KTX – PC User Manual
Contents
1. After the installation of Windows XP to PC board on your robot you can run RobovieMaker2 from it and create motions Also you can create motions from an external PC by connecting a USB to mini USB cable When you are using an external PC to create a motion please turn off the internal PC board and the power switch to the board Please look at a user manual for Roboviemaker2 for more information 6 12 Controlling Servo Controller VS RC003 from internal PC 6 1 2 1 USB Communication Please set Activated Timer to 1 Goto Project Preferences gt CPU Preferences Basic Preference Active Timer 6 1 2 2 Serial Communication Please set Activated Timer to 1 Go to Project Preferences gt CPU Preferences gt Basic Preference Active Timer Also Go to Project Preferences CPU Preferences Serial Setting and set NC7 to command port 6 2 Initial Setup 6 2 1 Setting up initial position using RobovieMaker2 Before start using the robot or after long use of the robot the angle of the joint might change Please setup the initial position by using RobovieMaker2 The detailed instruction to setup initial position is explained in RobovieMaker2 User Manual 6 3 Creating Motion Detailed instruction is on RobovieMaker2 User Manual OPOSE 107 0082. KTX PC User Manual KumoTek 06 25 2010 Tech Support Masahiro Ishida 1 Introduction Thank you for purchasing KTX PC from us This Manual explains how we treat this robot and its accessories Please read this manual before you break your robot This Manual describes basic use of this robot Please refer to the other detailed manuals and tutorials for more detailed information 2 Safety Robot has tremendous power on each servo mounted on his joints and improper use of the robot may result in serious injuries Please follow safety issues below 3 Features and Specification 3 1 Name of the Components and Features Front Exterior Protect internal conponents from shock Head generated by fall Mounted on body arms Two servos control head 2 Up and Down USB 1 camera is mounted Legs 6 Servos are controlling the legs Gear link 3 servos are mounted tp system alows you to control arms move up down by 3 2 Name ofthe Components and Features Top View Panel Connector Screw Unscrew them to unload battery for recharging External Power Supply EI Connector ps PC Power Connector USB Connector PC TER EN PC Power Switch PC External Power Supply Connector USBConnector VS RC003 Mode Switch VS RC003 Servo Motor Power Switch Reset Switch VS RC003 Internal IX BUS Connector Serial Communi
3. cate with VS RC003 Powers up only PC board Use this connector to power up only the PC 2 Intemal USB Connector board Connected to VS RC003 SASH Comis Speaker and Mic connecto Speaker Out Left Mic In Right Under the Body VGA and LAN Connector 3 3 Specification Size 390 H x225 W x115 D mm Weight 2 2kg 20 Degree of Freedom Head 2 Arms 6 Legs 12 Servo Motor VS S092j x 18 VS S281 x 2 Main CPU PICO820 Intel Atom Z530 1 6GHz Memory PICO820 Intel Atom Z530 1 6GHz Storage CF Flash Memory 8GB Secondary CPU VS RCO03HV ARM7 60MHz Sensor USB Camera VS IX001 2 axel gyro sensor and 3 axel accelerometer Exterior Shock absorbing material Speaker Mono Speaker Battery 7 2 V Ni Battery PC board Power Adapter Supported Interface 2 USB 2 0 port 1 VGA 1 LAN 1 Speaker 1 Microphone Supported Operating System XP Vista Win7 Partial Linux 3 4 Joints D 5 4 Head Picth 4 1 Right Sholder Pitch AN 5 3Head Yaw 3 1 Left Sholder Pitch 3 2 Right SholderRoll 3 2 Left Sholder Roll 5 1 Right Thigh Yaw 5 6 Left Thigh Y aw AM O PU LA o F N NA 5 5 d 2 2 Righ ThighPitcn 1 P Leftrhigh Pitch y UY 2 1 Right Thigh Roll 1 11eft THigh Rol e 4 6 Gripper Hand 3 6 Gripper Hand 3 Option Parts x Option Part 2 4 Right Knee Link 1 4 L
4. e in the picture above Note If this occurs quickly undo your last setting in the software or remove power from the servos then manually move the slider back to the previous safe position Note occasionally feel the servo motors to check for excessive heat DO NOT touch the motors when the robot is in motion or about to move This could cause serious injury to the user and may damage the robot
5. eft Knee Link 2 5 Right Ankle Roll 1 6 Left Ankle Roll 2 5 Right Ankle Pitch 1 5 Left Ankle Pitch X Numbers on the joints describes connection on the VS RCOCG board 4 Parts and Accessories Robot Ni Battery 2 Pack Ni Battery Charger Battery and Charger Cable USB Communication Cable Wireless Controller VS C1 PC Power Adapter CF Flash Memory Inside Robot SO DIMM1GB Inside Robot CD Manual RobovieMaker2 Sample Software PC Board Accessories USB Camera Accessories 5 Hardware 5 1 Battery 5 1 1 Charging Battery Please follow the step below for charging a battery 1 Connect battery charger to wall power supply 2 Connect battery to the charger by using connection cable The LED will turn into red 3 After battery is fully charged LED turns into Green unplug the battery Then unplug the charger from wall power adapter 5 1 2 Connecting Battery to Robot 1 Open front panel of the robot by unscrewing two screws holding the panel You can open the panel without completely removing the screws 2 Install 2 fully charged batteries Connect battery cable to the white connecter on the left inside body 5 2 Connecting Hardware to the PC Board 5 2 1 PC Board Power Adapter You can use PC board Power supply adapter to power the PC board and servo control board In this case you will not be able to run the servos off of this power supply 5 2 2 Connecting USB Devices Display and LAN Cable You can c
6. ne usage we suggest using some kind of rubber glue or silicone adhesive on the wire The picture highlighted in blue depicts one method of securing the cable to the robot This will help to prevent the cable from getting caught and torn between the frame and servo casing Another suggested method of tying down the cables is to use the nylon tie straps as depicted Be sure to replace these straps after they become worn down or lost This method is highlighted in green Protecting Motors When configuring the robot stand from the sitting position or to sit from the standing position assure that the servo horns are behind the forward part of the upper leg bracket in order to prevent damage to the servo and frame This must be done manually when the power to the servo is turned OFF when configuring the robot while in the seated position The procedure highlighted in blue above is correct The procedure highlighted in red above is incorrect Another area requiring extreme caution is extending the range of motion past the physical capabilities This should always be avoided Failure to do so will most definitely cause damage to the motors and or the robot s frame When you are programming motions or setting the robot s initial configuration always be mindful of gap between the servo casing and the metal frame DO NOT allow the servo casing to touch the metal casing The gap between the servo casing and metal frame is highlighted in blu
7. onnect up to 2 USB devices 1 VGA and 1 LAN 5 2 3 Applying Power to the robot from External Power Supply You can use external DC power supply 8 5V or less to power up the robot without battery 5 2 4 Connecting a Speaker and a Microphone You can connect small speaker to the speaker output pins By default the wires coming out from the speaker is connected to the servo control board VS RCOO3 You can also connect a condenser microphone to the robot The pin close to the board is GND and the other pin is the signal 5 3 Basic Operation and Exterior 5 3 1 Turning on the Servo Power Switch You can turn on the servos and servo control board by servo power switch circled in red in the un above picture The sign represents ON and o represents OFF White LED next to the switch comes on when the power applied 5 3 2 Turning on the PC power switch You can turn on the PC board by the PC power switch circled in Yellow in the above picture White LED next to the USB port comes on when the power applied 5 4 Internal connection diagram External Display External LAN Router Fan External USB Device External USB Device USB Camera Speaker PC Adapter Microphone UJ UJ Q Q E o o x 2 6 Software 6 1 RobovieMaker2 6 1 1 RobovieMaker2 is a software to create a motion for the robot f er Puit Q Pom Mon Par Pomc preferences D Heth MABE 32 100 Mir freeze 3i
8. step OPOSE 117 008step OPOSE 127 007step En jidthParam _ 33 YWidthPare OPOSE 11 007step Y Gain OPOSE 12 6 4 Installing Operating Systems 6 4 1 Installing Windows 6 4 1 1 Installing XP Follow the windows installation manual to install 6 4 1 2 Install Drivers Download and install driver from Kumotek Website or the CD came with the robot After the installation of the driver for the graphics card the display might not show up again Please use command Ctrl Alt F1 to go back to the normal display CRT If the command is still not make you go back to the normal display then you might have setup a login password Try entering your password Enter Ctrl Alt F1 6 4 1 3 Check the Devices Go to Device Manager and make sure the all the devices is installed and recognized successfully If you have a device listed under image devices then you have camera installed correctly Also you should see a COM1 and COM2 under Port 7 Maintenance and Fixing the Robot Every time before the use of the robot please inspect it carefully and make sure that there is no break on the wires or damage on its servo motors If you see the any of those problems report it to KumoTek by email or call 972 436 3867 for technical support 7 1 73 Protecting Servo Wires from Abrasion In order to protect the servo wires from unnecessary abrasion during routi
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