RPU-11 - G
Contents
1. CHECK CHECK SERVO CHECK SERVO CHECK SERVO 17 CHECK SERVO 18 CHECK SERVO 19 CHECK EEPROM TEST lt DIAGNOSTIC END gt j h jd eh Ed OOSSOSS KNOPF WNMHSOOWIAS Connected 0 02 17 Auto detect Auto detect Fig 4 9 Termination of EEPROM TEST and Self Diagnosis When EEPROM TEST finishes the following message is displayed and the buzzer sounds three times in a high tone lt DIAGNOSTIC END gt After the test the detection value of the sensor is displayed If the confirmation of the detection value is not needed just switch RPU 11 off 18 5 4 4 Confirmation of Sensor Output Value After self diagnosis finishes information on the sensors of RPU 11 is displayed every second Fig 4 10 If you press the START STOP button located on the back of RPU 11 the display stops If you want to terminate the display just turn the power off RPU 10 HyperTerminal File Edit View Call Transfer Help Ow s3 08 f SERVO SERVO SERVO SERVO SERVO CHECK CHECK CHECK CHECK CHECK SERVO CHECK SERVO SERVO SERVO lt OTAGNOSTIC 78 GS K i GS H GS X 6 GS H GS A GS 4 GS K A Cl tf ff ff 60 80 80 380 fb 508 Cl ff ff ff 86 80 80 80 fb CT F FT CT Ff CI fT CT FF Cl ff CT f Ff Cl ff CT Ff CT FF FF ff CT FF FF fFf r al oP ad ol ol a GS 1 Conneched 0 02 17 Auko detect Auko detect Fig 4 10 Se2. accidents 2 Product Outline 2 1 Features This product is the control unit for our Command Type Servos controlled by the communication of RS485 or TTL Be aware that this product cannot be used with the conventional radio controlled servos PWM type of servos for robots or Command Type Servos made by other companies Motions of the robot and setting data can be registered in RPU 11 RPU 11 in which data is registered can direct servos by the instruction given through either PC or the radio controller or by invoking data automatically By flipping the rotary switch located in the middle of the back of RPU 11 motions modes such as connect the robot and PC move itself automatically and operate with the controller can be set Please refer to page 8 about the numbers and the motions It is necessary to use the main switch of the robot in order to change modes or turn the robot off However the robot can be deactivated or restarted simply by using the Start Stop switch on RPU 11 Refer to page7 S The cable connecting RPU 11 and PC must be seated all the way when used If the connector RS232C Connector that connects RPU 11 and PC is not seated all the way when used the product may not function properly If the buzzer sounds irregularly when the system is started or the robot does not receive any command after the system is started switch the robot off and check 1f the connector is firmly inserted S Do no
3. commands through PC No 1 Scenario Mode 1 RPU 11 executes registered motions automatically No 2 Scenario Mode 2 ditto No 3 Scenario Mode 3 ditto No 4 Scenario Mode 4 ditto No 5 Scenario Mode 5 ditto No 6 Scenario Mode 6 ditto No 7 Scenario Mode 7 ditto No 8 Scenario Mode 8 ditto No 9 Scenario Mode 9 ditto No 10 A Scenario Mode 10 ditto No 11 B Sensor Output Mode the sensor value is displayed on PC No 12 C No function is set No function is set No 13 D No function is set No function is set No 14 E Self Diagnostic Mode Functions of RPU 11 can be checked on PC No 15 Operation Mode the robot is controlled with the original controller 3 System Configuration Please refer to the diagram below for the connection between RPU 11 PC servos and battery RS232C 5 A BoT Relay Box um Command Type Servos Fig 3 1Sample of System Configuration Power On Off RPU 11 does not have a power switch Therefore it is necessary to power on off by connecting it to either a relay box equipped with a power switch or a battery Movements of the Robot when Power is On When data is transferred from PC to RPU 11 a number called Project ID for the robot structure and for its motion is transferred If the both Project IDs do not match there is a case that the robot registered is different from the one you want servos do not receive any signals and the torque remains OFF when RPU 11 is activat
4. is mounted on the board of RPU 11 The direction of each axis is shown in the diagram below d il mam Z peee Fig 2 2G Sensor on RPU 11 Regarding how to use the G Sensor please refer to the instruction manual for Motion Editor Start Stop Switch If you press this switch the torque for all servos is set to OFF instantly RPU 11 will restart if you hold down the switch for about three seconds with the robot inactivated A Caution S Do not power on off the robot while holding down Start Stop switch If you turn RPU 11 on while holding down the Start Stop switch it starts in the Firmware Writing mode regardless of the number for the rotary switch As the robot does not accept any command you need to turn it on again Rotary Switch This switch is used to set up the modes of RPU 11 You can change the mode of RPU 11 by turning the power on after adjusting the number for the mode you desire The mode does not change until you turn the power on again even if you change the switch when RPU 11 is in motion The mode does not change either even if you restart RPU 11 by keeping the Start Stop switch pressed If you want to change the mode restart RPU 11 using the main switch of the robot body The relation between the switch number and the mode of RPU 11 is as follows Table 2 1 Rotary Switches and Modes Switch Number Mode Actions No 0 Motion Editor Mode the robot moves by the
5. ART depending on the posture of the robot 5 3 Operation Mode The robot can be operated freely by registering motions and scenarios made by Motion Editor with RPU 11 and setting up the relations with the buttons of the original controller RRC T10 11 5 4 Self Diagnostic Mode When power is supplied after adjusting the rotary switch of RPU 11 to E RPU 11 activates in the Self Diagnostic Mode In this Mode you can check whether RPU 11 buzzer LEDs G sensor and servos are operating properly and confirm the results on PC 5 4 1 Connecting PC and RPU 11 with Communication Software The personal computer communication software is required to confirm the contents to be checked in the Self Diagnostic Mode In this section an example using HyperTerminal contained as a standard feature in Windows is shown Be sure to close Motion Editor down when Self Diagnostic Mode is executed Activate HyperTerminal by selecting the following items from the Start menu of Windows Program gt Accessory gt Communication gt HyperTerminal If the connection settings are saved you can start by selecting the settings from the second time In this case the selection sequence 1s as follows Program gt Accessory gt Communication gt HyperTerminal gt Connection Name set The followings show the steps for making the first connection HyperTerminal by Hilgraeve Monroe Michigan USA i For more power and convenience upgrade to
6. EP TEST Do you listen buzzer 7 led light 7 Connected 0 02 17 Auto detect Auto detect Fig 4 7 Servo Checking Connection of all servos is OK On the other hand NG is displayed if servos are not connected properly Even if there is only one servo whose connection is not confirmed the buzzer sounds twice in a low tone after the checking RPU 10 HyperTerminal File Edit View Call Transfer Help De B A uma e BEEP TEST Do you listen buzzer EST Do you look led light 7 SERVO CHECK Connected 0 02 17 Auto detect Arto detect Fig 4 8 Window of Servo Checking Sample of Connect Failure 17 The items to be checked here are just the connection and communication of servos Mechanical breakdown gear damage etc cannot be checked EEPROM TEST This test is to check the function of memories inside RPU 11 The robot and RPU 11 do not move If it is confirmed that the movement is executed properly the following message is displayed and the buzzer sounds twice in a high tone EEPROM TEST OK RPU 10 HyperTerminal File Edit View Call Transfer Help Da sg 086 E SERVO TEST SERVO 1 CHECK SERVO 02 CHECK SERVO 03 CHECK CHECK SERVO SERVO SERVO SERVO SERVO SERVO CHECK SERVO l CHECK CHECK CHECK T CHECK T CHECK SERVO SERVO SERVO SERVO i CHECK CHECK
7. G A FE0TS RPU 11 Robot Processing Unit User s Manual Ver 1 0 Instruction Manual Please read this instruction manual before use Please keep this manual handy for immediate use For Models CONTENTS Wk SAFELY coronna a a 3 Ze PRODUCT OUTLINE renccus craceoricrucctacseacanacaaactcnn aa aa O aA Ea Aaaa ra Eataa 5 PA MCAS E E EE T E sass DG ia E T E E E E E 5 2 2 Part Names Handling Instructions 964 ss02y0srscsie cay ssceysenvesiasay eeceyackiasiansd easy sumesaie res neeuaenieess 6 3 SYSTEM CONFIGURATION iicsiscnesaciaacctacineccadiarenseaaccesvesccawaaeiasanateesecatedisacaiataasnacawasssieives 9 4 TME MODE OF RPU Tiicrrcncg a a nett aeeneuaaseneoe 10 AD Motom Editor Mode sorreraren AE EA A NA 10 AD SCArO IVI OGG orsr eens aah Rennes eae 10 52 A INGE Pendent PemOrmanee serion Mou sok Medeor a eae awe 10 5 2 2 PerlOnmance with CONTOU serenecon ne E EE EEEE OEE AE E ice cess 10 JLI OPEra ton Mod Geerse AE E AEA 11 34 Se DIAGNOSUE Mod ECnuensnierr nr a E A E R 12 5 4 1 Connecting PC and RPU 11 with Communication Software seseseseseseeeesesesesesesesesseesses 12 5 4 2 Activation of RPU 11 and Its Connection to PC seesesesessssesessesressssesensesenseseesessesee 15 Dio Tns PCCUION 1 COINS ss invssmacs wear nseinudun ENEE ENE EEE vena OEE ENEE 16 5 4 4 Confirmation of Sensor Output Value ccccccccccceccecccecceeceececeesseecesceesseesesseesees 19 Do CIN SO GO GU MOd G asec hitters asia se gitats ae Se
8. ary switch located on the back of RPU 11 to E If RPU 11 and PC are properly connected a message 1s displayed automatically Fig 4 5 There is a case that a different value from Fig 4 5 is displayed depending on versions or settings of RPU 11 RPU 10 HyperTerminal File Edit view Call Transfer Help DS 23 08 E PROJECT 88dc S 20 M 22 SOUND ON 4_DIP E CPU O8100U1 RPU 10 FRAME 80800000 USER CUSTOM VENDER 60660601 FUTABA ROM 128 KB RAM firmware Ver 1 0 0 0 00 format Ver 1 0 0 0 00 C 200 Futaba Corporation All Rights Reserved F FUTABA A ADVANCED R ROBOTICS K KERNEL FARK SYSTEM RUNNING lt DIAGNOSTIC START gt Connected 0 02 17 Auto detect Ato detect Fig 4 5 Start up Message of RPU 11 The rotary switch number is displayed in DIP on the first line when RPU 11 is activated Make sure that this value is E lt DIAGNOSTIC START gt is displayed after the start up message and self diagnosis starts automatically At this time the buzzer of RPU 11 sounds three times in a high tone 15 5 4 3 Inspection Items Check of Buzzer The following message is displayed and the buzzer sounds The sound changes from the high tone to the low tone for about five seconds BEEP TEST Do you hear the buzzer If the buzzer does not sound or the sound interrupts there is a possibility that the buzzer 1s malfunctioning Check of LED After ch
9. e atieire bac a 20 5 REFERENCE cnn eee sate eee eee eciacauindeSedak etacaduneateiestetivetabutedeesteninien 21 1 Safety In order to use this product safely please read this manual carefully before use Be aware of parts or areas with either of the following signs as they require special attention for safety reasons Signs Meaning Procedures which may have a high risk of death or serious injury to the A DANGER user if not carried out properly or procedures in which the probability of superficial injury or physical damage 1s high Procedures that may lead to dangerous conditions or cause death or serious ts WARNING injury to the user if not carried out properly or procedures in which the probability of superficial injury or physical damage is high Procedures in which the possibility of serious injury to the user is small but A CAUTION there is a danger of injury or physical damage if not carried out properly Symbols S Prohibited Q Mandatory Precautions for Use A CAUTIONS S Do not use this product except as indoor hobby robots We assume no responsibility whatsoever for any damage resulting from the use of this product except for the above purpose S Control System This product is a control unit for Command Type Servo controlled by the communication of RS485 Be aware that this product cannot be used for the conventional radio controlled servos S Do not disassemble or modify this product This pr
10. ecking the buzzer the following message is displayed and LEDs glow The right and left LEDs alternately blink quickly for about five seconds LED TEST Do you see the light of LED If the LEDs do not glow or glow irregularly there is a possibility that something is wrong with the LEDs RPU 10 HyperTerminal File Edit view Call Transfer Help D 6 06 8 PROJECT 88dc8f S 20 M 22 SOUND ON DIP E CPU 00010001 RPU 198 FRAME 80000000 USER CUSTOM VENDER 00000001 FUTABA ROM 128 KB RAM 4 amp KB firmware Ver 1 0 0 0 00 format Ver 1 0 0 0 00 C 2007 Futaba Corporation All Rights Reserved F FUTABA A ADVANCED R ROBOTICS K KERNEL FARK SYSTEM RUNNING BEEP TEST Do you listen buzzer 7 LED TEST Do you look led light 7 Connected 0 02 17 Auto detect Arto detect Fig 4 6 Testing of Buzzer and LEDs 16 Connection Check of Servos Servos set with Projects registered in RPU 11 are inspected whether they are connected properly As a result of checking OK is displayed for servos whose connection is confirmed When the connection for all servos is confirmed the buzzer sounds twice in a high tone after the checking Please be aware that the number for the servo displayed here is different from ID It is a serial number called Index displayed on the Project setting window RPU 10 HyperTerminal File Edit View Call Transfer Help DS 53 08 amp BE
11. ed If you format RPU 11 with the Project you use and transfer the motion data prepared with the Project the torque will turn ON automatically when RPU 11 is activated and the robot stands at a default position For details about Project ID and the format of RPU 11 please refer to the operation manual of Motion Editor RPU 11 4 The Mode of RPU 11 4 1 Motion Editor Mode This mode is used for operating RPU 11 with the software Motion Editor installed in PC and setting up its autonomous working and operations by connecting RPU 11 and PC This mode is also used for changing the servo s ID Regarding how to use the Motion Editor please refer to the attached instruction manual of Motion Editor RPU 11 4 2 Scenario Mode Scenarios can be executed automatically with this mode by transferring motions and scenarios made by Motion Editor to RPU 11 with the RPU 11 and PC disconnected There are two ways to automatically play scenarios The one is to execute scenarios with the robot itself The other is to execute them by setting the timing of the play using the original controller 5 2 1 Independent Performance When power is supplied to the robot after adjusting the rotary switch of RPU 11 to the number for the scenario slot in which a scenario to be performed is registered the robot executes the scenario automatically after it is activated The scenario slot 10 is A on the rotary switch When the scenario finishes the rob
12. hot new 4 HyperACCESS TODAY Developed for i Copyright 1999 i Hilgraeve Inc icroso i by Hilgraeve Inc 2 Fig 4 1 Starting HyperTerminal 12 Input the name for the connection Fig 4 2 It doesn t matter whatever the name is RPU 11 is used in this example for reference Connection Description ah New Connection Enter a name and choose an icon for the connection Name RPU 10 con Fig 4 2 Connection Setting 1 Input the Connection Name Select the port that connects to RPU 11 from Connect using on the following setting window Connect To gg APU 10 Enter detads for the phone number that you wart to dial Counby region Area code Phone number Connect using m Fig 4 3 Connection Setting 2 Select the COM Port 13 Set up the COM port selected InputFig 4 4 bits second 115200 bits of data 8 parity none stop bit 1 flow control none COM1 Properties Port Settings Bits per second 15200 Date bis z ne Party Mane i Flow control Ae Bue Fig 4 4 Connection Setting 3 Setting of COM Port When the input is finished and OK is clicked the settings are completed 14 5 4 2 Activation of RPU 11 and Its Connection to PC Connect RPU 11 and PC with the original cable There is no problem even if RPU 11 and PC are connected before the communication software is activated Turn RPU 11 on after adjusting the rot
13. nsor Output BT Battery The remaining battery level is displayed GS X Y Z G Sensor The detection value of G Sensor built into RPU 11 is displayed If the sensor functions normally the value between 0 and 1023 is displayed GS X Y Z xxx yyy ZZZ XXX yyy and zzz show the detection value of X axis Y axis and Z axis respectively If you tilt RPU 11 by hand you can check how the detection value changes This helps you to decide the setting value on the event window of Motion Editor 19 GY X Y Gyro If an original biaxial gyro is connected to RPU 11 the detection value is displayed GY X Y xxxx yyyy CT Controller The operation status of the button or the stick of the controller is displayed If you manipulate the button or stick of the controller with the controller switched on after the connection to RPU 11 is confirmed The green LED of the receiver RRC R11 glows you can check how the value of CT changes 5 5 Sensor Output Mode When RPU 11 is activated in the same way as the Self Diagnostic Mode after adjusting the rotary switch of RPU 11 to B the sensor output value is displayed which is the same way as the sensor value is displayed in Self Diagnosis Mode If you want to confirm the setting value of G Sensor etc you can check only the sensor value with this mode 20 5 Reference Outline Specifications Major Application Robots Feature RS485 Communication Command Method Others Motor Contr
14. oduct is precisely assembled We assume no responsibility whatsoever for any damage 1f this product is disassembled or modified in a way other than specified by us O Supply power only by designated batteries Please use a 7 4V lithium polymer battery designed for our RPU series Be sure to set the positive and negative electrodes of the battery correctly Misplacement may cause smoking a fire or damage S Keep this product free from dust and water This product is not waterproof Any contact with water may cause power short circuit or malfunction S When the connector is inserted or removed Please make sure to hold the connector firmly when inserting or removing the cable All connectors must be all the way seated in the product S Operation environment for software Even if your computer is equipped with the operation environment required for the operation it 1s not guaranteed that all of the operations on the computer are performed without problems Cautions for Storage A Cautions S Please do not store RPU 11 in the following conditions e Places where the temperature is over 60 C or below 20C e Under direct sunlight e Places that have a lot of moisture e Places with thumping vibrations e Dusty places e Places that easily generate static electricity e Places that are easily reached by children Storing the product in the places shown above may cause the deformation and failure of the product or cause
15. ol by Software Dimensions LxW H 50 2 x 31 2 x 12 1 mm Weight 14 g Consumption Current 70 mA Without Options Only Main Body I F RS485 For Connection to Servos x1 RS232C For Connection to PC Xl For Gyro xl For Receiver xl For External LED x1 CPU ATmegal28 Internal LED For Status Indication x For Power Indication xl Built in Buzzer Piezoelectric Buzzer x1 Working Voltage 7 4 V Operating Temperature Limits 0 40 C Storage Temperature Range 20 60 C Power Source Lithium Polymer Battery Transmission Speed RS485 Communication Maximum 460 kbps Depending on communication environment Protocol Sbit 1 Stop bit None Parity Asynchronous Communication 21 al ZiT O m Unit mm Fig 5 1 Dimensions of RPU 11 22
16. ot stops and keeps the same posture as it stops If the Repeat Count for the scenario slot on the data transfer window is set the robot repeats the scenario according to the number set When you want to stop the robot in automatic execution press START STOP of RPU 11 and deactivate the robot If you hold down the START STOP for about three seconds after deactivation RPU 11 restarts and the scenario is executed again 5 2 2 Performance with Controller If RPU 11 is activated in Scenario Mode with the original controller turned on after RPU 11 is connected to the original receiver you can set the starting time of the automatic execution with the controller When RPU 11 is activated the green LED of the receiver glows If the controller is turned off the buzzer of RPU 11 sounds When the connection to the controller is confirmed the robot stands still in the default position after activated By pressing the START of the controller in this position scenarios can be executed If the START is pressed again when the scenario is in execution the robot stops performing the scenario and returns to the default position If SELECT is pressed while the scenario is in execution the torque of all servos turns off 10 If START is pressed while the torque is off the servos turn on and the scenario starts Please be aware that legs and hands of the robot may get tangled up when the robot returns to the default position with the ST
17. t unplug the cable connecting PC and RPU 11 or cut the power supply during data transfer from PC to RPU 11 with the Motion Editor 2 2 Part Names Handling Instructions Buzzer G Sensor Power LED Connector Connector in RPU 11 Monitor LED For RS232C for Receiver Connector for LED Rotary Switch Connector Connector Start Stop Switch for RS485 for Gyro to Battery amp Servos Fig 2 2 1 RPU 11 Part Names Connector for RS232C This connector is used to connect PC and RPU 11 with the original connection cable Connector for RS485 This connector is used to connect servos for the robot and RPU 11 The power to RPU 11 is also supplied through this connector Connector for Receiver This connector is used to connect the original receiver RRC R11 of RPU 11 Connector for LED This connector is used to connect the original LED unit Connector for Gyro This connector is used to connect the original biaxial gyro of RPU 11 To be sold separately Under development Power Monitor LED When power is supplied to RPU 11 the Power LED glows green Either when RPU 11 starts or the Start Stop switch is pressed the Monitor LED glows Buzzer The buzzer sounds when RPU 11 starts or the Start Stop switch is pressed When you make motions with Motion Editor you can also preprogram the buzzer to sound while the robot is in motion by specifying the timing of sounding G Sensor A triaxial gravity sensor
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