AI Motor Evaluation Kit User`s Manual
Contents
1. they re all the same serial buss 4 Plug the power adapter into a wall plug and then into the converter board J1 A small green LED will turn on Rev 1 0 Garage Technologies Inc 2005 5 To establish communications click on the Baud Scan button 57600 should now be displayed above it Click on the JD Scan button Scan ID should now show 0 Both are fine for the first motor 6 Assuming you haven t changed the Act JD and Act Mode on the left side of the GUI from 0 wiggling the slider under the Command Button will cause to motor to move 7 You can also set the ID of this motor to 1 or any other ID up to 31 Select 1 from the Set ID menu then click on the D Set button 8 After selecting 1 for the Act ID you can now control the motor from the slider It s important to have only one motor connected when first initializing a motor and giving it an ID number All motors are shipped with the a default ID of 0 and having more than one motor with the same ID connected can disrupt communications in a very confusing way Once you ve given each motor a unique ID number you can connect up to 31 motors to a single serial buss and manually control them with the AI Motor Tool The SingleSetting panel also allows you to examine and change the various settings for the AI Motors To change a setting the D Scan must agree with the ID of the motor you want to initialize To change the baud rate first use Baud Set and after that cha2. curr hiByte myack right motor as sensor for i 0 1 lt 50 i get position of right motor myack aimCmd aPOSr RIGHT 0 0 pos loByte myack send position to left motor aimCmd aPOS LEFT pos 1 timerPause 100 shut down motors aimCmd aPDN 0 0 0 return 0 Rev 1 0 Garage Technologies Inc 2005 16 Appendix 2 Schematic UL LzaLes ES EL In Gut Ica LK Com E j lt N mn 8 v Qi pen EY be c3 o 3 AIM TX ue 16 vL o 2 atm RX yec 1 ol y v c4 7 i k f Jy el x Tm 9 jas E 37 d mI ce B ce o3 10 14 232 01 TTL 11 HH T oe V j2o 13 32 11 TTL 01 L 30 Z ase oe trL 1a 49 40 8 232 12 TTL o2 4 34 R2 4 o3 jy Uk t o8 A Me GND Bar Tea cs 38 9 V 15 SZ na v 94 33 v o3 o2 titer EY FEN 1 y o0o0o000000202924540 2lia345678291801112 Garage Technologies Rev 1 1 Don Roberts DE Page 1 of 1 Rev 1 0 Garage Technologies Inc 2005
3. command baud rate in the upper left of the Command Setting Panel 2 Place the motors into some useful or interesting geometry For tilt pan action i Place the motor ID 0 with the 4 mounting brackets on the bottom and the shaft vertical This is the pan motor You may want to attach it to a board with some very small wood screws H Use a shaft to housing connector piece to attach the second motor ID 1 The second motor is now the tilt motor with a horizontal shaft iii Attach some connector piece to the second motor s shaft to make it easier to move that motor by hand 3 Plug both motors into the converter board or plug one motor into the converter board and the second motor into the first motor 1 3 2 Install the Pan Tilt Demo Software The Pan Tilt Demo software is included on the kit s CD ROM and can be downloaded from www Garage Technologies com There s no installation process just go to the CD ROM and copy Pan Tilt Demo to wherever you d like to keep it on your PC Click on the icon to run it 1 3 3 The Demo You re now running the pan tilt demo The left and right buttons rotate the pan motor counter clockwise and clockwise The up and down buttons rotate the tilt motor up and down The other buttons take a bit more explaining This demo uses the PositionRead command described in the second part of this document to periodically record the positions of both motors as you physically move them around with your hands n
4. 7 8 9 Pin 4 yellow of the RJ11 6P4C connector is not connected With the jumper changes described later it can be used to receive a handshaking signal from the host Pinout for the AIM connectors is as follows 1 Ground 2 AIM RX data from PC to AIM 3 AIM TX data from AIM to PC 4 Supply voltage All AIM connectors are the same serial buss Multiple AIMs can be daisy chained from a single connector 4 connectors are provided for convenience Rev 1 0 Garage Technologies Inc 2005 11 The 2 x 12 array of 1 spaced pads can be used for a header connector or as a bread boarding area Corresponding pairs of pins on the two rows are connected together see schematic in the Appendix Pinout of the columns is as follows RJ11 J2 pin 4 normally grounded by J8 2 RJ11 J2 pin3 3 RJ11 J2 pin2 4 5 V regulated low current regulator is 78L05 in TO 92 package without heat sink MAX232 pin 7 RS232 output corresponding to J9 pin 7 TTL input 6 MAX232 pin 8 RS232 input may be jumpered to J2 Pin 4 or ground corresponds to J9 pin 8 RS232 output 7 MAX232 pin 10 TTL input corresponding to J9 pin 5 RS232 output 8 MAX232 pin 9 RS232 output corresponding to J9 pin 6 TTL input may be jumpered to LED 9 Ground 10 AI Motor TX TTL level data from AIMs goes to MAX232 pin 11 11 AI Motor RX TTL level data to AIMs goes to MAX232 pin 12 12 Raw supply power Maximum external 5 V usage pad column 4 is a
5. AIMeval doc Last rev 3 4 05 AI Motor Evaluation Kit User s Manual The AI Motor Evaluation Kit was designed to be a complete low cost way to get hands on experience with an AI Motor Designed specifically for robotics AI Motors AIMs are building blocks combining mechanical connectors servo motor actuator sensors and smarts All motors communicate via a single serial port but at logic rather than RS232 voltage levels Unique features include programmable servo and full rotation modes position feedback position encoder and turns counter and mechanical loading feedback This kit combines an AI 701 motor with an RS232 level converter board wall wart power supply serial PC cable and example software With the included software GUI you can initialize and manually control motors and tune proportional differential servo control coefficients We include example C code for controlling AI Motors AIMs from an embedded microprocessor In the coming months we ll be developing example VisualBasic and VisualC code and making it available by free download If you have at least 2 motors you can run the Pan Tilt demo code and have the same functionality as the MGR 1002 kit The pan tilt demo allows you to record mechanically moving the motors by hand and then play back the motion sequence The RS232 level converter includes a header of test points allowing you to use it in other serial testing and prototyping as well The included power supply supp
6. ading the position of a motor and controlling full rotation 1 Connect a motor to the converter board This can be either directly to any of the connectors in Figure 1 or by daisy chaining the motors 2 At the far left of the AI Motor Tool GUI use Act ID to that of the motor Select Act Mode of 0 to 4 for whatever speed you d like 3 Enter a value from 0 to 255 into Command Value This is the position that will be commanded 4 Click the Command Send button to issue the command You can also use the slider to send out a rapid series of position commands Experiment with a few positions and speeds 5 You ll notice that each commands results in two additional values being displayed in Return Value at the bottom of the GUI These values are in hexadecimal For most commands the first of each pair indicates motor current and the second is the position Both values are at the time the command was issued So current will be 0 or very low since the motor isn t doing any work while waiting for the command and the position will be the prior target position Add one of the mechanical attachments like the geared wheel to the side axel and apply some resistance while giving another position command You ll see the current value goup And that 7 kg cm is pretty strong 6 Select Act Mode of 6 and click Command Send to remove torque from one of the motors Mechanically move the motor to a new position then select Act Mode of 5 and click Command Se
7. bout 50 milliamps under typical conditions office ambient temperature 10 V unregulated input Nn J11 provides pads for accessing power e Ground e Raw power also direct to AI Motors e Raw power after LC filter 2 2 4 On Board Jumpers As shipped the board has no jumpers but there are pads that can be used for jumpering see schematic in the Appendix They are e J10 adding a jumper here will connect the MAX232 RS232 output 2 and JO pin 8 to an LED with current limiting resistor Nice for testing e J7 cutting the traces on the back side of the board you can use jumpering to swap pins 2 and 3 on the serial port connection Though its probably easier to substitute a swapped RJ11 cable e J8 cutting the trace on the back side of the board you can jumper pin 4 of the serial connector to the MAX232 RS232 input 2 Modifying the DB9 adapter this gives you access to a handshaking line 2 2 5 Software Included e Megarobotics AI Motor Tool e Megarobotics Pan Tilt Demo e Open source C example code for AVR GCC Rev 1 0 Garage Technologies Inc 2005 12 Appendix 1 Example Code The following code is a slightly reduced version of the demo code provided with another kit the AIM Introductory Kit This version shows the AI Motor functions with fewer comments and omits the fixed path demo Note that a standard library and initialization for the AI Motor running commands is less than 2 pages of co
8. de and each demo is less than 1 page J 5 k 3k sk oF oK 2 ae ae 9k ae ae ee he he he he fe 9 9 ie 9 9 SR R 9 28 R 9 9F SR 9 28 k k k R k k k k k k k FOR k kkk kk kk k kk k kk k k k k k K K File Name AlMintrolite c Shortented version of AIMintro c as program listing example of using AIM motors and the AIM Intro Kit GPL 17 Jan 2005 Garage Technologies Inc J PS k 3k 2k E oK 2k ae ae 9k ae ae ee ee fe fe he 9 9 6 9k 9 28 R 28 28 R 9 9 SR 9 9 k k k k k k k k k k kk kk k k k k k k k k kkk k Kk k k K k k K K I Include Files ftinclude avr io h include I O definitions port names pin names etc include lt avr signal h gt include signal names interrupt names include avr interrupt h include interrupt support include global h include our global settings include uart h include uart function library include rprintf h include printf function library include timer h include timer function library timing PWM etc include a2d h include A D converter function library define abs A A gt 0 A 0 A 1 5 7 sk sk sk k 9k ok ae 9k ae ae ae ae ae he he he he he fe k ie k k k kk A TNT EIDrary Seer ern PST nae ea EN should be enums define aPOS 1 AIM send position define aPOSr 2 AIM read position define aDWN 3 AIM act down remove torque define aPDN 4 AIM power
9. down define aROT 5 AIM full rotation define CCW 3 AIM full rotation direction define CW 4 AIM full rotation direction define LEFT 1 left AIM define RIGHT 0 right AIM transmit 4 byte AIM command void aimcmd4 u08 b2 u08 b3 rprintfChar OxFF Rev 1 0 Garage Technologies Inc 2005 13 rprintfChar b2 rprintfChar b3 rprintfChar b2 b3 amp 0x7F get from AI motor NOT CHECKING FOR UART BUFFER EMPTY ul6 aimAck void u08 b1 0 b2 0 timerPause 1 give motor time to respond uartReceiveB yte amp b1 uartReceiveB yte amp b2 return b1 8 b2 u08 hiByte ul6 x u08 loByte ul6 x return x gt gt 8 return x amp 0x00FF send a command to AI motor ul6 aimCmd u08 cmd u08 id u08 pos u08 spd ul6 readback 0x0000 readback 0x0000 switch cmd case aPOS send a positioning command aimcmd4 spd lt lt 5 lid pos readback aimAck break case aPOSr command read position aimcmd4 0xAOlid 0x00 readback aimAck break case aDWN act down aimecmd4 0xCOlid 0x 10 Rev 1 0 Garage Technologies Inc 2005 14 readback aimAck break case aPDN power down aimcmd4 0xDF 0x20 readback aimAck break case aROT full rotation modes aimcmd4 0xCOlid pos 4 lspd readback aimAck break default break j return readback ek Begin Code 75 7 7
10. egrees resolution Speed control o Position mode 16 speeds o Full rotation mode 5 speeds Up to 31 motors on a single serial bus asynchronous serial at TTL levels Baud rate 2 400 to 460 800 bps Other settable parameters o Movement bounds o Over current threshold o P and D gain Rev 1 0 Garage Technologies Inc 2005 8 2 1 2 Summary of Protocol The following table summarizes the AI Motor protocol The most used command packets are 4 bytes long Initialization commands are 6 bytes long All command packets except synchronous move are acknowledged by 2 bytes from the motor Here we use conventional C notation for packing data into the command bytes For some commands certain bit fields in command bytes 3 4 and 5 can have arbitrary values but that is ignored in this simplified table A blank in the table indicates that no byte is sent 4 byte commands There is a special command protocol to move several motors simultaneously The motor IDs must be sequential and start at 0 Cmd Bytel OxFF Cmd Byte2 spd lt lt 5 Ox1F Cmd Byte3 last ID Cmd Byte4 position for ID 0 Cmd Byte5 position for ID 1 Cmd ByteN position for last ID Cmd ByteN 1 checksum exclusive or of all positions anded with Ox7F There are no acknowledgement bytes for the synchronous position send command Rev 1 0 Garage Technologies Inc 2005 9 Name Cmd Cmd Cmd C
11. evel converter power connector and regulator and AIM connectors spd is 0 to 4 indicating speed 0 is fastest gt Checksum1 Byte2 Byte3 amp Ox7F Turn off motor torque 5 dir is direction 3 counter clockwise 4 clockwise spr 0 to 15 indicating rotation speed 0 is stop 15 is fastest 7 See AI 701 User s manual Chksum2 Byte2 Byte3 Byte4 Byte5 amp Ox7F Rev 1 0 Garage Technologies Inc 2005 10 2 2 1 Mechanical Figure 1 shows the connectors jumpers and mounting hole locations Outer dimensions are 1 75 x 2 00 inches 2 2 2 Power External power is provided by battery or UL listed power converter Input power must be 6 5 to 10 V DC Input voltage is directly routed to the AI Motor connectors and regulated to 5 V DC for on board circuitry Current draw is approximately 10 mA excluding the motors The power connector is a 2 1 mm jack center positive J1 2 2 3 Other External Connections The converter board provides the following additional external connectors RJ11 6P4C female connector for true RS232 voltage levels J2 4 2mm headers for AI Motors J3 J6 Pads for 2x12 pin 1 header J9 Pads for raw power access J11 As shipped the serial adapter cable provides the following connections DB9 female RJ11 6P4C male 1 2RXD 2 data from AIM to PC red 3 TXD 3 data from PC to AIM green 4 5 GND 1 black 6
12. ide good performance for nearly all conditions And their built in microprocessor even tweaks the coefficients for different supply voltages But you can still adjust the proportional and differential terms yourself The integral term is primarily useful in maintaining a given speed so many robotic applications involving positioning drop this term The Action Control Panel allows you to set positions for all the motors at once It does not allow you to enter and sequence through a series of set positions In the spread sheet like section you can enter target position for each motor then send a command to all those motors Clicking on the ScanID tab will automatically scan all the motors connected and list their ID and current position 2 You can enter a target position for each motor by editing the table If you enter a number above 255 the position will roll over past 256 entering 300 is the same as entering 44 Pressing the TarPosALL tab will copy the first target position into all the motors 3 Clicking on ActionRun will send the appropriate commands and collect position and load information during and after motor operation We re still trying to figure out the Period SampleNum and Increment columns Entering values in the Increment column will cause the motor to slowly change position during ActionRun Clicking the various AII buttons will copy the first row s entry into all the later rows And Synchronized Posit
13. ion Send appears to send a position command to all the motors but without sampling the data needed for the GraphView panel You need to set the LastID if you have more than one motor to operate 1 2 5 Using the GraphView Panel After using the Action Control Panel you can go to the Graph View Panel to display a plot of motor performance 1 Select the motor ID and data to plot from the drop down boxes You can select up to 6 lines to be plotted and each line can be the reference target position current position current torque motor load or current speed for a given motor ID The defaults are fine for a motor set to ID 0 2 Un click the ScaleChecked box to see the raw data units 3 Go back to the Action Control Panel enter a new TarPosition and click the ActionRun button 4 Go back to the Graph View Panel and click the ViewGraph button to plot the data Rev 1 0 Garage Technologies Inc 2005 6 1 3 Using the Pan Tilt Demo If you have 2 or more motors you can also try out the pan tilt demo It s pretty cool You must have 2 motors for this software to work it waits for data to be returned from motor IDs 0 and 1 1 3 1 Assemble and Initialize the Motors 1 Use the AI Motor tool to set one motor to ID 0 and another to ID 1 as described above You ll also need to change the baud rate from the default 57 600 baud Use SetBaud to set each motor to 115 200 Once the motor has its new rate you ll need to change the
14. k 2 A sese oe sese 3k E seo oe o o o o o k o k k 9 HE R k k E OE k SEE k k k k kkk be kk k k k k k K K int main void u08 120 unsigned 8 bit u08 curr pos ul6 myack u08 leftLight rightLight initialize our libraries initialize the UART serial port uartInit make all rprintf statements use uart for output until told otherwise rprintfInit uartSendB yte uartSetBaudRate 57600 AI motor default initialize the timer system timerInit turn on and initialize A D converter a2dInit Make the analog port input be sure pull ups are turned off DDRA 0x00 PORTA 0x00 set a2d prescaler speed and accuracy and select voltage reference a2dSetPrescalerrADC PRESCALE DIV32 a2dSetReference ADC REFERENCE AVCC Rev 1 0 Garage Technologies Inc 2005 15 position amp force readout demo move both motors to middle aimCmd aPOS LEFT 128 1 aimCmd aPOS RIGHT 128 1 timerPause 1000 wait a second remove torque from left motor aimCmd aDWN LEFT 0 0 curr 0 left motor as sensor while curr 3 while right motor not loaded get position of left motor myack aimCmd aPOSr LEFT 0 0 also removes torque pos loByte myack send position to right motor aimCmd aPOS RIGHT pos 1 timerPause 150 let left motor get to position with reduced current get current of right motor myack aimCmd aPOS RIGHT pos 1
15. md Cmd Cmd Ack Ack Bytel Byte2 Byte3 Byted Byte5 Byte6 Bytel Byte2 Position OxFF spd lt lt 5 Position Chksum1 Current Position Send ID Position OxFF OxAOIID 0x00 Chksum1 Current Position Read Act OxFF OxCOIID 0x10 Chksuml Cmd Position Down Byte3 Power OxFF OxDF 0x20 Chksum1 arbitrary arbitrary Down Full OxFF O0xCO ID dir 4 Chksuml Net Position Rotation spr rotation count Synch See text See text See text See text See text See text None None ronous Move Set Baud OxFF OxEOIID 0x08 rate Cmd Chksum2 New New Byte4 baud baud Set Gains OxFF OxEO ID 0x09 Pgain Dgain Chksum2 New New Pgain Dgain Set ID OxFF OxEOIID 0x0A New ID New ID Chksum2 New ID New ID Read OxFF OxEOIID OxOC 0x00 0x00 Chksum2 Pgain Dgain Gains Set OxFF OxEO ID OxOD Resol 0 Cmd Chksum2 New New Resolution or 1 Byte4 resol resol Read OxFF OxEOIID OxOE 0x00 0x00 Chksum2 0 1 0 1 Resolution resol resol Set over OxFF OxEOIID OxOF Threshold Cmd Chksum2 New New current mA 18 5 Byte4 Thresh Thresh threshold Read OxFF OxEOIID 0x10 0x00 0x00 Chksum2 Thresh Thresh over current threshold Set OxFF OxEO IID 0x11 Min pos Max pos Chksum2 New min New Bounds pos max pos Read OxFF OxEO IID 0x12 0x00 0x00 Chksum2 Min pos Max pos Bounds Table 1 AI Motor Commands 2 2 Converter Board The AI Motor Evaluation kit includes an assembled printed circuit board combining RS232 TTL l
16. nd The new position will be displayed in the Return Value panel the Command Value won t be updated 7 Select Act Mode of 7 select a WheelSpdLevel here a higher number is faster then click Command Send The motor will rotate counter clockwise until it s given a new command If that command is another CCW or CCW rotation the Return Values will be the number of rotations since the last command rolling over after 255 decimal and the current position Just remove the power supply plug from the converter board jack to turn everything off 1 2 4 Using the ActionCon Panel The ActionCon and GraphView panels are more than a bit confusing we re still figuring them out ourselves But together you can use them to visualize AI Motor performance and fine tune the proportional and differential coefficients Most closed loop control such as servo motors uses the PID Algorithm Proportional Integral and Differential to provide rapid and stable control With the right coefficients Multiplying the current value converted to decimal times 18 5 gives the approximate motor draw in milliamps Current draw is roughly proportional to the mechanical loading on the motor Rev 1 0 Garage Technologies Inc 2005 5 for each term the motor will quickly go to the correct speed or position without overshoot or oscillation hunting Get the coefficients way wrong and the motor goes berserkers AIMs come with default settings that prov
17. nge the GUT s baud rate upper left corner The following examples assume that the motor is set to ID 0 with other settings at the factory default 1 2 3 Example 2 Manual Control The AI Motor Tool can be used to issue single commands from the leftmost part of the GUI screen These commands are as follows e Act ID selects which motor ID to command e Act Mode o 0 4 sets the speed The numbering is reversed 0 is fastest 4 is slowest o 5 PositionRead issues a command for the motor to return its current position and load o 6 MotorDown turns off the motor but leaves the motor s microprocessor active This command should be issued when you want to manually move the motor to a particular position otherwise the motor will fight to maintain the last instructed position o 7 PowerDown removes torque from the motor as in Command 6 and puts the motor s microprocessor in power conserving standby It comes out of standby at the next command o 8 WheelActCCW puts the motor in full rotation mode moving counter clockwise o 9 WheelACTCW puts the motor in full rotation mode moving clockwise NOTE The Position Read mode also turns off motor torque To get position and loading feedback without affecting the motor just re issue the last command Rev 1 0 Garage Technologies Inc 2005 4 The following walks you step by step through commanding a motor to a specified position looking at motor current loading re
18. orts up to 5 AIMs at typical loading This manual is divided into two sections The first Quick Start lists the kit contents then walks you through the examples using the AI Motors Tool and Pan Tilt Demo PC software The second section summarizes specifications for AI Motors and provides specifications for the converter board Rev 1 0 Garage Technologies Inc 2005 1 Part 1 Quick Start This quick start walks you through initializing and controlling AI Motors through the AI Motor Tool GUI and using the Pan Tilt Demo For additional information on AI Motors see the AI 701 manual More information on the converter board is included later in this document To use the software you ll need a personal computer running Windows WinXP is preferred Win3 1 NT 95 98 2000 should be fine 1 1 Kit Contents e AI 701 motor 7 kg cm stall torque with o 11 mechanical attachment pieces plus screws and nuts o 2cables o replacement gears e RS232 level converter printed circuit board e lamp 7 5 V unregulated DC power supply e Serial cable DB9 F to RJ11 4 adapter and RJ11 4 cable e CD ROM containing AI Motor Tool Pan Tilt GUI AI 701 manual This document O OOO NOTE Don t substitute an unregulated supply rated at higher than 7 5 volts Most DC supplies are unregulated when lightly loaded their actual output voltage may exceed the AIM specified maximum The 7 5 V 1 A supply with the light loading of a single motor results in a roughl
19. ot the up down left and right buttons This sequence of positions is stored and can be used to automatically repeat the motion sequence 1 Click the REC button to start recording a movement sequence 2 Physically move the motors around by hand Rev 1 0 Garage Technologies Inc 2005 7 3 Click anywhere else on the GUI to stop recording If not the program will fill its buffer then stop running after a few seconds 4 Now pressing PLAY will playback the sequence The USER PROGRAM button links to a routine in the code You d need to edit the source code and re compile to use this feature Part 2 Specifications This section summarizes specifications for the AI Motors and provides the full specifications for the converter board 2 1 AI Motors This evaluation kit comes with one AI 701 AI Motor For the full specifications features and description of use see The AI Motor 701 Manual The 701 and 1001 motors are interchangeable the primary difference being that the 1001 uses a higher gear ratio to achieve higher torque at lower speed 2 1 1 Summary of Specifications Stall torque 7 kg cm 9 5 V Maximum speed 82 rpm 9 5 V Weight 40 g Size 51 6 x 34 3 x 37 1 mm Power o Maximum 650 mA 5 VDC 1000 mA 10 VDC o Typical 100 200 mA o Minimum 12 mA Positioning range and resolution o Low resolution mode 0 to 333 3 degrees 1 31 degrees resolution o High resolution mode 0 to 166 6 degrees 0 65 d
20. y 10 V output A 7 5 V 1 A supply is adequate for 1 5 AI Motors 1 2 Using the AI Motor Tool The AI Motor Tool provided by the motor manufacturer is a graphical user interface used to initialize and manually control AI Motors It isn t fully implemented so we ll walk you around the blind spots 1 2 1 Installing the AI Motor Tool The AI Motor Tool is included on the kit s CD ROM and can be downloaded from www Garage Technologies com There s no installation process just go to the CD ROM and copy AI Motor Tool to wherever you d like to keep it on your PC Rev 1 0 Garage Technologies Inc 2005 2 1 2 2 Example 1 Initializing the Motors This example walks you step by step on how to use the GUI to initialize the motors eoo 111 Errata silkscreen shows voltage regulator reversed from actual and proper installation Figure 1 Connectors and Jumpers 1 Connect a the serial adapter cable between your PC s serial port and the RS232 converter board J2 Click on the icon to run the AI Motor Tool Be sure the SingleSetting tab is selected 2 The AI Motor Tool communicates via the PC s serial port For most PCs this is Com 1 so select Coml in the upper left of the GUI AI Motors ship with a default ID of 0 and a default baud rate of 57 600 so set the tool s baud rate to 57600 also in the upper left of the GUI 3 Connect only one AI Motor to the converter board Any of the 4 connectors J3 J6 can be used
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