maximum transf
22. AREX AREXX EDUCATIONAL ROBOT ROBOT ARM HOBBY V3 MOUNTING INSTRUCTIONS Model RA2 HOBBY AREXX THE NETHERLANDS 0513 Table of Contents 1 Product description ROBOT ARM 5 2 Required tools 7 3 Part list 8 4 Mounting instructions 10 5 Electronics 23 6 Software installation 27 T Programmer and Loader 40 7 1 Robot loader 41 7 2 Connection of USB interface Windows 42 7 3 Connection of USB interface LINUX 45 7 4 Testing the USB interface 46 7 5 Opening a port Linux 47 7 6 Selftest 48 7 7 Calibration 50 7 8 Keyboard test 52 8 RACS 53 9 Programming the ROBOT ARM 59 APPENDIX A Circuit diagram Robot Arm 68 B Circuit diagram Power Supply 69 C Circuit diagram Connectors 70 D Circuit diagram Keyboard 71 E PCB 72 AREXX and ROBOT ARM are registered trademarks of AREXX Engineering HOLLAND English translation March 2013 AREXX Engineering NL This manual is protected by laws of Copyright Any full or partial reproduction of the contents are forbidden with out prior written authorization by the European importer AREXX Engineering Zwolle NL Manufacturer and distributor cannot be held responible for any damage resulting from mishandling mounting mistakes or disrespect of the instructions contained in the manual Subject to changes without prior notice Technical mounting support AREXX Engineering WWW AREXX COM
23. M installed in your system Robot Loader The Robot Loader has been developed to load easily new programs and all extension modules into the Robot Arm as long as the modu les are fitted with a compatible bootloader Moreover it contains a few useful extra functions as e g a simple terminal program It is not necessary to install the RobotLoader Just copy the program somewhere in a new folder on the hard disk CD ROM drive gt Software RobotLoader RobotLoader zip Unpack the program somewhere on your hard disk e g in a new folder C Programme RobotLoader or similiar This folder contains the RobotLoader exe file that you can start with a double click The Robot Loader program itself is in the Java archive JAR Robot Loader lib jar Alternatively you can start this via the command line Under Windows java Djava library path lib jar RobotLoader lib jar Linux java Djava library path lib jar RobotLoader lib jar 38 The long D option is necessary to enable the JVM to find all used libraries Windows doesn t require this and you can just start with the exe file Linux requires the shell script RobotLoader sh It might be necessary to make the script executable chmod x RobotLoader sh After that you can start it in a console with RobotLoader sh It is advisable to create a shortcut on the desktop or in the start menu to make the start of the Robot Loader more convenient Under Window
24. Menu ttftt t Run ALL Selftests 1 4 c Calibrate Robotarm LED Test m Current Measuring Servos Voltage Sensor Test b Start Position System voltage 04 90V FE2FFFFFF2FFFFF2FF22FFFFFF2FFFFF2FF2FFF2F22FF22F222F222F22F2FF22FF22F2252225 Please enter ur choice 0 4 c m or b 21 Now you can execute the selftest and the calibration of the Robot Arm Press the switch Start Stop Reset on the Robot Arm to start the program Later you can do this alternatively via the RobotLoader menu Start or the key combination STRG S However this time you can test if the switch works properly If an error occurs in the selftest switch the robot off immediately and start searching for the mistake IT IS RECOMMENDED TO START WITH THE CALIBRATION OF THE ROBOT ARM SEE PAGE 50 N sE THE CORRECT V3 PRO OR MINI SOFTWARE 49 7 7 Calibration Start the calibration program to calibrate the robot To this end please click on the button Add at the bottom of the RobotLoader window and select the file RobotArmExamples MINI Example 11 SelftestXRobotArm Selftest hex in the example direc tory This file contains the selftest program in hexadecimal format The just selected file will appear subsequently in the list see screenshot RobotLoader 2 Calibrate the robotarm servomotors
25. RACS method requires the RobotLoader software and the USB programming adaptor Prior to using the robot you need to upload the HEX software RAC MINI hex into the Flash memory of the processor Connect the programming control lead to the USB port on your computer and start the Loader software Following user interface is displayed RobotLoader USBO FT232R USB UART A9008Zgl Fig 1 B RAC MINI hex If USB port appears in the list Step 1 Select a port make sure that the lead is connected and the programmer s drivers are installed You can recall the port list via the menu RobotLoader gt Refresh port list Select the port and click on Connect Select the appropriate hex file in step 2 Click on Add RACV3 MINI HEX USE THE CORRECT V3 PRO OR MINI SOFTWARE 53 In step 3 click on the button Upload to import the file If you want to operate the Robot Arm you have to disconnect the RobotLoader in Step 1 by clicking on the button Close If you close the program the connection is automatically interrupted Please make sure that there is no connection between the Loader software and the Robot Arm otherwise the robot can t be controlled via the RACS software 7 1 RACS Instruction Manual The Robot Arm can be controlled very easily via the RACS software A link is established between the programming control lead and then the motors of the Robot Arm react to the slider positions s
26. am directly after the transfer The path names are of course totally different under the various operating systems Nevertheless the RobotLoader suits both Windows and Linux without any changes as there is a separate list for Windows and Linux Either you continue now with the other example programs Examples of the Robot Arm or else you start with your own soft ware programming I WARNING If the voltage drops below lt 6 7 V a warning is displayed 48 Please select the RobotArm Selftest hex file in the list and click on the Upload button on the top right just below the progress bar The program will now be transferred into the MEGA64 processor on the Robot Arm This should not take more than a few seconds max 5 seconds for the selftest program Switch to the tab at the bottom of the window Terminal Alter natively you can also switch to terminal via the menu item View Important The ISP BOOT Jumper should be In left position for 2 Calibrate the robotarm servomotors normal use See picture below Press ENTER to continue 222222322222222222222222222222222222222222222222222222222222222222223 Robotarm Selftest 2 2 22222 2222222222222 2222222222222222222222222222222222222222 2 2 Main Menu tiffftffft Advanced
27. an follow the instructions below The description is based on following article http www nongnu org avr libc user manual install tools html that is also included on the CD in PDF format in the AVR Libc docu mentation CD ROM drive gt Software Documentation avr libc user manual 1 4 5 pdf Our description here is much shorter but includes a few important patches Without these some tings will not work properly First of all we have to create a directory in which we wil install all tools That should be usr local avr Also enter in a console AS A ROOT gt mkdir usr local avr gt mkdir usr local avr bin It must not necessarily be this directory We just create the variable for this directory gt PREFIX usr local avr export PREFIX This must be added into the PATH variable gt PATH PATH PREFIX bin gt export PATH 35 Binutils for AVR Now you must unpack the sourcecode of the binutils and add a few patches We suppose in our example that you have copied everything into the home directory Robot Arm gt cd Robot Arm bunzip2 c binutils 2 17 tar bz2 tar xf cd binutils 2 17 patch pO binutils patch aa diff patch pO binutils patch atmega256x diff patch pO binutils patch coff avr diff patch pO binutils patch newdevices diff patch pO binutils patch avr size diff mkdir obj avr gt cd obj avr Now execute th
28. apping screw 1x Servo holder cover M3x10 1x Selftapping screw M3x10 Mount the cover exactly as decribed in the drawing Bottom plate 12 Mounting the servo arm 1x Assembled bottom plate Following parts are required 1x Servo arm 1x Servo screw large M2 3x6 Mount the servo arm exactly as described in the drawing Servo arm Servo screw M2 3x6 Bottom plate Mounting the servo arm 1x Assembled bottom plate Following parts are required 1x Servo coupling rod 1x Servo screw small M2x6 2x Servo screw large M2 3x6 Coupling rod Can the rod rotate freely at Servo screw 180 degrees M2 3x6 Servo screw M2x6 Bottom plate Mount the servo arm exactly as described in the drawing 13 Mounting the dual servo For the final assembly of the dual servo following parts are required Round head screw Disc with 1x Dual servo holder axis 2x Disc with axis A 2x Round head screw M3 x 8 2x O Ring M3 2x Locknut M3 4x Selftapping screw 2 6x6 1x Cover 3x Selftapping screw 2 3x8 2x Servo disc 2x Servo screw small M2x6 2x Servo DGServo 12g Mount the dual servo exactly and in the same order as described in the drawing Selftapping screw Miniservo DGServo 12g T 2 3x8 gt 2222 222 lt gt lt gt Cover for dual servo holder Dual servo holder with servos Servo disc Dual servo holder with servos Servo screw M2x6 14 Mou
29. cations and preformance It may only be used indoors The product must not get damp or wet Also be carful with condence when you take it from a cold to an warm room give it time to adapt on the new coditions before you use it Any use other than that described above can lead to damage to the product and may involve additional risks such as short circuits fire electrical shock etc Please read all the safety instructions of this manual 1 PRODUCT DESCRIPTION ROBOT ARM The ROBOT ARM is an affordable robot for the hobbyist It is ideally suited to learn the basics of electronics mechanics and program ming The ROBOT ARM is controlled by a powerful ATMEGA64 microcontroller that is programmable via Open Source Tools in C The user can upload his own programs simply and easily via the supplied USB interface and the Uploader software The I O in and outputs together with the flexible I2C bus system allow the addition of extra modules thus enabling the robot to react to its environment Contents of the package Complete Robot Arm construction set mechanics and electronics USB interface with lead CD ROM containing all required software and manuals 1 2 Specifications ATMEGA64 processor Various available in outputs I2C bus 4 mini servos DGServo 12g 2 maxi servos DGServo SO7NF STD Plastic arm and metal chassis Arm length 260 mm Height 320 mm Base diameter 150 mm Power supply 9 14V
30. e configure script gt configure prefix PREFIX target avr disable nls This script detects what is available in your system and generates suitable makefiles Now the binutils can be compiled and installed gt make gt make install Depending on the computing power of your system this can take a few minutes That applies also to the next two sections especially to the GCC Java 6 The RobotLoader see Info below has been developed for the Java platform and is suitable for Windows and Linux theoretically also for operating systems like OS X but AREXX Engineering is unfortunately not yet in a position to give official support To make it work you need to install an updated Java Runtime Environment JRA It is often already installed on the computer but it must be at least version 1 6 Java 6 If you have no JRE or JDK installed you must install the supplied JRE 1 6 from SUN Microsystems or alternatively download a newer version from http www java com or http java sun com 36 Windows The JRE 1 6 for Windows is in following folder CD ROM drive gt Software Java JRE6 Windows Under Windows the installation of Java is very simple You just have to start the setup and follow the instructions on the screen that s it You can skip the next paragraph Linux Under Linux the installation doesn t present any major problems although some distributions require some manual work In the folder CD ROM
31. e finger servo 1 is almost closed Calibrate Servo 1 Please enter your choice h p m ok x Once the calibration C Calibrate is completed the robot can execute following selftest The result of the calibration is saved in ATMEGA 50 Calibration position AG V Servo 4 Elbow Servo 5 Shoulder et afl A m 7 8 Keyboard Test The set is supplied with a keyboard that can be connected to the Robot Arm It is a good option for simple demonstrations and allows us to practice the control of a robot arm via a keyboard The keyboard is fitted with 6 control keys and 4 special keys for later extensions If we want to test the Robot Arm via the keyboard we need to transfer the appropriate hex program into the robot s microproces sor Please click on the button Add on the bottom of the RobotLoader window and select the file RobotArmExamples RobotArm Key Board hex in the example directory Select the file RobotArm Key in the list and press subsequently the Upload button on the top right side below the progress bar Having done that you can control the Robot Arm simply via the keys on the keyboard USE THE CORRECT PRO OR MINI SOFTWARE PCB Keyboard Keyboard lead 52 8 0 RACS Software RACS Robot Arm Control Software is the easiest way to control and program the Robot Arm Programming via the
32. e program Example 01 Leds c is only so big because the Robot ArmBaseLibrary is included So don t worry there is enough space for your programs and so small programs usually don t need so much memory space The function library on its own needs several kb of Flash memory but makes your job much easier and therefore your own programs will generally be quite small compared to the Robot ArmBaseLibrary The just compiled program can now be uploaded via the RobotLoader into the robot To do that you have to add the newly generated hex file into the list in the RobotLoader via the button Add select it and click on the Upload button exactly as you did for the selftest program After that you can switch back to the terminal and look at the output of the program Of course you need to launch the execution of the program The easiest way to do it the terminal is to press the key combination STRG S on the keyboard or to use the menu or just to send an s after a reset you have to wait a little bit though until the message READY is displayed the terminal The key combination STRG Y is also very convenient as the currently selected program is uploaded into the Robot Arm and immediately started This avoids to click on the Flash Loader tab in the terminal or to use the menu The example program is very simple and is only composed of a small LED running light and some text output 65 As a conclusion We hope tha
33. ee page 16 Upload the ANDROID HEX data into the Robot Arm processor Upload the ANDROID data into your smartphone or tablet You can find this data on the CD an in the Google Play Store 58 8 0 Programming the Robot Arm Now we are gradually coming to the programming of the robot Setting up the source text editor First of all we need to set up a little development environment The so called source text also called sourcecode for our C program must be fed into our computer one way or the other To this end we will definitely not use programs like OpenOffice or Word As this might not be obvious for everybody we stress it here explicitly They are ideally suited to write manuals like this one but they are totally inappropriate for programming purposes Source text is pure text without any formatting The compiler is not inte rested in font size and colour For a human being it is of course much clearer if some keywords or kinds of text are automatically highlighted by colours These functi ons and some more are contained in Programmers Notepad 2 ab beviated hereafter by PN2 that is the source text editor that we will use ATTENTION Under Linux you need to use another editor that offers about the same functions as PN2 Usually several editors are pre installed e g kate gedit exmacs or similiar In addition to the highlighting of keywords and others called syntax highligh ting it of
34. efile E RobotArm Move 02 c 51 02 08 Move 03 Makefile 2541 RobotArm Move 03 c 51 03 09 Key Board o Makefile 54 RobotArm Key Board c 10 12 osos Bi rs gt On the left hand side are shown all example projects on the right hand side the source text editor with the mentioned syntax high lighting and at the bottom the tools output in this case the output of the compiler You can convert many other things in PN2 and it offers many useful features 60 Open and compile an example project Let s test now if everything runs properly Eod TITRES TETTE and open the example projects File View Tools Help Select in the File menu the item Open Project s Mew Open Open Projects A normal file section dialogue appears Search the folder Robot Arm Examples MINI V in the folder into which you have saved the example programs ase Projects Open the Robot ArmExamples ppg file This is a project group for PN2 that uploads all example programs as well as the Robot Arm Library into the project list Projects Recent Files Recent Projects d Exit Now all example projects are conveniently at hand if you want to refer to them at the beginning or look for functions in the Robot Arm Library etc Open the first example program top of the list 701 Leds select file 01 Leds that a
35. er persons The Information Symbol is used to mark useful tips and tricks or background information In this case the informa tion is to be considered as useful but not necessary Safety recommendations Check the polarity of the batteries or power supply Keep all products dry when the product gets wet remove the batteries or power directly Remove the batteries or power when you are not using the product for a longer period Before taking the module into operation always check it and its cables for damage If you have reason to believe that the device can no longer be operated safely disconnect it immediately and make sure it is not unintentionally operated Consult an expert if you are unsure as to the function safety or connection of the module Do not operate the module in rooms or under unfavourable conditions Do not overload the servo s This module is equipped with highly sensitive components Electronic components are very sensitive to static electricity discharge Only touch the module by the edges and avoid direct contact with the components on the circuit board Normal use This product was developed as an experimental platform for all persons which are interested in robotics Main goal is to learn how you can program the device in C langue This product is not a toy it is not suitable for children under 14 years of age This robot arm is also not an industrial robot arm with industrial specifi
36. er speed Program upload will usually run at 500kBaud filling the total free memory space 2KB are reserved for the Bootloader within seconds o The interface may be used for programming all available expansion modules for the robot arm with AVR Microcontrollers RP6 256 WIFI module o It may be used for communication between the robot and expansion modules For example you can use this for debugging purposes by transferring measurement data text messages and other data to the PC o The interface driver provides a virtual comport VCP for all popular operating systems including Windows 2K XP Vista and Linux The VCP can be used in standard terminal programs and customized software 5 2 Modifications V3 PCB type RA1 PRO and RA2 HOBBY New TI TPS54332 DC DC converter 3500mA New LDO voltageregulator for the 5V microprocessor power Extra power supply connectors for VCC and Servo power 6 pre amplifiers for current measurement of all servos over a shunt resistor The Reset switch is now a start stop switch to start and stop operation of the program Autostart the program starts automatically shortly after switching on can be configured through the robotloader if you like Extra extension connectors with all free I O Pins from the ATMEGA64 2C Bus connexion compatible with RP6 XBUS extension modules for example the RP6 M256 WLAN Module Socket for APC220 or Bluetooh wireless module 4 blue s
37. erie anschlufs VQ PWR3 PWR2 9 DC Spannungs Buchse E PROG UART EIN AUS PROGRAMM UART Tastatur Sicherung 4 Schalter On the robot arm mainboard are a few LEDs here folows a short explanation The yellow LED MAIN PWR shows if there is an external voltage and if the robot is switched on the red LED SERVO PWR only burns when the DC DC convertor for the servo power is switched on by the mikroprocessor This is controlled by the software There are 4 blue status LEDs SL1 4 which are controlled directly by the microprocessorn die 4 blauen Status LEDs You can use these LEDs freely for your own program applications 25 5 5 Starting the Robot 1 First check all mechanical assembly and electronic of the robot arm connect the servos see page 25 and 51 2 Connect the power 9 to 14V 18 V absolute max 3 Switch the robot on with the main On Off switch Voltage supply Mains adaptor There are 2 options to power the robot The easiest solution is to connect a mains adaptor with an output voltage of 9 14V 3 4 Amps to the DC input This way the voltage is connected to the INPUT of the voltage regulator Batteries The second solution is to connect a battery to the battery terminal 9 14V Ifthe voltage drops below 6 7 V a warning is displayed Important The ISP BOOT Jumper should be in left position for normal use see picture below XBUS1
38. et via the mouse The current positions can be saved changed and erased in the list box in the lower part of the user interface This generates a list containing the individual positi ons that can be saved as a file on the computer by clicking on the button Save This step list can be uploaded any time 11 s the motor current of every individual servomo tor If the threshold of a servo is exceeded e g during a collision or overload the text in the RACS software starts flashing In this case the robot must be driven back to its last position as quickly as possible or the servopower in the RACS software must be disabled disable the checkbox servopower Otherwise the Robot Arm might be definitely damaged 54 7 2 RACS Connection 1 Double click on the Robot Arm Control Software to start it following interface is displayed RACS PM PRO V3 connection servo control connect update Wireless Arm Servo6 rotate Current Servo5 bottom Fig 2 Current Servo4 middle Current Servo3 top Current Claw Servo2 rotate Current Servo1 gripper Current repeat insert clear 2 In the dropdown menu are listed all serial interfaces connection Fig 3 3 Plug in the USB programmer 4 Click on Update button When you look again that the dropdown menu you will see an additional
39. ew M3x8 Locknut M3 Servo disc 17 Mounting the finger servo i 1 Assembled wrist Following parts are required 1x Mini servo DGServo 12g 2x Selftapping screw M2 6x6 Fasten the servo at the servo holder exactly as described in the drawing Mini servo DGServo 12g Mounting the finger servo holder 1x Assembled Wrist 1x Servo disc 1x Servo screw small M2x6 Following parts are required Assembled Fasten the disc on the servo exactly as described in the drawing Servo 0 4 M2x6 18 Mounting the finger 1x Assembled wrist Following parts are required 1x Finger 2x Servo screw small M2x6 2x Servo screw large M2 3x6 Mount the finger exactly as described in the drawing Servo screw _ m M2 3x6 Assembled wrist TEST Can the finger rotate FREELY Servo screw M2x6 Final arm assembly 1x Assembled wrist Following parts are required ix Assumbled 2x Servo screw small M2x6 2x Servo screw large 2 3x6 Servo screw M2x6 Assembled wrist Servo screw M2 3x6 Assembled Bottom plate Fasten the wrist on the arm exactly as described in the drawing 19 Mounting the base and the PCB 1x Metal base Following parts are required 4x Spacer M3x6 4x Spacer M3x30 Spacer M3x6 Metal base IMPORTANT Avoid direct contact with the components on the circuit board Final assembly of the Robot Arm
40. fers also a rudimentary project management This allows to organise several source text files in projects and to display in a list all files related to a project Moreover you can easily retrieve programs like the AVR GCC in PN2 and get the programs convenien tly compiled via a menu item Normally the AVR GCC is a pure com mand line program without graphic interface You will find more recent versions of Programmers Notepad on the project homepage http www pnotepad org The newest versions of WINAVR don t require the setting up of menu items anymore PLEASE NOTE In this section we don t describe anymore how you have to set up menu items in PN2 as the newest WINAVR versions have done this already for you 59 See on page 56 Open and compile an example project how you can open an example project If you have opened an example project it should look a bit like this on the 2 screen View Tools Help 4 New Project Group E T3 Calibrate RobotArm Robot ArmExamples ppg file H This is a project group for PN2 B 3 3 03 Uart 02 that uploads all example programs plus the Robot Arm Library into 2 3304 Stopwatches the project list Projects x se RobotArm_Stopwatches c B Makefle x Measuring Current c 51 02 06 Move 01 Makefile L RobotArm Move 01 B gt 07 Move 02 18 J Mak
41. from FTDI would not be as simple as that under Linux and the normal virtual comport VCP drivers are included anyway in the current Linux kernels It works almost the same as under Windows You just need to find out the name of the Robot Arm USB interface and make sure that the USB port is not unplugged from the PC as long as the connection is open otherwise you might have to re start the RobotLoader to re connect Under Linux the names of the virtual comports are dev ttyUSBx x being a number e g dev ttyUSBO or dev ttyUSB1 The names of the normal comports under Linux are dev ttySO dev tty S1 etc They also show up in the port list as far as they exist The RobotLoader remembers if there are several ports which port you have used last time and selects this port automatically when you start the program in general most of the settings and selections are maintained Now you can click on the button Connect The RobotLoader will open the port and test if the communication with the bootloader on the robot is working The black field Status on the bottom should show the message Connected to Robot Arm or similiar together with an information about the currently measured voltage If not just try again If it still doesn t work there is a mistake Switch the robot off immediately and start searching for the error If the voltage is too low a warning is displayed You should immediately charge the accumulators
42. g in your program and it can t prevent the robot from running into a wall IMPORTANT You might find warnings and other messages further above These are often very helpful and always indicate important problems That s why these always need to be solved PN2 high lights warnings and errors by colours to make the identification easier Even the line number is indicated that the compiler is criti cizing If you click on the coloured error message PN2 skips in the relevant editor directly to the faulty line The indication at the end AVR Memory Usage is also very useful Size after AVR Memory Usage Device atmega64 Program 3074 bytes 4 796 Full text data bootloader Data 68 bytes 1 796 Full bss noinit This means for the Atmega64 processor that our program has a size of 3074 bytes and that 68 bytes of RAM are reserved for sta tic variables you have to add to this the dynamic ranges for heap and stack but this would go too far just keep always at least a few hundred bytes of memory free We dispose in total of 64kb 65536 bytes of Flash ROM and 2kb 2028 bytes of RAM On the 64kb 2k are occupied by the bootloader so we can only use 62kb Make always sure that the program fits into the available memory space The RobotLoader doesn t transfer the program if it is too big 64 This means that the example programs above leave 60414 bytes of free space The relatively short exampl
43. gramming plug see safety instructions on static discharges Please avoid touching any of the components on the PCB soldering points or contacts of the IDE connector unless absolutely necessary in order to prevent static discharges The previously installed driver will be used automatically for the device without any help from your side Under Windows XP 2k small speech bubbles appear at the bottom above the task bar The last message should be The device has been successfully installed and is ready for use If you have connected the USB interface before the installation or use Win98 Me it doesn t matter so much Windows will ask you for a driver This installation method is also possible The driver is also in unpacked format on the CD 42 If you are in this situation a dialogue appears under Windows to install the new driver You have to indicate the path to the system where it can find the driver Under Windows 2k XP you need to select first the manual installation and not to look for a web service On our CD the driver is in the above mentioned directories So just indicate the directory for your Windows version and even tually a few other files that the system doesn t find automatically they are all in the directories mentioned below Under Windows XP and later versions there is often a message that the FTDI drivers are not signed verified by Microsoft normally not here as the FTDI drivers are signed This
44. ired packages on the installation CD or up dated packages are available in the internet Make sure that the texinfo program is installed If not please in stall the relevant package before you continue otherwise it will not work Having done that you can start with the installation itself Now you have two options either you do everything manually or you use a very simple to use installation script We recommend to try the installation script first If this doesn t work you can still install the compiler manually 30 Attention You should have enough free disk space on your hard disk Temporarily more than 400Mb are required Over 300Mb can be erased after the installation but during the installation you need all the space Many of the following installation steps require ROOT RIGHTS so please log in with su as root or execute the critical commands with sudo or something similiar as you have to do it in Ubuntu e g the installation script mkdir in usr local directories and make install require root rights Please note in the following the EXACT spelling of all commands Every sign is important and even if some commands look a bit strange it is all correct and not a typing mistake CD ROM drive has of course to be replaced by the path of the CD ROM drive The folder on the CD CD ROM drive gt Software avr gcc Linux contains all relevant installation files for the avr gcc avr libc and binuti
45. is irrelevant and can be confirmed without any problem Operation For 32 and 64 Bit Windows 7 8 XP Vista Server 2003 and 2000 systems CD ROM drive gt Software USB_DRIVER Win2k_XP FTDI_CDM2 For older Windows 98SE Me systems CD ROM drive NSoftwareNUSB DRIVERNWin98SE MENFTDI D2XX After the installation of the driver a re start of the computer may be neces sary with older versions like Win98SE PLEASE NOTE Under Win98 Me only one of both drivers is working Either Virtual Comport or the D2XX driver from FTDI Unfortunately there is no driver that offers both functions Nor mally there is no virtual comport available as the RP6Loader under Windows uses as a standard the D2XX drivers you can change this please contact our support team Check the Connection of the Device To check if the device has been correctly installed you can use the device manager as an alternative to the RobotLoader under Win dows XP 2003 and 2000 Right click on My Computer Properties gt Hardware gt Device manager 43 OR alternatively Start gt Settings gt Control panel gt Per formance and Maintenance gt System gt Hardware gt Device manager and check there in the tree view under Connections COM and LPT if you find a USB Serial Port COMX the X replacing the port number or look under USB serial bus controller for a USB Serial Converter If you wish to uninstall the dri
46. ll under the legal prescription of product responsibility The warranty does not apply in case of irreversible changes such as soldering of other components drilling of holes etc of the Robot Arm or its accessories or if the Robot Arm is damaged due to the disrespect of this manual The warranty is not applicable in case of disrespect of this manual In addition AREXX Engineering is not responsible for damages of all kinds resulting from the disrespect of this manual Please adhere above all to the Safety recommendations in the Robot Arm manual Please note the relevant license agreements on the CD ROM IMPORTANT Prior to using this robot arm for the first time please read this manua thoroughly up to the end They explain the correct use and inform you about potential dangers Moreover they contain important information that might not be obvious for all users Important safety recommendation This module is equipped with highly sensitive components Electronic components are very sensitive to static electricity discharge Only touch the module by the edges and avoid direct contact with the components on the circuit board Please do never overload the servo s Symbols This manual provides the following symbols The Attention Symbol is used to mark important details Neglecting these precautions may damage or destroy the ro bot and or additional components and additionally you may risk your own health or the health of oth
47. ls First of all you have to copy all installation files in a directory on your hard disk this applies for both installation methods We will use the Home directory usual abbreviation for the current home directory is the tilde gt mkdir Robot Arm gt cd CD ROM drive gt Software avr gcc Linux gt cp Robot Arm After the successful installation you can erase the files to save space 31 Automatic Installation Script Once you have made the script executable via chmod you can start immediately gt cd Robot Arm gt chmod x avrgcc build and install sh gt avrgcc build and install sh Answer y to the question if you want to install with this configura tion or not PLEASE NOTE The compilation and installation will take some time depending on the computing power of your system e g about 15 min on a 2GHz Core Duo Notebook Slower systems will need lon ger The script will include also some patches These are all the diff files in the directory If the installation was successful following message will be display ed avrgcc build and install sh avrgcc build and install sh installation of avr GNU tools complete avrgcc build and install sh add usr local avr bin to your path to use the avr GNU tools avrgcc build and install sh you might want to run the following to save disk space avrgcc build and install sh avrgcc build and install sh rm rf usr local avr
48. nting the dual servo holder Following parts are required 1x Assembled bottom plate 1x Dual servo holder Servo screw 2x Servo screw small M2x6 2x Servo screw large M2 3x6 TEST Can the dual servo rotate freely at 180 degrees Servo screw M2 3x6 Bottom plate x Mount the dual servo exactly as described in the drawing Mounting the wrist servo Following parts are required 1x Miniservo DGServo 12g 1x Servo holder wrist 2x Selftapping screw M2 6x6 Selftapping screw 2 6x6 Miniservo DGServo 12g Servo holder e wrist Mount the wrist servo exactly as described in the drawing 15 Final assembly of the wrist servo Following parts are required 1x Assembled wrist 1x Servo disc 1x Servo screw small M2x6 Servo disc Servo screw M2x6 Assembled wrist Mount the servo disc exactly as described in the drawing Mounting the finger servo holder Following parts are required 1x Assembled wrist 1x Finger servo holder 2x Servo screw small M2x6 Finger servo holder Servo screw M2x6 Mount the finger servo holder exactly as described in the drawing Mounting the finger servo holder Following parts are required 1x Assembled wrist 1x Finger servo holder 1x Servo disc 1x Screw M3x8 1x O Ring M3 1x Locknut M3 Wrist assembly Can the wrist rotate freely at 180 degrees Mount the servo disc exactly as described in the drawing Round head scr
49. ppears on the left edge of the program window Just double click on 01 Leds c A source text editor is displayed in a window inside the program An output area should appear on the bottom of the program window of PN2 If not you have to enable this area via the View menu Enable output OR if the area is too small increase the size by pulling the edges with the mouse the mouse cursor changes into a double arrow at the upper edge of the grey area marked output at the bottom of the program window You can take a quick look at the program that you just opened with the source text editor but you don t need to understand right now what is happening exactly However as a first info The green text are comments that are not part of the actual program They are only used for description documentation purposes 61 We will explan this in detail a bit further down there is also a ver sion of this program WITHOUT comments so that you can see how short the program is in fact The comments inflate it a lot but are necessary for the understanding The uncommented version is also useful to copy the code in your own programs First of all we just want to test if the compi lation of programs works properly Window Help EE Be In the Tools menu on top both freshly instal Use Tabs led menu items see fig should appear or s the WinAVR inputs existing as a standard WinAVR Make in PN whateve
50. r it works normally with WinAVR Make Clean both WinAVR Program Shift K Please click now on MAKE ALL Stop Tools Ctr Options PN2 retrieves now the above mentioned make all bat batch file This will on its turn retrieve the program make More info about make will follow later The example program will now be compiled The generated hex file contains the program in the translated format for the microcontrol ler and can be uploaded and executed later The compilation process generates a lot of temporary files suffixes like o 55 map sym elf dep Just ignore them The newly set up tool make clean will erase them all Only the hex file is of interest for us By the way the function make clean will not erase this file 62 After the activation of the menu item MAKE ALL following output should display below in a considerably shortened version Some lines may look of course a bit different gt make exe all begin avr gcc WinAVR 20100110 4 3 3 Copyright C 2008 Free Software Foundation Inc This is free software see the source for copying conditions There is NO warranty not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE Size before AVR Memory Usage Device atmega64 Program 3074 bytes 4 7 Full text data bootloader Data 68 bytes 1 7 Full data bss noinit EEPROM 14 bytes 0 7 Full eeprom
51. rialNumber Whereas under Linux the virtual comport designations appear such as dev ttyUSBO dev ttyUSB1 etc The normal com ports are equally displayed as dev ttySO etc In this case you have to try which port is the correct one Unfortunately Linux doesn t have such a convenient driver that does both Therefore it made more sense to use the Virtual Comport dri vers that are included in the kernel anyway The installation of a D2XX driver would require quite a lot of manual work Finalization of Software Installation Now the installation of the software and the USB interfaces is com pleted You just need to copy the most important files from the CD on a hard disk especially the complete Documentation folder and if it hasn t been done yet the example programs This avoids to look constantly for the CD if you need these files The folders on the CD are all named in such a way that they can be easily allocated to the relevant software packages or documentation If you loose the CD one day you can download the most important files as this manual the RobotLoader and the example programs from the AREXX home page You will find there also the links to the other software packages that you require 45 7 4 Testing the USB Interface and starting the RobotLoader The next step is a test of the program upload via the USB interface Connect the USB interface to the PC always connect the PC first and the other end of the 1
52. rotating motion that functions like a nut To this end this type of screw has a larger thread and a sharper tip as a normal screw Selftapping screws Parker Selftapping screws have a cutout at the top M The best way to fasten such a screw is 2 Slightly loosen the screw 3 Tighten the screw again If the screws are loosened and tightened too often the hole enlargens gradually and the screw doesn t fit anymore properly Locknut Fastening a locknut the plastic may crack Locknut Double open end wrench The set includes a double open end wrench Use this wrench for the M2 and M3 nuts You can use this wrench instead of pliers A m 3 PART LIST Servomotor Servolever 4 DGServo 12g O 2xMaxi DGServo S07NF STD O 2x Disk with Servo disc axis USB lead Keyboard e CD O 1x O 1x O 1x Holder for Servo holder maxi servo dual Spacer for Servo Cover for maxi servo holder Cover for servo holder Servo holder Servo holder Fingertip for finger servo Wrist Coupling rod Program Programming adaptor lead O 1x PCB Keyboard lead Servo exten 1 5m sion lead O 1x O 1x Servo screw Selftapping screw Servo screw Selftapping screw Selftapping screw small M2x6 M2 3x8 large M2 3x6 M2 6x6 M3 5x8 O 8x O 4x O 10x O 8x O 4x O Ring Round head Round head Round head screw Nut Locknut M3 screw M3x6 screw M3x8 3 M3x10 2 7 3 4
53. s make a right click on the RobotLoader file exe and then click on Desktop create shortcut in the Send to menu Robot Arm Library Robot Arm CONTROL Library and Example Programs The Robot Arm Library and the related example programs are in a zip archive on the CD CD ROM drive gt Software Robot Arm Examples Robot ArmExamples MINI zip Just unpack them directly into a directory at your convenience on the hard disk It is recommended to unpack the example programs into a folder on a data partition Or in the My files folder in a sub folder Robot Arm Examples or else under Linux into the Home directory It s entirely up to you The individual example programs will be discussed later in the software chapter 39 7 Programmer and Loader To load a HEX Robot Arm program from the PC into the Robot Arm we will use the USB programming adaptor and our RobotLoader software The loose USB port adaptor transmitter receiver transceiver in cluded in the package must be connected on one side to a USB port of the computer and on the other side to the Prog UART port of the Robot Arm PCB The program upload into the Robot Arm erases automatically the previously existing program RobotLoader RobotLoader software 40 7 1 Robot Loader As said the RobotLoader has been developed to upload easily new programs into the Robot Arm and into all our robots provided that they contain a compatible bootloader 15
54. t now In Windows the CD menu should appear shortly afterwards per autostart If not you can open the file start htm with a web browser as e g Firefox in the main directory of the CD via a file manager By the way the installation files for Firefox are also on the CD in the folder CD ROM drive MSoftwareWMFirefox if ever you haven t installed an updated web browser it should be at least Firefox 1 x or Internet Explorer 6 After the language selection you will find in the CD menu in ad dition to this manual that you can also download from our home page information data sheets and pictures also the menu item Software It contains all software tools USB drivers and example programs with source code for the Robot Arm Depending on the safety settings of your web browser you can start the installation programs directly from the CD 27 If the safety settings of your web browser don t allow a direct in stallation from the CD ROM you have to copy the files first into a directory on your hard disc and start the installation from there For more details please refer to the software page in the CD menu Alternatively you can also switch to the CD drive via a file manager and install the software from the CD The names of the directories are self explanatory so that you can allocate them easily to the cor responding software packages and operating systems WinAVR for Windows We will start with the installation of
55. t our robots have guided you on your way into the world of robots We share the conviction of our Japanese friends that robots will become the next technological revolution after computers and mobile phones This revolution will trigger new economical impulses Unfortunately Japan other Far East countries and also the USA have largely overtaken Europe in this field Unlike Europe technical courses start in Far East already in the primary school and are an important part of the education Our target in the development of our robots ASURO YETI Caterpillar and Robot Arm is therefore PNE me 66 APPENDIX A CIRCUIT DIAGRAM ROBOT ARM RA2 HOBBY V3 Spumuoq Yoauy 21042 SA 108 9 IDD USIA42N 8 XX3MV y Jo 18946 tIOCtO cc guorsuoy T ETCOE TOC 19quinN 405592044 WMV LOSON VL T ie CLXH 1 Lad IXH JA OGd 0GXI THd AOT 4101 080 979 uoisuedxe ajnpow 40 OZZDdV 41101 080 Sco 090 1 ODA NH OANHS LLNqNNOO OAMNJS CLNSqHOO OANJS 5 e ERTS ours Hs OAIHS 9INRRIND OAYAS ivan
56. tallation of WinAVR you have to uninstall the existing version first Officially Win x64 is not yet sup ported but the CD contains a patch for Win x64 systems if a problem arises You will find more information on the software page of the CD menu AVR GCC avr libc uad avr binutils for Linux Windows users can skip this section Linux might require more effort Some distributions already contain the required packages but they are mostly obsolete versions The refore you need to compile and install newer versions It is impos sible to describe in detail the numerous Linux distributions as SuSE Ubuntu RedHat Fedora Debian Gentoo Slackware Mandriva etc that exist in many versions with their own particularities and we will keep here only to the general lines The same applies to all other Linux sections in this chapter The procedure described here must not necessarily work for you It is often helpful to search in the internet e g for LinuxDistribu tion avr gcc or similar Try different spellings The same applies to all other Linux sections of course with the suitable keywords If you encounter problems with the installation of the AVR GCC you can also take a look in our robot network forum or in one of the numerous Linux forums First of all you have to uninstall already installed versions of the avr gcc the avr binutils and the avr libc because as said these are mostly obsolete You can do that via the package
57. tatus LEDs instead of a green red LED pair 4A fuse 16 000 MHz Crystal instead of 16 384MHz Pull up resistors for the I2C Bus are located on the PCB now On off switch separates the Logic The servo power from the DC DC converter is controlled by the microprocessor Input power is 7 14 Volt absolute maximum is 18 Volt ROBOT ARM EXTENSIONS RP6v2 M256 WIFI Module to control the robot wireless arm over a network ARX APC220 for RACS 433 MHz wireless control for ANDROID wireless bluetooth control See also the AREXX APC 220 Android and WIFI module manuals 24 5 3 Terminal assignment on the main PCB Servo LED Servo power 12 amp RP6 X BUS WIFI B MAIN_PWR Power LED SPI Boot ISP Important Drahtlos Module Bluetooth APC 220 Start Stop Reset LEDS 1 2 3 4 5 4 LEDS I TOI IdS SW1 S Switch I O R36 Sit fo ON See also page 51 how to connect the Servos to the PCB 0 NN O e 7 m c 9 NY U VL II NX 8 JL a 29_ 2 OC22_C12C11 lic4 C1 3w mm m B g Oc32 Oc3ii ded qu Alv gt Lind 2744 R27 II L2 C34 c33 22 C IZ ROBOT ARM v3 WWW COM IB 9 lisp goot 0000000 ISP Batt
58. ver some day If ever you wish to uninstall the driver no not now this is just a hint if you need this some day If you have used the CD ROM installation program you can uninstall it directly via Start gt Set tings gt Control panel gt Software In the displayed list you will find an item FTDI USB Serial Converter Drivers select it and click on uninstall If you have installed the driver manually you can execute the pro gram FTUNIN exe in the directory dedicated to the USB driver for your system Warning USB gt RS232 adaptors with FTDI chip set often also use this driver 44 7 3 Connection of the USB Interface Linux Windows users can skip this section Linux systems with kernel 2 4 20 or higher already include the required driver at least for the compatible previous model FT232BM of the chip on our USB interface the FT232R The hardware is au tomatically recognized and you have nothing else to do In case of a problem you can get Linux drivers and support and maybe also newer drivers directly from FTDI http www ftdichip com Once the hardware has been connected you can check under Linux Via cat proc tty driver usbserial if the USB serial port has been correctly installed This is normally all you have to do It is worth to mention that the Robot Loader uses under Windows D2XX drivers and the full USB designations appear in the port list e g USBO Robot USB Interface se
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