PRO-BOT 128 - produktinfo.conrad.com
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1. 127 04 2 450 990000000 0000000000 00000000 d 0000000000000000 d 0000000000000 000000000 EE PEE 00000000 i 0000000000 00 00000000000000000000 d Le Le WO Ke Ee Ke Ke Ee Ee Ke Ee Ke Ke Ee Ke Ke Ke Ee Ke Ee Ee Ee Ee OOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOQ OOOOOOOOOOOOOOOOOOO 0o00000000000000000 OOOOOOOOOOOOOOOOOOQO OOOOOOOOOOOOOOO 000000000000000000000000000000000000 k ead ha bd tll ped tod OS OR RRO ed nada o0000000000000000000000000 ooo k OOOOOOOOOOOOOOOOOOOOOOOOO2. 55 1 Introduction Dear Customer Thank you for purchasing the PRO BOT 128 This mobile robot is equipped with a programmable microcomputer which allows you to define the behaviour and the basic reactions of the robot to external stimulations We developed the PRO BOT128 with the aim to meet the high expectations of our customers regarding quality and function If you purchased the assembly kit the concept of the PRO BOT128 was designed in such a way that experienced electronic technicians as well as beginners can assemble and commission it in just a few hours Apart form the circuit board the robot only contains standard parts that can be processed with normal fine motor skills and easy to obtain components The PRO BOT128 is therefore perfectly suited for hobby constructors who want to become involved in process controlled circuits for pupil and student projects advanced education or adult education centers Besides its C Control PRO 128 RISC processor the Pro Bot 128 has two motors which can be controlled independently of each other an optical line tracing unit an optical collision detector two rotary speed sensors for the wheels four visual display LEDs a 64k EEProm an acoustic sensor two light sensors and the possibility to measure and control its own operating voltage as a special feature This product meets the req
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4. 110kB available flash memory 4kB SRAM 4kB EEPROM 3kB variable memory 2 x UART SPI FC bus 10 bit ADC with 8 channels Analog comparator 5 PWM DAC 53 digital I Os 0 external interrupts 2 X 8 bit timer 2 x 16 bit timer Pulse frequency 14 7456 MHz Power of the digital ports 20mA max in total 200mA Supply voltage 4 to 5 5V Power consumption without external consumer approx 20mA Temperature range 0 C to 70 C Relative air humidity 20 to 60 64 pole DIL housing Dimensions 41 x 41 x 12 mm 7 General information This chapter provides an overview of how to handle the robot and the corresponding components The required detailed information e g about programming is contained in the following chapters of this manual or the descriptions contained in the example programs a Electrostatic discharges Especially in dry air the human body and the robot itself may become electrostatically charged depends on the consistency of the flooring When coming into contact with conductive objects this load discharges with a small spark Such discharges when touching electronic components may destroy them Prior to handling the device you should touch a large grounded object e g a metal PC housing a water pipe or a radiator pipe to discharge any possible charges Discharging the robot on grounded objects is harmless may however lead to program crashes or uncontrolled react
5. Set the programming interface of the C Control PRO To do so move the mouse to Options IDE At Interfaces select the COM port that was assigned to the programming adapter see c 41 IDE Einstellungen IDE Schnittstellen Internet Update Terminal Werkzeuge v bertragung nach Kompilieren Abfrage v Letztes Projekt wieder offnen v Editorfenster maximiert offnen Splashscreen nur kurz zeigen Mehrere Instanzen von C Control Pro zulassen Rechtschreibpriifung v automatische Befehlswort Korrektur v automatische Korrektur vor Kompilierung l schen Liste der zuletzt ge ffneten Projekte Liste der zuletzt geoffneten Dateien Rechtschreibung Press the boot button SW2 on the PRO BOT128 and turn the robot on while keeping this button depressed Now the C Control PRO should appear in the output window Once this is the case you can open a program To do so move the mouse to File Open Select the created software path e g PRO BOT128 and open a program there at System test e g Beep Check the file Beep cprj The program code appears in the editor Compile the code with the function button F9 or the small blue arrow to the right in the menu line Then you can transfer the program to the C Control PRO and start it with the small lightning bolt or the function button F10 Once everything was successful the PRO BOT128 should show its first signs of life Alternatively you can also star
6. 404209 403962 404160 404004 404128 404179 403946 404268 404080 404063 145475 535729 335414 710157 50 CONX pili BU Du uuu Conrad item no Bike Le Conrad item no RID OOM CAG PER Conrad item no MOUN el Conrad item no ICE mount 14 pole EE Conrad item no IO mount Lee Conrad item no Socket board 2x8 RM 2 54 a Conrad item no Eder DO Conrad item no Transmission set with encoder sticker Conrad item no NI Kec M Conrad item no 011 Conrad item no Jumper RM 2 54 Conrad item no Circuit board distancer length 30 mm thread mm Conrad item no KEE E UI oe ooo te vv nr eb Conrad item no DC miniature motor Ping pong ball 1x circuit board drive unit 1x circuit board main unit 1x circuit board experimental field breadboard Shrinkdown plastic tubing Separator for LDR 739235 701980 601922 189502 189510 189529 738501 618063 Conrad item no 490660 191385 191398 191373 734152 521690 733980 91 17 Block diagram PRO BOT128 Schallsensor ACS Odometer PRO 128 berwachung M 3 Liniensensor Antrieb Lichtsensor EEPROM Schallwandler 92 18 Expansion ideas Now you can start with your own experiments If everything functions and yo
7. d General information about the design of a circuit The possibility that something does not work after assembly can be drastically reduced by thorough and clean assembly A Check each step and each soldering spot twice before continuing Adhere to the construction manual Do not alter the steps described there and do not skip anything Tick each step twice Once for the construction once for testing Take your time in any case This assembly is not a rush job because the time spent here is three times less than the time spent on searching for an error One frequent cause for malfunctioning is an assembly error e g wrongly inserted parts like ICs diodes and elcos Also observe the colour rings of the resistors under all circumstances as some of them have easy to mix up colour rings In case of doubt check the resistors with a suitable multimeter Also observe the condenser values e g n10 100 pF not 10 nF Checking double and triple prevents errors Also make sure that all IC pins are properly inserted in the sockets They might bend very easily when inserting A small push and the IC should almost jump into the socket itself fit does not one of the pins may be bent If everything is correct here the fault may be due to a cold soldering spot This annoying factor mainly arises if the soldering spot was not heated correctly so that the solder cannot contact correctly with the leads or if you move the connection at the moment it ha
8. obstacle detected DEL AY MS time as integer Alternative time loop to AbsDelay Difference Interrupts are still queried the interpreter is not completely stopped 1ms time slot MAKE INT MSB as byte LSB as byte as word Joins two bytes to one word Is e g required for various PC bus sensors GRAD TO RAD Val as single as single Converts degrees into radian measure RAD TO GRAD Val as single as single Converts radian measure into degrees ABS INT Val as integer as integer Absolute value of an integer number ABS SINGLE Val as single as single Absolute value of a single variable 14 Troubleshooting The LEDs are not lit LEDs installed in the right direction Proper protective resistor installed Cold soldering spot Does the C Control PRO work Right program installed Batteries rechargeable batteries empty Beeper does not work Installed in the right direction Cold soldering spot Right program in C Control C Control PRO ok Batteries rechargeable batteries empty Proper protective resistor installed Sound level sensor does not work IC LM386 plugged in correctly Microphone soldering in the proper direction Properly equipped Right program installed Batteries rechargeable batteries empty Cold soldering spots Capacitor C7 defect ACS does not work properly or not at all IR LEDs installed in the right direction Right progr
9. The odometer serves to measure distances or determine the speed car speedometer After the start move the wheels with the hand The count values are displayed in the output window If you move both wheels evenly in one direction the count values must be similar If this is not the case you have to bend the photo transistors or IR diodes on the odometer slightly or check the encoder disk to see whether this is properly blackened e The PRO BOT128 library To save you from having to write all hardware drivers for the PRO BOT128 yourself in order to start right away the demo programs contain a library for these This already contains various behaviours and all hardware drivers for the PRO BOT128 The following lines explain the syntax and the use of the library Of course you can expand this for own applications and functions PRO 801128 INIT Initialisation of the PRO BOT128 s basic hardware This function must always be called up first Example Sub main PRO BOT128 INIT main program End sub BUTTON as byte Queries the button SW2 via interrupt return as byte SW2 can assume the status 0 or 1 Each press changes the status toggle mode SYSTEM CNT The timer 2 interrupt is in charge of reading out the speed of the wheels Here you can also integrate an own counter variable The timer resolution is 10ms FLL ON Switches the front left LED on FLL OFF Switches the front left LED off 43 FLR ON Switches
10. in place with a set collar so that it can still easily rotate Shift the temporarily attached motor carefully until it is aligned the motor pinion grips on the entire width of the first gearwheel and the motor pinion and the gearwheel can be rotated easily Here you can run the entire self test once again if necessary to see whether everything rotates during the motor test If the position is OK hold down the motor and the circuit board and fix it in place with a drop of instant glue applied on the side in the gap between the motor and the circuit board Please note that even instant glue may need a few minutes until it is completely hardened Now you still have to attach the two ping pong ball halves with two drops of instant glue or hot melt on the bottom of the circuit board One half is attached on the front behind the line sensors and the other half at the rechargeable battery pack 49 16 Parts lists DUCTU Een dE Conrad item no 95525211715 EE Conrad item no CT ET ONT Conrad item no RETE Conrad item no eorr f E E E Conrad item no eos MOY pp ons Conrad item no D1 LED red 5mm E Conrad item no 2 D Rn Conrad item no D4 1N4001 NPR NP NP Conrad item no D5 LED green 3mm 2mA low Conrad item no D6 D7 D8 09 D10 D11 TSU520 IR LED Conrad item no D12 D13 014 D1
11. or rechargeable batteries of the same type and manufacturer Never mix batteries and rechargeable batteries Use either batteries or rechargeable batteries 6 System description a Performance features The PRO BOT128 is a programmable microcomputer equipped with numerous sensors and mounted on a chassis with differential drive With proper programming the PRO BOT128 is a fully functional small robot able to recognize external influences and react to them At the same time the PRO BOT128 offers an ideal basis for own expansions with respect to sensors and actors e g for competitions The power is supplied by 4 NiCd NiMH rechargeable batteries or temporarily and with restrictions 4 high quality alkali manganese batteries b Chassis and drive The robot PRO BOT128 runs on a differentially driven chassis which allows it to turn in place and drive into the desired direction The advantage of this type of drive is that rotations and steering motions do not require more space than the robot s own diameter Its round design in connection with the differential drive also prevents it from getting stuck in corners The drive motors consist of high quality industrial motors with a long service life and a very good degree of effectiveness This results in long operating times with one battery charge The transmissions consist of one pinion each with 10 teeth on the motor shaft and two step wheels with 10 50 and 12 50 Two reflex light barriers per d
12. the front right LED on FLR OFF Switches the front right LED off BLL ON Switches the back left LED on BLL OFF Switches the back left LED off BLR ON Switches the back right LED on BLR OFF Switches the back right LED off ENC RIGHT Interrupt routine for the right wheel encoder The variable ODDO RIGHT is incremented by 1 each ENC LEFT Interrupt routine for the left wheel encoder The variable 000 LEFT is incremented by 1 each ODO RESET Resets the wheel encoder to 0 ENC LED ON Switches on the wheel encoder IR diodes You have to call up this routine every time you need it To save power you can turn it off again with EN LED OFFY ENC LED OFF Switches the wheel encoder IR diodes off see EN LED ON BEEP tone as word period as word Beep output beeps were defined in the library above Example BEEP 250 150 SOUND LEVEL as word Returns the analog value of the sound sensor 0 to 1023 LDR LEFT as word Returns the analog value of the left light sensor LDR 0 to 1023 LDR RIGHT as word Returns the analog value of the right light sensor LDR 0 to 1023 READ LINE LEFT as word Returns the analog value of the left line sensor 0 to 1023 44 READ LINE RIGHT as word Returns the analog value of the right line sensor 0 to 1023 LINE LED ON Turns the LED of the line sensor on LINE LED OFF Turns the LED of the line sensor off AK
13. the heads of the cable clips remain on the bottom of the circuit board and wrap the motors The finished transmission should look as follows after successful assembly the gearwheels with the black and white stickers must be connected to the short axis The gearwheels of the motors should not press down too hard on the larger gearwheel There must be a bit of clearance here so that everything rotates freely but the teeth do not skip IS Once you have found the right position of the motors you can protect them against shifting with a drop of hotmelt for example 26 t Circuit board distancers battery support charge socket The kit contains 6 circuit board distancers 3 nuts M3 and 3 screws M3x10 to screw together the circuit board levels drive unit main unit breadboard Prior to screwing the circuit boards together you have to solder the battery support onto the main unit black cable BAT red cable BAT And for the last soldering work you have to solder in the charge socket on the main unit socket BU1 if you want to use rechargeable batteries to operate the PRO BOT 128 Do not forget The jumper must be plugged onto JP1 if you use rechargeable batteries to operate the PRO BOT 128 When using normal batteries you have to remove the jumper from JP For this purpose also see chapter 10 t The battery support can either be attached with the enclosed cable clips after insertion of the batteries Alt
14. with fine sandpaper which makes it a lot easier to solder the material You can fix the shaft into place with a small clothespin for example Afterwards first solder the end of the shaft and then the soldering spots on the left and right of the shaft This is how it is supposed to look like after soldering procedure see below Fist you solder in the longer axes on the bottom of the drive unit observe the illustration above and the labelling To do so turn the circuit board around and place the corresponding axis into the cut out groove until it arrests The axis must lie across the entire length Then place some tin on the soldering tip and press the axis on the circuit board with it As soon as the axis is hot add solder to the resting points to connect the axis with the circuit board Once the axis is soldered on all the way around press it down with a screwdriver and remove the soldering iron Soldering in the axis is most successful when increasing the soldering temperature approx 420 C and using a broad tip approx 3mm Of course you have to lower the temperature again to approx 360 C for the electronic components Once everything has cooled off solder in the second axis on the bottom of the circuit board and then the two short axes on the top according to the same principle Once the axes have completely cooled down put on the transmission wheels The teeth of the gearwheels must fit perfectly into each other and be easy
15. 000000000 bo0000000000000000000000000000000000 00000000000000000000000000 000 4 bh 0000000000000000000000000 OO 4 OOOOOOOOOOOOOOOOOOOOOOOO Y 000000000000000000000000 4 SRN COC ened ee ek ne a od amp 000000000000000000 i d di ea sa 33 12 Circuit diagrams UOA Kjddng i9M od 92ZLLIOS O d OLA IN SBuNUYIISZ 8002 PO GU Bunuysiezeg 1 9UJEN uebunjepuy 000 L EX ONS JOA 91 122 juawainsean qn 99 0 91 N 80 AOL AQL NOOL LO LOOPNL K 491198 7 Laf Asayeg 9 0 Jadwnf 1 Ppeso D duinp D 952 2 A9 0 87 MAW LMS 4e JdO NO 3 96468 34 J9AUpJ03O N 82 8 LLOZ LO OL IN z JN sBunuuoieZ LLA Ids 1SAHpiolOuu euieuigje Bunuuoiezeg 91 710 0L LL a 5 e el r Gl 9L LOI AQL NOOL H JOA _ col A0S U00 L eo JOA 9AUp40 O A ajqeug 48d V LN 00 LX 8120 2 IX C 35 05 82 ebow eujeuisjeq UND UOA z JAN sBunuuoiez v s 19S L 92 6665 82 8 9002 0 90 285 wnyeq owen Bunuusiezeg LUUT UGC u buni puy FR v ZZ 9 29 ecu ZZ 8 29 m v5 yersl 9 4LdOS L 1uBu yI ODA SOA
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17. 13 a Engine e e 13 90109 pong e UR 13 c Photo transistors and Ce e 14 14 Eeler EE 15 BEI pir lir L u mmm 15 6 Proaueing a Clean welding Spot EE 16 c Removing wrongly installed parts by means of soldering 16 10 Assembly stage Installing the assembly elements on the circuit board 552552525525525525525255255252552552552552552525525525525525255255255 17 a Soldering on he E 17 BTS SIS 10 u ASA P 18 c Liont dependent resistors LDR eaaa aeiae EOE aaa 19 RO 0218 10 OO ua 19 eine 20 EDS ana LEDE a ooo Ooo E A 20 BEE 21 Wee ETE HN 21 I uci oA EE 22 J 0 11 001 uu VPS 22 k Integrated Ee Vu 22 l SOUNA We SGU CEN 23 m Microphone 191 23 DESI C 23 Ee NEE 23 run 24 q Sockel board for C control PRO E 24 r Ribbon cables pin plugs and pin header 24 s Assembly of the motors and the tra
18. 2 kQ R6 R7 4700 Q 4 7 kQ R18 R22 R23 2200 2 2 kQ R2 R5 R21 220 Q R9 12 kQ R8 R24 R25 R26 R27 1500 Q 1 5 kQ R4 R10 R19 R20 R28 R29 R30 10 kQ R12 R13 150 Q R15 R17 LDR A906016 R11 470 Q R14 R16 68 kQ 18 c Light dependent resistors LDR Resistors that change their resistance value in dependence on the light strength are called LDR Light Dependent Resistor These LDRs are soldered in on the bottom of the main unit and the pins angled beforehand in such a way that the transparent surface points outwards Now you solder in a 3 pole socket strip JP3 between the two LDRs to achieve a light shading between the two LDRs This allows you to detect a light source much more effectively R15 R17 LDR A906013 JP3 7 separator for the LDRs 3 pole socket strip d Capacitators Plug the capacitators into the marked borings bend the wires slightly apart and solder these cleanly with the conductor strips With electrolyte capacitators left image also called elco you have to observe the correct polarity when soldering plugging them in plus and minus In case of wrong polarity the capacitators may even explode Attention Depending on the make electrolyte capacitators may have different polarity indicators Some manufacturers label them with others with The polarity imprinted by the manufacturer on the capacitor is decisive C8 1nF name 102 C5 10nF name 103 C3 C
19. 5 LED red 3mm low current Conrad item no TE 2S EE Conrad item no ENKER AE ER Conrad item no OORT E EE Conrad item no C1 T293D Conrad item no 2 CD4093 ONO NNR RP PMN RR Conrad item no CI acl Conrad item no 04 E Conrad item no U1 C Control PRO 128 Conrad item no Ee TR NO Conrad item no SNL SW3 0110611 4557554558464 8476455555 sien Conrad item no MM i 5 Conrad item no RA RI 220 O uu uuu NRO BE Conrad item no R4 R10 R19 R20 R28 R29 R30 1016 Conrad item no 11 EE Conrad item no Au OP NU Conrad item no Aduoc Conrad item no R12 13 150 Q Conrad item no R14 R16 68 KQ Conrad item no R18 R22 R29 E Conrad item no RO R24 R29 R20 RIT 1 9 KO uu uu uuu Conrad item no IIo R17 LDRA900019 u u u L u L VN Conrad item no BEN Tu D Conrad item no MIC 171117621811555555455555555555255542455855588555555855588545858887588 Conrad item no 91 beeper OV Conrad item no 445579 445555 445591 453099 453064 453005 180187 153679 162213 145971 184551 145998 153805 153470 171069 156134 173070 176303 181803 198219 708054 700324
20. 6 100nF name 104 see image on the top right C7 C9 10uF C2 22117 C1 C4 C10 100uF 19 e Diode Angle the pins of the silicon diode with a small set of flat pliers or another suitable tool When soldering them in observe the polarity of the diode The white ring on the diode indicates the cathode minus 777722 72 D4 1N4001 f LEDs and IR LEDs Make sure that the polarity is correct when installing the LEDs You can identify the cathode of the LED IR diodes by the slightly flattened side of the plastic housing Another detection criterion is that the pins of the anode are longer than those of the cathode IS You should solder in the red 5mm LED part D1 at the end once the wheels are mounted and the two ping pong ball halves are correctly attached The red 5mm LED should only have a distance of approx 5mm to the floor otherwise the illumination for the photo transistors is not sufficient D1 5mm LED red D5 3mm low current LED green D12 013 014 D15 3mm low current LED red Contrary to the standard LEDs and IR LEDs the housing of the IR LED for the two wheel encoders is flat and square With respect to the polarity the same applies as for the red green LEDs the longer pins indicate the anode The small catch on the one side must point towards the gearwheel see imprint on the circuit board Do not mix up the two IR LEDs with the two photo transistors s
21. Assembly stage Installing the assembly elements on the circuit board Assembly stage Il Sight inspection of the circuit board Assembly stage Ill Function test and software 11 e Required tools To assemble the PRO BOT128 correctly kit version you need the following tools and materials besides the components not part of the delivery pe Stanley knife or saw Fine pointed pliers Side nippers electronic side nippers Small vice or so called third hand Soldering iron IS Here you should use an electronic soldering iron ca 20W to 40W or better a soldering station at least 50W Large 300W soldering irons are suitable for work on gutters and drains but not for robot assembly kits Solder 1 mm thick electronic solder may also be lead free Unsoldering wire approx 2 3mm wide Sandpaper with a fine grain Instant two component or hot glue Small hammer Multimeter Computer PC with Windows 2000 XP Vista 12 8 Preliminary mechanical work Prior to starting with the electronics you have to perform a number of mechanical steps a Motor pinion To enable the motors to transmit their force to the transmission the motor pinions the small gearwheels with the 1 9mm boring and the 10 teeth must be mounted on the motor axis If these pinions are not installed on the supplied motors you have to press them on To do so put on a pinion on the axis of each motor do not exer
22. B OPERATING MANUAL Version 01 11 PRO BOT 128 Item no 19 19 19 Kit Item no 19 20 20 ready to use device Table of Contents Page Tig ipei cio ee 4 NB a EE 5 MESI ESI mt 5 Z Salety MSUUCUONS m M 6 5 General battery and rechargeable battery notes 7 e SCD HON eegene 8 a Performance e e 8 ee 8 Densors actors E 8 d Control computer C Gorntrol PRO Op or vet vo m 9 T General Torao ii EE 10 a Electrostatic Tee 10 R Heel OMA EE 10 L pir X 9 10 d General information about the design of a circuit l I n n nn 10 AEE O E EE N E IN N E EEA AI A A I A ee nt 12 6 Preliminary mechanical WODK uu dva ti DIERUM C UEM E MIN dE VENUE pie date
23. INI 6 LX 2217 94 99 v087HI ag 302 gH v081d1 4 vl 9585 48910 siosuas 19p09Uu3 G o 30 UOA 11518 SI10J98aUUO09 820108 020 8002 170 90 vas TOS 105 510 1590005 eujeuisjeq OLA z AJAN sBunuuoiez NUN 61111919598 tun eq uabuniapuy 991 ONS 1191 Japooue q37 eut 1991 eui 994 99A ju8u 1epooue 1 1 1uBu eui Sh amp 8 LINn VNOO CNOO 994 91993 8120 LNOO co 39 13 Software installation IS Please note that the directory names can differ with newer versions of the software a CD content C Control PRO IDE Programming interface for C Control PRO For possible updates refer to www c control de C Control PRO manual Instructions for C Control PRO PRO BOT128 circuit diagram Circuit diagrams for the PRO BOT128 PRO BOT128 datasheets Datasheets of the applied components For more information refer to www conrad de PRO BOT128 demos Various demo sheets for the PRO BOT128 Perfectly suited for the first tests PRO BOT128 manual Instructions for the PRO BOT128 you are currently reading them PRO BOT128 system test Programs for testing the individual components of the PRO BOT128 b Installation of the programming interface IDE Please start the installer C ControlSetup exe in the main directory of the CD ROM Durin
24. KU_SPG as single Returns the rechargeable or normal battery voltage GET_ADC channel as byte as word Read out any ADC channel channel 0 to 7 DRIVE INIT Initialises the drive Prior to using the drive you have to call up this routine DRIVE ON Sets the enable input of the L293D to high The drive is activated DRIVE OFF Sets the enable input of the L293 to low The drive is deactivated DRIVE left as byte right as byte Timer1 PWM for the drive values between 1 to 128 backwards values between 128 to 255 forwards Value 128 drive stop Motor POWER left as byte right as byte opeed values between 1 and 255 You first have to state the direction with MOTOR DIR MOTOR DiR left as byte right as byte States the rotation direction of the motors for the function MOTOR POWER 1 forwards 0 backwards MOTOR STOP Motor is stopped PWM is set to 128 GO TURN distance as integer degree as integer speed as byte Lets the PRO BOT128 drive into a defined direction Distance in cm forwards backwards Degree in degree right turn left turn Speed 1 to 255 45 ACS_INIT Initialises the anti collision system must be called up before use ACS_LEFT as byte Returns the status of the obstacle detection left sensor 1 no obstacle 0 obstacle detected ACS RIGHT as byte Returns the status of the obstacle detection right sensor 1 no obstacle 0
25. am in C Control PRO Attempts to change the PWM See program code Shrinkdown plastic tubing installed properly on the IR diodes Change obstacles if necessary IR has problems with black C Control PRO ok Batteries rechargeable batteries empty Cold soldering spot C Control cannot be connected to IDE Right interface COM Port selected Programming cable installed correctly See device manager Programming cable correctly attached to the plug Does the programming cable function poss bridging RX and TX and intercepting the echo via a terminal program Is the C Control PRO in boot mode Press reset and boot gt let go of reset and then of the boot key s the C Control positioned correctly in the mount Soldering error Batteries rechargeable batteries empty 47 Motors are not turning or turning in the wrong direction IC L293 and IC CD4093 plugged in properly Motors with right polarity red and black cable Transmission or motors are running too tight Connection cable installed correctly plugs in the right orientation Right program in C Control PRO Insufficient PWM set in the program code Batteries rechargeable batteries too weak Soldering error Odometer does not work Photo transistors and IR diodes mixed up Adjust IR diodes and photo transistors if necessary press or remove with a small screwdriver towards the encoder disk Solar radiatio
26. bas utor Ulli Sorrrmer Datur 26 03 2008 Funktion Radencoder einlesen und Counts am Terminal ausgeben Bewegen Sie den Roboter gerade die Encoder sollten beide gleiche Zahlwerte erzeugen Wenn nicht die Encoder leicht verbiegen bis beide Z hler gleichlaufen Tipp Bewegen Sie den Roboter in dem Sie beide R der gleich in eine Richtung drehen 1 1 1 1 1 WK KK o o KC define Encoder IR 8 Ext Ip BO Ext ISR Globale Veriablen Dim Text 40 s Char Dim Encoder left s Integer Dim Encoder right s Integer main i SPI Disable SPI ausschalten damit Ports frei werden Port DataDirBit Encoder 1 1 Port f r IR LED Ausgang Port WriteBit Encoder IR PORT OFF IR Diode liegt auf Masse somit PORT OFF IR gt Ein Radencoder Interrupts T EH aT T TAr Y T EN T V wm 2 em eme mm dm M wn gt Ts ss sss M mu ges l wm Z mm mm mm 77777777 Meldungen gen Ausgaben S At the first start you still have to make some adjustments
27. ched correctly as the photo transistors should only have a maximum distance of approx 5 mm to the floor The emitter connection is the longer pin the collector connection has a flat side on the plastic housing matching the circuit board imprint and a shorter pin T1 T2 SFH300 diameter 5mm photo transistor with transparent housing The wheel encoders require a photo transistor each in addition to the IR diodes This has the same housing as the IR diode IRL80A The colour is different however it is crystal clear 13 14 LPT80A square and clear housing see image on the left the image on the right shows the two slightly pink IR diodes D2 and D3 h Choke The choke for the ADC supply voltage of the C Control PRO looks similar to a resistor Its diameter is different however much larger compared L1 10pH choke with resistor design 21 i Infrared receiver TSOP1736 j IC mounts Insert the mounts for the integrated circuits ICs into the corresponding positions on the equipment side of the circuit board 3 Attention Observe the notches or any other marking on the front side of the mount This is the marking connection 1 for the IC which has to be inserted later on The mount must be inserted in such a way into the circuit board that this marking coincides with the marking on the equipment imprint To prevent the mounts from falling out again when turning the circuit board over for soldering tw
28. e LED button Checks the LEDs and the boot key that can also be used for input After the program start the four status LEDs blink and turn into a running light You can stop this with the boot key SW2 42 Line check Checks the line sensor The red LED blinks and then stays lit The output window shows the measuring values of the photo transistors These may deviate from each other depending on the light incidence The parts tolerance also plays a role here To do so place the robot on a white sheet of paper onto which you have drawn a line beforehand approx 1 cm thick use a black felt tip pen for example alternatively create this via the PC and print it out The line must run in the center of the photo transistors Now the measuring values of the left and the right sensor should be just about equal 30 If you now move the line towards one of the photo transistors this value must change considerably MIC check Checks the sound sensor Clap your hands loudly the output window shows Ups Motor check Checks the drive To do so jack up the robot slightly so that the wheels hang a bit in the air Make sure that the PRO BOT128 cannot topple off the table After the program start both motors first accelerate in one direction and then in the other Both wheels should always rotate in the same direction If this is not the case you may have to change the connections on the motors Wheel encoder check Checks the odometer
29. e pin socket and pin header Now the 6 pole pin headers CON1 CON2 CON3 014 CONS und CONG are plugged into the respective positions and soldered tight IS Here you have to make sure that the pin headers are not only inserted on the right side of the circuit board It is of vital importance that you also observe the correct position Each pin header has a small groove on the side This must match the marking on the circuit board The 3 pin headers on the main units and the 2 pin headers on the drive unit are located on the top TOP on the same side of the circuit board as the majority of the other components The individual pin header for the breadboard must be plugged in on the side labelled SDA SCL GND VDD This side of the breadboard is on top after assembly of the PRO BOT 128 To connect the circuit board levels of the robot electronically you now need the connection cables You have to manufacture these yourself cable length approx 65mm For this purpose it is of advantage to use a vice to cleanly press the connectors onto the cable You may also use a small gas wrench for this purpose IS Observe the alignment of the lateral catches of the pin headers These are always located outside of the cable You have to manufacture two different cables see image below With the top cable the contacts of the pin headers are located on one side With the two bottom cables these are located above and below The top cable serves t
30. e right polarity Check on the soldering side strip conductor side whether strip conductors were bridged by solder residues as this may lead to short circuits and the destruction of components You further have to check whether cut off wire ends are located on top or below the circuit board as these may also lead to short circuits Most of the defect construction kits returned to us can be attributed to bad soldering cold soldering spots soldering bridges wrong or unsuitable solder etc a Assembly plan drive unit 1 Top of the drive unit 28 2 Bottom of the drive unit T1 T2 and D1 are equipped from the bottom 29 b Assembly plan main unit 1 Top of the main unit 30 2 Bottom of the drive unit D6 up to D11 as well as R15 R17 and the LDR separator between R15 and R17 are equipped from the bottom 31 c Assembly plan breadboard 1 Top side of the breadboard marked with an arrow 000000000 000000000 000000000 0000 _ O 0000000000000000000 o O O 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 iO00000000000000000000000000000 0000000000000000000000000000000000000 a 0000000000 J 0000000000 MXIT 0000000000000 7 00000000000000 0000000000000000 y 0000000000000000 y
31. ee next page The IR LEDs have a slightly pink housing the photo transistors have a transparent housing If you place the 4 components on a white sheet of paper the difference is easily visible see image below D2 D3 IR LED IRL80A pink square casing 20 The 6 IR LEDs TSU520 D6 D7 D8 D9 010 011 are covered with a piece of shrinkdown plastic tubing approx 1cm long see chapter 8 c When soldering in the IR LEDs observe the correct polarity The pin of the anode is longer than that of the cathode On the circuit board the anode is marked with an A insert the longer pin here and the cathode with a K Afterwards solder in the 6 IR LEDs TSU520 angled by 90 so that they point radially outwards see image below Angle the pins on the right side with 3 IR LEDs angle the pins downwards with the other 3 upwards and solder the IR LEDS in on the correct side of the circuit board on the side with the assignment imprint D6 D7 D8 09 D10 D11 IR LED TSU520 bluish round housing g Photo transistors The photo transistors for line tracking look similar to the LEDS installed previously However their housing is completely transparent Contrary C to the LEDs the photo transistors have no anodes and cathodes but an emitter connection E and a collector connection C IS We recommend soldering these in at the end when the wheels are mounted and the two ping pong ball halves were atta
32. em DOA EMS 09 4001 AOS UOL 1301 1010 jeseu 99 90 m 1 9 qeu3 1010 A 1 ned 9 28101 _ U 4 SOA L1 86 L Om d 9 9 1 6 ye 2u3 2 31 NS Ln T joog l YI WMd OOXL 14611 007 i 19010186044 ik len D NN 1uBu eut yel euil 92A 599 017 36 UOA Held r EX JOA siosu 9S 8ZLLOS O d 90072 PO CH 9 800 z AJAN sBunuuoiez Oe eujeuisjeq eer 60111919598 80 OWEN e 0150011900 d INZ9 AIN3 AQL NOL 4 AOS U 89 ju6u 1919010 OZSSNSL OZSSNSL OZSSNSL La 000 60 MOSL ZX OZSSNSL OZSSNSL OZSSNSL 80 20 90 021 2 ZX Hoi U3POIC H1 9 X LX JOA ONS JOA LOXN LL ZX 1700 9 x 91 101 JOA JIA QN 9ELLdOSL co 37 OLA UOA z JN sBunuuoiez L Z SIOSU8S 8 108 094 8002 70 90 Held Bunuysiezeg UInje 3WeN uabuniapuy 0199190 9017 yel 00 HIS LL x lt x lt Jg Q el O gt gt 1 J Q N 037 _ 02 La 704 42 3 KT ox 99A q31 40sueg eun 9NI OL LX 1061 2117 Za JOA 09101 ca yel 08141 l L
33. ernatively you can also use a piece of Velcro tape A If you want to supply the robot with regular batteries you must open the jumper JP1 under all circumstances Remove the jumper If you use rechargeable batteries close the jumper JP1 stick on the jumper The wrong polarity of rechargeable batteries while the jumpers are closed will destroy the electronics Always ensure the right polarity when inserting rechargeable batteries normal batteries plus minus see imprint in the battery compartment CAUTION You may only connect a charger to the charge socket BU1 if you are using rechargeable batteries to operate the PRO BOT 128 When charging normal non rechargeable batteries there is a risk of fire and explosion A suitable charger is e g Conrad item number 250125 However this does not have an end of charge detection When selecting a charger make sure that there are no charge electronics installed on the PRO BOT 128 If the ON OFF switch of the PRO BOT 128 is in the position OFF both poles of the battery support are connected to the charge socket Do not use any quick chargers as excess currents may damage the conductor strips The maximum charge current should not exceed 500mA also depends on the applied rechargeable batteries of course 2T 11 Assembly stage Il Sight inspection of the circuit board Prior to commissioning the circuit check once again that all components are positioned correctly and have th
34. g the software installation and the installation of the USB drivers the user must be logged in as administrator This is not necessary during normal working with C Control Pro 3 To maintain the consistency of the demo programs the old directory demo programs is deleted and replaced with a new one when installing on top of an existing installation Therefore please create your own programs outside of the C Control Pro directory otherwise they get lost At the start select the language for your installation Afterwards you can set whether C Control Pro is to be installed in the standard path or whether you want to select your own target directory At the end of the installation process you will be asked whether the program is supposed to create a desktop icon Once the installation process is terminated you can view the readme file directly or a short introduction or start the C Control Pro developer environment 40 c Programming cable Voltcraft USB programmer Insert the CD included in delivery into the appropriate drive of your computer and start the installation program Do not connect the programmer to the USB port on your PC until the installation is completed Once the driver installation was successful you can locate the programmer as a virtual COM port in the device manager Remember the COM Port number e g COM4 You now have to select this in the IDE of the C Control PRO at Options IDE Interfaces to establis
35. h communication with the C Control PRO For further information about the IDE for the C Control PRO refer to the manual see CD The catch on the plug of the USB programmer must point in the direction of the arrow on the circuit board of the main unit Voltcraft USB programmer Conrad item number 197339 d Commissioning and testing Once you have installed the programming surface IDE and completed the assembly of the PRO BOT128 you can proceed with the system tests The following steps show you the usual procedure for handling the IDE and the PRO BOT 128 First copy the content of the CD to a new directory e g PRO BOT128 Then open the IDE of the C Control PRO C Control Pro IDE G V Projects Projekte 27008 PRO BOT 128 Conrad open Demo Code Radencoder Check Radencoder_Check cbas am Datei Bearbeiten Projekt C Control Debugger Optionen Werkzeuge Fenster Hilfe d amp H AF EBVO 3 3 8 Es Em E sa R Z z 4 4 m o l wc wo o UN UN UN o WU o Wo KKK KKK W m Radencoder Check Radencoder Check cbas Projektname Radencoder Check cprj i Ben tigte Libs s IntFunc lib cc Routinen RadencoderCheck c
36. ility for damage arising directly through application of the robot or as a consequence of this Claims based on mandatory statutory regulations on product liability remain exempt from this gt gt Each robot kit leaves our company in an impeccable and function tested state Conrad Electronic SE offers a warranty of 24 months for the PRO BOT128 Within this time we will remedy possible transport damage upon delivery production defects or breakdowns of the device free of charge If the performance features of the robot do not meet your individual requirements please use our 14 day money back guarantee In this period return the device to us without visible signs of use in its original packaging to receive a refund or offset the amount All periods are valid as of the date of the invoice respectively sales slip Conrad Electronic SE will not assume any liability for consequential damages to assets or persons caused by the application and operation of the robot Service Conrad Electronic SE provides a competent service team to assist you Each inquiry will be processed as fast as possible Special inquiries will be passed on to the development engineers at CTC To avoid unnecessary delays we kindly ask you to read this instruction manual the online help of the programming software the text and example files and if possible the information pages in the Internet prior to posting your request In many cases this leads to the solution of a p
37. ions of the robot b Supply voltage All electric connections from and to the device must always be established prior to connecting the supply voltage Plugging in or unplugging connection cables or the establishment or disconnection of connections may destroy the control computer or connected devices The supply of the robot requires a direct voltage of 4 8 to 6V which is generated with 4 rechargeable batteries type NiMH or NiCd Only use tested chargers for charging the batteries If necessary the robot can also be operated with 4 high quality alkali manganese batteries Due to the higher inner resistance current peaks in operation e g when suddenly changing the driving direction must be prevented by programming when using batteries c Construction During construction of your model adhere to the assembly plan and construction step Careful work is essential here to not experience any unpleasant surprises upon commissioning Start with the flattest components resistors on the main unit or the bass axes on the drive unit Then proceed with the remaining components according to size The motors gears wheels and gliders ping pong balls are mounted in the end The semiconductors are plugged onto the IC socket these are first inserted after testing the circuit Then finish the assembly by screwing together the individual circuit board levels by means of circuit board distances Now you can connect the circuit board connection cables
38. most 5 seconds otherwise the part may be damaged Soldering out a part is very critical for the part The same applies for the circuit board If the solder was not properly suctioned off yet cut off the tip of the unsoldering tool which is already full of solder and start again Once the solder is sucked off remove the unsoldering tool and the soldering iron from the soldering spot Now you can carefully move the pin back and forth with a pointed pair of pliers so it becomes unstuck from the solder residues in the hole of the circuit board Do not use any force This may damage the circuit board For components with only two pins e g resistor you can also heat the solder on both pins and then pull it off carefully from the top with a pair of pliers The solder in the soldering pad on the circuit board can then be removed with an unsoldering set 16 10 Assembly stage Installing the assembly elements on the circuit board a Soldering on the brass shafts Soldering on the brass shafts for the transmission and the wheel support should be your first soldering step As this requires a lot more heat than for the rest of the electronics it may happen that the circuit board gets very hot and other components may be damaged as a result when soldering them in later on Exercise utmost care when soldering If the shafts are soldered in crookedly the later driving behaviour suffers extremely Prior to soldering you should clean the shafts
39. n too strong Test again in a darkened room Wrong program in C Control PRO Production tolerance with the drive poss insert small shim on the short shaft between the circuit board and the gearwheel This prevents possible clearance Connection cable installed correctly plugs in the right orientation Properly equipped Batteries rechargeable batteries too weak EEPROM cannot be written or read Properly plugged in Pin assignment Right program in C Control PRO Does the C Control PRO work Battery voltage display returns false values Properly equipped Correction factor checked See program code Batteries rechargeable batteries too weak JP1 plugged properly C11 assigned properly R10 and R9 correctly soldered in Cold soldering spot Line sensor does not work LED and photo transistor correctly soldered in Properly shrunk with shrinkdown plastic tubing Base too dark Distance to the floor too large Max 5 mm from the floor to the photo transistor Connection cable installed correctly plugs in the right orientation Equipment error Right program in C Control PRO Batteries rechargeable batteries too weak 48 15 Final adjustment work Grease the axles slightly and attach the gear wheel with the black and white pattern to the short axis Attach the wheel to the gearwheel with the 50 and 12 teeth then attach this assembly to the rear axis and fix it
40. nsmission SEENEN 26 0 Circuit board Spacer and Dattery SUDO qM RR TTE 27 11 Assembly stage Il Sight inspection of the circuit board 28 a Assembly cusiinnme M 28 b ASSEMblY plam MANN UNI uu uu uuu u u uu u EE 30 c Assembly plan bread board EN 32 e ge T Ee TE 34 19 SOM WARE INS LAN AU 1 uuu 40 Ke RE 40 b Installation or the programming iterace IDE EE 40 c Programming cable Volteraff USB programmer E 41 d Commissioning and LS SUMING ME 41 The PRO BOTI26 IDIBl 43 Jael V e XS OO i Lo SRT I NE Po VON Do RNR I PN RNA PR NA PT 47 15 TE TR ue E 50 10 POS USES mer 51 Tr Block diagram PROBO Mf KEE 53 LN der NEST E TTE m 54 perum 9 55 OO B 1124 LT u t 55 a General 0179001 Dmm 99 b Batteries and rechargeable batteries n
41. o connect the main unit and the breadboard the two bottom cables to connect the main unit and the drive unit IS Cut off the cables clean and straight and press down the pin headers correctly to prevent short circuits The catch is always located on the outside 25 s Assembly of the motors and the transmission Once the equipment of the PRO BOT s circuit board is completed you still have to attach the cables to the motor and fix them in place To connect the motors you need a black and a red cable with a length of approx 70 mm with stripped and tin coated ends If the enclosed cables are not yet prepared properly strip the ends and coat them by holding them to the tip of the soldering iron with a bit of solder Cut off any solder residue on the cable end with a side nipper Now solder the red cable to the motor connection marked with a red dot or a plus sign and the black one to the other The motor connection cables for each motor are braided not mandatory but of advantage for electromagnetic compatibility and also looks a lot better The red connection cable of the left motor is soldered into ML and the black one into ML the red one of the right motor into MR and the black one into MR MR motor right plus MR motor left minus ML motor left plus MR motor right minus Finally the motors are attached to the circuit board To do so pull the cable clips through the holes next to the motors so that
42. o opposing pins of a mount are bent and then all connection pins soldered IC mount for IC1 2 IC3 4 k Integrated circuits Finally the integrated circuits are inserted in the provided mounts observing the right polarity 3 Attention Integrated circuits are very sensitive to wrong polarity Therefore observe the corresponding marking of the ICs notch or dot This must coincide with the marking in the IC mount the IC mount must of course also be soldered in correctly as described above The parts 102 4 are especially sensitive ICs which can already be destroyed by static charge Therefore only grip these parts on their casing without touching the connection pins Integrated circuits may not be changed or plugged into the mount while the board is live IC1 L293D 2 CD4093 IC3 LM386 4 24 65 22 Sound converter To enable the PRO BOT128 to attract attention it was equipped with a sound converter This component consists of a piezo element on the inside which converts the electric voltage to sound IS Observe the polarity indication on the sound converter plus and minus and solder on the part in line with the equipment imprint on the circuit board LS1 sound converter cylinder shaped housing m Microphone capsule A capacitor microphone is required for sound detection You may have to solder on two small wires here if these are not available already IS Also observe the
43. polarity with this part If you take a closer look you will see that one contact is connected to the housing of the microphone This indicates the ground GND Mic EMY 62 n Buttons 3 The buttons only fit exactly into the soldered contacts in one position in the wrong position you would have to bend the pins m 52 SW3 MTS602 small square button with four pins o Switch bh SW1 slide switch 23 p Jumper s e JP1 JP2 Jumper for JP1 The jumper must be plugged onto JP1 if you use rechargeable batteries to operate the PRO BOT 128 When using normal batteries you have to remove the jumper from JP1 For this purpose also see chapter 10 t JP2 is a 2 x 2 pole pin strip which serves for later connection to the PC via the USB RS232 adapter Two pins each are soldered on to the top and the bottom of the circuit board q Socket board for C control PRO X1 X2 X3 X4 2 2x 8 socket strip IS The socket strips are pressed against the circuit board from one side Then solder on two diagonally opposing pins Then align the pin strips exactly vertical by possibly reheating the two pins Now insert the C Control PRO unit with the right orientation into the 4 socket strips Make sure that the pins are not bent and that all pins are inserted in the corresponding holes of the socket strips Broken pins of the C Control PRO unit are not covered by the warranty guarantee 24 r Ribbon cabl
44. product is used at schools training facilities do it yourself and hobby workshops it should not be handled unless supervised by trained responsible personnel The robot is not designed for commercial use Should any questions arise that are not answered in this operating manual contact our Technical Advisory Service or another expert Notices on limited warranty and liability The core of the robot is the C Control PRO128 control computer The boot loader in the microprocessor and the corresponding programming software are enclosed Conrad Electronic SE will not assume any warranty that the performance features meet individual demands or that the software in the microprocessor and the PC software work interruption and error free at all times The user bears the entire risk regarding quality and performance of the device including all software Conrad Electronic SE guarantees the function of the provided application examples when observing the conditions specified in the technical data Should the robot or the PC software turn out to be inadequate or faulty the customer assumes all arising costs for service repair or corrections The warranty of Conrad Electronics SE is limited exclusively to the exchange of devices within the warranty period in case of apparent hardware defects like mechanical damage missing or wrong equipment of electronic parts with the exception of integrated circuits with sockets and jumpers We will not assume any liab
45. rdens while cooling down Such errors can easily be detected by the matt appearance of the soldering spot s surface The only remedy is to solder the spot once again 10 90 of the kits returned to us contain such soldering errors cold soldering spots the wrong solder etc Many a returned masterpiece does not show professional soldering work Therefore only use electronic solder with the label SN 60 Pb 6096 tin and 4096 lead This solder has a resin core which serves as fluxing agent to protect the soldering spot from oxidation during soldering agents may destroy the circuit board and the electronic components in addition they are conductive and cause leakage currents N Other fluxing agents like soldering paste or soldering fluid may not be used under any circumstances as they contain acids These and short circuits When soldering in the components make sure that these are soldered in without a gap to the circuit board unless indicated otherwise All excess connection wires are cut off directly above the soldering spot As this kit partially contains very small or very close soldering spots danger of solder bridges you may only use a soldering iron with a small tip here Perform the soldering work and the assembly in a careful manner If everything is alright up to this point but the robot still does not work a component may be defective Due to countless quality controls during production of the different components it i
46. ren under 14 years of age Keep the product out of the range of children They may reach into the drive Risk of injury Depending on programming you may experience sudden drive and steering motions and the motors may start up unexpectedly Do not operate the robot near pets that roam freely The robot does not have a casing and contains uncovered components and strip conductors Do not cause any short circuits due to accidentally placed metal parts or tools Prior to commissioning the robot you have to remove all containers with liquid from its range e g coffee pots bottles or vases Only use the robot in clean domestic surroundings Dirt dust foreign objects and dampness destroy the mechanics and the electronics The admissible ambient temperature may not fall short of or exceed 0 C to 40 C during operation Do not operate the robot near flammable or explosive liquids gases or dusts Do not operate the robot on table tops or areas where it might fall off Also keep in mind the climbing abilities of the robot For safety seasons you should not operate the robot unsupervised Only use the robot in moderate climate regions and not in a tropical climate Do not leave packing material unattended This may become dangerous playing material for children On industrial sites the accident prevention regulations of the association of the industrial workers society for electrical equipment and utilities must be followed If the
47. rive wheel allow path measuring or speed control in connection with an encoder disk affixed on the center gear wheel c Sensors actors and extensions The following sensors and actors allow the programmer to develop very complex interactions with ambient stimulations and manifold reactions Sensors 2 light sensors 2 odometers 1 line sensors 1 touchless IR anti collision sensor ACS 1 sound sensor 1 sensor for the operating voltage Actors 2 DC electronic drives with continuous speed adjustment forward backward 1 beep for emitting sound signals 4 status LEDs 1 line LED for the line sensor Expansions 64K lC EEProm Experimental circuit board d Control computer C Control PRO 128 Conrad item no 198219 The control computer of the PRO BOT128 is a computer of the C Control PRO series This is a compact module for universal application in measuring control and regulation tasks and also able to perform serial data transmission and data storage processes The control computer contains an advanced microprocessor which allows the programming of the module in the popular and easy to learn programming languages BASIC and C With just a few lines of BASIC or C source text the control computer turns into an intelligent alarm system a complex data recording system a control unit for a heating system or as in this case the brain of a small robot model Technical data of the C Control PRO 128
48. roblem 5 General instructions relevant to batteries and rechargeable batteries A Batteries must be kept out of the reach of children Do not let batteries rechargeable batteries lie around openly There is a risk of batteries being swallowed by children or pets In Such a case seek instant medical attention Batteries rechargeable batteries must never be short circuited taken apart or thrown into fire There is a risk of explosion Leaking or damaged batteries rechargeable batteries may cause acid burns when coming into contact with skin therefore use suitable protective gloves Do not recharge normal batteries There is a risk of fire and explosion Only charge rechargeable batteries which are intended for this purpose use suitable rechargeable battery chargers Please observe correct polarity plus and minus when inserting the batteries rechargeable batteries Danger of fire and explosion If the device is not used for a longer period of time e g storage take out the inserted batteries or rechargeable batteries to avoid damage from leaking batteries rechargeable batteries Recharge the rechargeable battery about every 3 months because otherwise there may a so called deep discharge because of the self discharge which makes the rechargeable batteries useless Always exchange the entire set of batteries or rechargeable batteries Do not mix full batteries rechargeable batteries with half full ones Always use batteries
49. rors and the resulting damage to parts are also not covered by our warranty guarantee 15 b Producing a clean welding spot With the help of a suitable tool you can bend the pins in such a way that they will fit exactly into the corresponding holes use bending tools for example These twist the pins by approx 40 so that the parts do not drop out when turning the circuit board over Now place the tip of the soldering iron and the tip of the solder directly on the pin and the soldering pad on the circuit board The solder begins to melt and coves the pin of the part as well as the contact surface on the circuit board If you do not use enough solder the contact is not adequate If you use too much solder you create a blob that may also lead to short circuits with neighbouring components Experts need one to two seconds for a clean welding spot IS When pinching off the excess wire make sure that the flying wire pieces cannot harm anyone they might hurt your eye when cutting them off c Removing wrongly installed parts by means of soldering If you accidentally soldered a part wrongly despite several checks prior to soldering you can suck off the solder e g with an unsoldering set to remove the part Place the unsoldering set on the soldering spot as shown in the image on the left Then heat up the unsoldering set and the soldering spot at the same time from the top IS Make sure to not heat this up too long at
50. s actually very unlikely that e g a resistor or an IC is already defect upon delivery However excess soldering temperatures or mechanical strain bending of component pins may lead to defects of a component One single defect component may lead to the malfunction of the robot or unforeseeable reactions operating conditions If you are a beginner with respect to electronics you best seek the advice of someone a bit more versed in this field with the necessary measuring devices If you do not have such an acquaintance send the kit to our service department well packaged and with an exact description of the error together with the corresponding instruction manual to our service department Only an exact specification of the error allows us to perform the right repair IS An exact error description is important Merely stating does not work or defect does not help our service department To prevent unnecessary call backs and the resulting time delay please describe your error as accurately as possible Also tell us a telephone number and time at which we can reach you e g during the day at work Before this construction kit went into production it was assembled as a prototype and tested many times It was first released for serial production after achieving an optimum quality with respect to function and operational safety To ensure a certain function safety when constructing the robot the entire construction was divided into 3 stages
51. s impossible to solder properly with a dirty soldering tip This is why you should always remove excess solder and dirt with a damp not wet sponge or silicone stripper after soldering After soldering the connection wires are clipped off directly above the soldering spot with a suitable cutting tool When soldering in semiconductors LEDs and ICs do not exceed a soldering time of approx 5 minutes otherwise the component will be destroyed The right polarity must also be observed with these components Use the following trick to mount the mounts or other parts that are supposed to be flush on the circuit board First solder the part on one pin Then slightly press down on the part from the top and reheat the soldering spot attention the part may become very hot so that the part comes to rest on the circuit board Now solder the other pins and liquefy the first soldering spot again with a bit of solder Once a part is soldered on cut off the excess wire with an electronics nipper right above the circuit board soldering spot without pulling the pin After fitting always check each circuit again to see whether all parts are correctly inserted and poled Also check that no connections or conductor strips were bridged with solder This may not only lead to malfunctions but also to the destruction of expensive parts Please note that improper soldering wrong connections wrong operation and equipment errors are outside of our influence These er
52. t any force just make sure that the pinion stays on the axis and does not fall off Place the motor on a semi soft surface with the pinion pointing downwards plastic cardboard etc and slightly tap with a hammer on the axis which protrudes slightly from the rear of the motor until the motor axis is completely pushed into the pinion Alternatively you can press the pinion that was attached by hand with a vice onto the motor axis IS However you may only exert force on the continuous motor shaft never on the housing or the bearing Make sure that the pinion is not damaged b Ping pong ball The PRO BOT128 is supposed to slide on two halved ping pong balls later on Take a whole ping pong ball and carefully cut it in half with a Stanley knife You best first cut the ping pong ball into two equal halves After assembly measure the distance between the floor smooth surface and the bottom of the circuit board of the drive unit and cut file grind the halves of the ball to the exact specifications IS Please keep in mind that you still need to put some glue between the circuit board and the halves of the ball e g hot melt in addition there are cable clips as well as soldering pins on the bottom of the circuit board which require some post processing until both halves match exactly Depending on the surface on which you operate the PRO BOT 128 later on cut the ball halves a bit smaller to prevent toppling of the PRO BOT 128 This
53. t statutory regulations b Batteries and rechargeable batteries You as the end user are required by law Battery Ordinance to return all used batteries rechargeable batteries Disposing of them in the household waste is prohibited MI Contaminated batteries rechargeable batteries are labelled with these symbols to indicate that disposal in domestic waste is forbidden The symbols for dangerous heavy metal constituents are Cd cadmium Hg mercury Pb lead name on battery rechargeable battery e g under the trash icons on the left KE C8 You can return used batteries rechargeable batteries free of charge to any collecting point in your local community in our stores or f nam other store where batteries rechargeable batteries are sold You thus fulfil your statutory obligations and contribute to the protection of the environment 94 99 http www conrad com Legal Notice These operating instructions are a publication by Conrad Electronic SE Klaus Conrad Str 1 D 92240 Hirschau www conrad com All rights including translation reserved Reproduction by any method e g photocopy microfilming or the capture in electronic data processing systems require the prior written approval by the editor Reprinting also in part is prohibited These operating instructions represent the technical status at the time of printing Changes in technology and equipment reserved Copyright 2011 by Conrad Electronic SE V5 01
54. t the program by pressing the reset key SW1 If you turn the PRO BOT128 on again this has the same effect Each program starts automatically after a power ON If you want to return the C Control PRO to programming mode press the rest and the boot key at the same time Let go of the reset key first and then the boot key Now the C Control PRO reports again with its boot message in the output window We recommend starting the C Control with the F10 key when testing or the small lightning bolt icon otherwise the data will not be output via the output window Now you can do exactly that with all individual test programs to check whether the PRO BOT128 works correctly ACS check Checks the anti collision sensor ACS to do so place your hand on one half of the IR diodes and then on the other The output window must indicate object left or object right Battery check Checks the monitoring of the rechargeable battery The output window shows the rechargeable or the normal battery voltage Observe the position of JP1 here EEPROM check The C Control PRO writes so called float data into the external PC EEPROM and reads them back These values appear in the output window LDR check Checks the light sensor The values appear in the output window If both LEDs are illuminated evenly both values must be similar slight deviations are due to the parts tolerance If you cover one sensor this must change compared to the other valu
55. the gearwheel and thus the speed of the PRO BOT However the measured difference between light and dark is also reduced then As a consequence there may be problems or failures in detecting the rotation speed We always used a division of four in our assembly We recommend highlighting the black segments with a water proof pen to obtain a better contrast 14 d Soldering instructions a General information IS If you are not that apt at soldering yet please read these soldering instructions first before proceeding Soldering is an art Although the robot kit does not require any special skills it should not be assembled by a beginner without the assistance of an experienced helper We do not only want you to gain experience when assembling this kit but also later on with the finished product e g when programming it Please note the following information 1 10 11 12 13 Never use soldering fluid or soldering paste when soldering electronic circuits These contain an acid that destroys parts and conductor strips They may also lead to leakage currents or short circuits You may only use electronic tin SN GU Pb meaning 60 tin 40 lead with a resin core which acts as fluxing agent and protection against oxidation at the same time Use a smaller soldering iron with an output of 20 40 watt or even better an adjustable soldering station approx 50W The soldering tip should be free of scales to enable op
56. timum heat transfer The heat of the soldering iron must be conducted properly to the spot to be soldered Perform all soldering work in a speedy manner Excess soldering destroys components This also leads to the detachment of the soldering pads or copper leads Once the components are prepared stick them through the borings in the circuit board With parts that only have two or three pins bend these slightly apart on the bottom side of the circuit board directly at the boring approx 40 are sufficient so they do not fall out For components with more pins like the mounts for the ICs it is sufficient to bend two diagonally opposing pins outwards Do not bend these pins more than 40 as this is unpractical Otherwise you will not be able to remove a wrongly installed part from the circuit board To solder hold the well coated soldering tip to the soldering spot so that the component wire and the conductor are touched at the same time Then add solder not too much which is heated as well As soon as the solder begins to flow remove it from the soldering spot Then wait a moment until the remaining solder has spread properly then remove the soldering iron from the soldering spot Do not move the recently soldered component for approx 5 seconds after taking off the soldering tip The result is a silvery and shiny impeccable soldering spot Impeccable soldering spots and good soldering require a clean non oxidised soldering tip It i
57. to rotate If this is not the case the axes are either soldered in crookedly and must be realigned or there are solder residues on the axes outside of the circuit board These must be removed You best clean these off with a fine file or sandpaper If everything fits the gearwheels are set aside and the remaining components are placed in their future positions on the circuit board 17 b Resistors First you bend the connection wires of the resistors according to the modular dimension and inserted in the provided borings see equipment plan To prevent the components from falling out when turning the circuit board bend the connection wires of the resistors at a 40 angle and then solder these together carefully with the conductors on the back of the circuit board Now cut off the excess wires Carbon layer resistors usually have four colour rings metal layer resistors have five of them To read off the colour code hold the resistors in such a way that the tolerance ring is located on the right side of the resistor Read the colour rings from left to right Carbon layer resistors with 4 colour rings Colour Ringi 1 Rng2 2 Ring 3 factor Ring 4 tolerance Metal layer resistors with 5 colour rings Colour Ringi 1 Rng2 2 Ring 3 Ring 4 factor Ring 5 tolerance LE CE wena 7 fe p a s eid ES 01709 7517 O R1 R3 2
58. uirements of current statutory European and national guidelines The CE requirements must be observed when using this product This user manual is part of this product It contains important details concerning operation and handling Bear this in mind when you pass on this product to others Therefore keep this user manual for future reference Prior to commissioning the PRO BOT128 or connected devices please read this entire instruction manual carefully It explains the correct use and points out possible risks Any company or product names are trademarks of their respective owners All rights reserved In case of any technical inquiries contact or consult Tel no 49 9604 40 88 80 Fax no 49 9604 40 88 48 E mail tkb conrad de Mon to Thur 8 00am to 4 30pm Fri 8 00am to 2 00pm 2 Intended use This mobile robot is equipped with a programmable microcomputer which allows you to determine basic behaviour patterns and reactions of the robot to external influences yourself The robot PRO BOT128 was developed as an experimental platform for all electronic technicians interested in robotics In practical tests it visualises the influence and effects of software parameters as well as physical parameters via the corresponding sensor technology Any use other than that described above is not permitted The product is not a toy and should be kept out of reach of children under 14 years of age It may only be used in closed dr
59. ur PRO BOT128 has successfully passed the individual test programs you can start developing own programs and hardware extensions Here are a few suggestions of what you could do with your robot and which hardware extensions are possible PID or PD control for forward drive Controlled faster line follower Mobile alarm system Odometric evaluation so that the robot passes defined points and then finds its way back IR communication with HI FI devices PC software for remote controlling Radio modem for data exchange between the PC and the PRO BOT 128 Small camera for image evaluation e g CMU CAM Play football Charging base for PRO BOT128 Automatic access of a charging base when the batteries are empty Producing maps with an ultrasound sensor e g Devantech SRF02 Playback of various melodies via the beeper 53 19 Cleaning When rolling on the floor dust and dirt as well as hair may accumulate in the drive This hampers the drive and may lead to function disruptions Therefore you should check the drive carefully and remove any dirt Dust on the light barriers and on the sensors also leads to malfunctions Remove dust by means of a clean long hair brush and a vacuum cleaner 20 Disposal a General information lt gt i Z Electric and electronic devices must not be disposed of in the domestic waste e At the end of its service life dispose of the product according to the relevan
60. way both wheels keep a good contact to the floor even in case of slight unevenness e g in case the wheels have to cross tile joints etc or if the PRO BOT 128 rolls on a smooth carpet the wheels sink in slightly 13 c Photo transistors amp IR LEDs Prior to soldering in the photo transistors T1 and T2 must be covered with a piece of shrinkdown plastic tubing approx 1 cm long This prevents the influence of external light from the side The shrinkdown plastic tube can be shrunken with a special hot air blower or a cigarette lighter Photo transistors T1 and T2 For the IR LEDs D6 D7 D8 D9 D10 and D11 the same applies as for T1 and T2 These also have to be covered with a shrinkdown plastic tube approx 1 mm long prior to soldering in However with the IR LEDs this has a different purpose than with the photo transistors The shrinkdown plastic tubing prevents that the 17150171736 sees the IR signal directly and restricts the radiation beam of the diodes somewhat IR LEDs D6 D7 D8 D9 D10 D11 d Wheel sensors The LED and the photo transistor reflex light barrier for the optometry that point in the direction of the first transmission wheel need a correspondingly marked disk to be attached on the first transmission wheel that with the 50 and 10 teeth on the side without the drive pinion These disks are self adhesive IS The more segments the pattern has the more exact you can resolve the rotation of
61. y indoor rooms The product must not get damp or wet Use other than that described above can lead to damage to the product and may involve additional risks such as short circuits fire electrical shocks etc The product is not a toy and should be kept out of reach of children under 14 years of age Observe all safety notices in these operating instructions They contain important information regarding the handling of the product You should also heed the additional safety instructions in each chapter of these instructions 3 Symbol explanation AN This symbol is used when your health is at risk e g through an electric shock N The symbol with the exclamation mark points out particular dangers associated with handling function or operation 35 The hand symbol indicates special tips and operating information 4 Safety instructions A A The guarantee warranty will be void if damage is incurred resulting from non compliance with the operating instructions Liability for any and all consequential damage is excluded We do not assume any liability for damage to property or personal injury caused by improper use or the failure to observe the safety instructions In such cases the guarantee is voided General information Due to the open type of construction the PRO BOT128 has sharp edges and corners Danger of injury when touched Do not reach into the drive The product is not a toy and should be kept out of reach of child
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