ROBOT ARM HOBBY - Rapid Electronics
Contents
1. Please enter your choice 0 4 c m or b t Now you execute the selftest and the calibration of the Robot Arm Press the switch Start Stop Reset on the Robot Arm to start the program Later you can do this alternatively via the RobotLoader menu Start or the key combination STRG S However this time you can test if the switch works properly If an error occurs in the selftest switch the robot off immediately and start searching for the mistake IT IS RECOMMENDED TO START WITH THE CALIBRATION OF THE ROBOT ARM SEE PAGE 46 45 7 7 Calibration Start the calibration program to calibrate the robot To this end please click on the button Add at the bottom of the RobotLoader window and select the file RobotArmExamples MINI Example 11 Selftest RobotArm Selftest hex in the example directory This file contains the selftest program in hexadecimal format The just selected file will appear subsequently in the list see screenshot RobotLoader 2 Calibrate the robotarm servomotors Select C Press ENTER to continue C Calibrate in the HEPEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE EE E2. So the start was not as difficult as that and it looks as if the job was finished now But the real hard work does only start now But let s look at chapter 6 in which we will install the software 22 lt 6 Software Installation Let s do now the software installation A properly installed software is of para mount importance for all following chapters As you need administrator rights you have to log into your system as an admi nistrator We recommend to read the whole chapter thoroughly first and then start with the installation step by step The user must have basic knowledge of Windows or Linux based computers and be familiar with current programs such as file managers web browsers text editors file compression software WinZip WinRAR unzip and others and eventually Linux shell etc If your computer knowledge is very limited you should learn more about systems before you start using the Robot Arm This manual is not intended as an introduction to computers which would go much too far It is only aimed at the Robot Arm its programming and the specific software required The Robot Arm CD ROM You have probably already inserted the CD ROM into your computer drive if not please do it now In Windows the CD menu should appear shortly after wards per autostart If not you can open the file start htm with a web brow ser as e g Firefox in the main directory of the CD via a file manager By the way the i
3. 2 Calibrate the robotarm servomotors Press ENTER to continue t 22223323222 2222223222222222222222222222222222222222222232222222222233 Terminal window Robotarm Selftest Main Menu t fffffttft Advanced Menu t t t 0 Run ALL Selftests 1 4 c Calibrate Robotarm t 1 LED Test m Current Measuring Servos t 2 Voltage Sensor Test b Start Position t Buzzer Test 2 t 4 Servo Test System voltage is 04 90V t t t t Please enter your choice 0 4 c m or b Hi The RobotLoader itself doesn t need to be installed Just copy the program somewhere in a new folder on the hard disk 37 7 2 Connection of the USB interface Windows Linux users can skip to the next section There are several options to install the USB interface the easiest being the installation of the driver BEFOR
4. This way the command can be spread over several lines but you can also just drop it AVR Libc And last but not least the AVR libc gt cd Robot Arm gt bunzip2 c avr libc 1 4 5 tar bz2 tar xf gt cd avr libc 1 4 5 gt configure prefix PREFIX build config guess host avr gt make gt make install 29 Important at build config guess make sure to put a backtick lt the grave accent on the a and not a normal apostrophy or quotation marks as this wouldn t work Set the Path You must make sure now that the directory usr local avr bin is registered in the path variable otherwise it will be impossible to retrieve the avr gcc from the console or from the makefiles To that end you have to enter the path in the file etc profile or etc environment or similiar varies from one distribution to another separated by a colon from the other already existing entries It could look in the file like PATH usr local bin usr bin bin usr X11R6 bin usr local avr bin Now enter in a console avr gcc version as described above If it works the installation was successfull 30 Manual Installation If you prefer to install the compiler manually or the installation via th script failed you can follow the instructions below The description is based on following article http www nongnu org avr libc user manual install tools html that is also included on the
5. tech nical courses start in Far East already in the primary school and are an important part of the education Our target in the development of our robots ASURO YETI Caterpillar and Robot Arm is therefore JO SAN A S CEN TIFIC MIND APA we X e TOOT gt a p RATS eor EP BSK G ae 3 29 61 APPENDIX Modifications old PCB type RA2 HOBBY Because of an stronger servo type the servo number 5 consumes more power now as we calculated during development When we activate more servos at the same time there will be a very big servo current Aus trough the FET with a big voltagedrop 0 5 Volt This voltage drop can be to high for a normal function of the robot arm f e to litle power to lift the arm or a small weight this all because the low voltage on the servo Solving the problem Please replace the 1 Ohm servo 5 resitor R29 with the supplied 0 1 Ohm resistor You also can remove and or shortcut the FET T1 with a wire to solve the big voltage drop After this modifications the robot arm servos will have again sufficient po wer for normal operation maximum lift weight is about 200 grams now for RA1 PRO and about 150 grams for RA2 mini TIP When you replace R29 with the 0 1 Ohm resistor the current for Servo 5 also will be changed and shows incorrect values you can simply modify this in your own C
6. you can change this please contact our support team Check the Connection of the Device To check if the device has been correctly installed you can use the device manager as an alternative to the RobotLoader under Windows XP 2003 and 2000 Right click on My Computer gt Properties Hardware gt Device manager 39 OR alternatively Start gt Settings gt Control panel gt Performance and Maintenance gt System gt Hardware gt Device manager and check there in the tree view under Connections COM and LPT if you find a USB Serial Port COMX the X replacing the port number or look under USB serial bus controller for a USB Serial Converter If you wish to uninstall the driver some day If ever you wish to uninstall the driver no not now this is just a hint if you need this some day If you have used the CD ROM installation program you can uninstall it directly via Start gt Settings gt Control panel Software In the displayed list you will find an item FTDI USB Serial Converter Drivers select it and click on uninstall If you have installed the driver manually you can execute the program FTUNIN exe the directory dedicated to the USB driver for your system Warning USB gt RS232 adaptors with FTDI chip set often also use this driver 40 7 3 Connection of the USB Interface Linux Windows users can skip this section Linux systems with kernel
7. CD in PDF format in the AVR Libc documentation CD ROM drive gt Software Documentation avr libc user manual 1 4 5 pdf Our description here is much shorter but includes a few important patches Without these some tings will not work properly First of all we have to create a directory in which we wil install all tools That should be usr local avr Also enter in a console AS A ROOT mkdir usr local avr mkdir usr local avr bin It must not necessarily be this directory We just create the variable PREFIX for this directory gt PREFIX usr local avr gt export PREFIX This must be added into the PATH variable gt PATH PATH PREFIX bin gt export PATH 31 Binutils for AVR Now you must unpack the sourcecode of the binutils and add a few patches We suppose in our example that you have copied everything into the home directory Robot Arm gt cd Robot Arm gt bunzip2 c binutils 2 17 tar bz2 tar xf gt cd binutils 2 17 gt patch p0 lt binutils patch aa diff gt patch 0 lt binutils patch atmega256x diff gt patch pO lt binutils patch coff avr diff gt patch pO lt binutils patch newdevices diff gt patch pO lt binutils patch avr size diff gt mkdir obj avr gt cd obj avr Now execute the configure script gt configure prefix PREFIX target avr disable nls This script detects what is available in your system and generates suitable
8. Engineering WWW AREXX COM EN WWW ROBOTERNETZ DE AREXX Engineering AREXX Engineering DAGU HI TECH ZWOLLE The Netherlands AREXX Holland and DAGU China English translation AREXX The Netherlands 92 1 PRODUCT DESCRIPTION ROBOT ARM The ROBOT ARM is an affordable robot for the hobbyist It is ideally suited to learn the basics of electronics mechanics and programming The ROBOT ARM is controlled by a powerful ATMEGA64 microcontroller that program mable via Open Source Tools in C The user can upload his own programs simply and easily via the supplied USB interface and the Uploader software The in and outputs together with the flexible 2 bus system allow the ad dition of extra modules thus enabling the robot to react to its environment Contents of the package Complete Robot Arm construction set mechanics and electronics USB interface with lead CD ROM containing all required software and manuals 1 2 Specifications ATMEGA64 processor Various available I O in outputs I2C bus 4 mini servos 2 maxi servos Plastic arm and metal chassis Arm length 260 mm Height 320 mm Base diameter 150 mm Power supply 6 12V Warnings The right of return does not apply after opening the plastic bags containing parts and components Read the manual thoroughly prior to assembling the unit Be careful when handling tools Do not assemble the robot in presence of small ch
9. Please select the RobotArm_Selftest hex file in the list and click on the Up load button on the top right just below the progress bar The program will now be transferred into the MEGA64 processor on the Robot Arm This should not take more than a few seconds max 5 seconds for the selftest program Switch to the tab at the bottom of the window Terminal Alternatively you can also switch to terminal via the menu item View RobotLoader 2 Calibrate the robotarm servomotors Press ENTER to continue t Robotarm Selftest EEEE Main Menu Advanced Menu EEEE t 0 Run ALL Selftests 1 4 c Calibrate Robotarm t 1 LED Test m Current Measuring Servos t 2 Voltage Sensor Test b Start Position t 3 Buzzer Test t 4 Servo Test System voltage 04 90V t t t t
10. Step 1 Select a port make sure that the lead is connected and the programmer s drivers are installed You can recall the port list via the menu RobotLoader gt Refresh port list Select the port and click on Connect Select the appropriate hex file in step 2 Click on Add RAC MINI HEX 49 In step 3 click on the button Upload to import the file If you want to operate the Robot Arm you have to disconnect the RobotLoader in Step 1 by clicking on the button Close If you close the program the connection is automatically interrupted Please make sure that there is no connection between the Loader software and the Robot Arm otherwise the robot can t be controlled via the RACS software 7 1 RACS Instruction Manual The Robot Arm can be controlled very easily via the RACS software A link is established between the programming control lead and then the motors of the Robot Arm react to the slider positions set via the mouse The current positions can be saved changed and erased in the list box in the lower part of the user interface This generates a list containing the individual positions that can be saved as a file on the computer by clicking on the button Save This step list can be uploaded any time Important The robot monitors the motor current of every individual servomotor If the threshold of a servo is exceeded e g during a col lision or overload the text in the RACS software sta
11. Vd m NMC 5 8d NMC OASIIS 9d NMC COATIS va NMC IOATHS cd TN __ 855 Ld OA3IHSS COAYASS td IOASIHSS Id t 1 HOBBY E PCB ROBOT ARM RA2 E Boe 5 tt Ed 16 E E ele 67 F NEW PCB ROBOT ARM RA2 HOBBY 9juo1mo ANS DDA T A9T ROT LOOPNI TEA va Et 900 9 8 TOY 9S ANS DDA SOA uan TN A9T nor 901 064 2 SSS MYI AI M SOAHS 6TA dzz 15 I 55 1 6 2 p 1 2 Ma 5997 vc ST ANS NH a001 EMS 012 ga piuonmo il ERU y il OT xx S A9T ROT Sod n JOAS NOI I CMS 69 ST j ET 198 E vO i ONER 104126 ITA d q 75 OSIIN ISOIN MOS DOA i SS A9T ROT v 6 LINI HOI D 8 9ca an n 904195 mcm ETO 9 GOMES NUT SIT li sod p 04198 5 OAIHS sod n 04196 4 ES NH Odd NH Idd 2 uor 4001 Tuan 9 15 95 TSOPOHbL V T9 A9T nor 79 79d tol IXH zc cmd TO LXH 9Vd SS Lvan HnQI MYI SIT IL SVd 9c 9109110 TI TONNAS 1 58 001 974 lt 85 pjuo
12. hexadecimal format that s why this kind of program file is called hex file The file just selected appears afterwards in the list This way you can add other hex files from your own programs and from the examples programs see screen shot where some hex files have already been added The Robot Loader is able to manage several categories of hex files This allows to sort the files in a clear way e g if several programmable ex tension modules are mounted on the robot or different program versions are used The list is automatically saved at the end of the program Of course only the paths to the hex files are saved not the hex files themselves If you work on a program you just need to add and select the hex file once Then you can load the new program into the microcontroller after every re compiling of the program you can also use the key combination STRG D or STRG Y to start the program directly after the transfer The path names are of course totally different under the various operating systems Nevertheless the Ro botLoader suits both Windows and Linux without any changes as there is a separate list for Windows and Linux Either you continue now with the other example programs Examples of the Robot Arm or else you start with your own software programming If the voltage drops below lt 4 4 V warning is displayed The maximum voltage that the RobotLoader is able to measure is 5 1 V 44
13. it will not work Having done that you can start with the installation itself Now you have two options either you do everything manually or you use a very simple to use installation script We recommend to try the installation script first If this doesn t work you can still install the compiler manually 26 Attention You should have enough free disk space on your hard disk Temporarily more than 400Mb are required Over 300Mb can be erased after the installation but during the installation you need all the space Many of the following installation steps require ROOT RIGHTS so please log in with su as root or execute the critical commands with sudo or something similiar as you have to do it in Ubuntu e g the installation script mkdir in usr local directories and make install require root rights Please note in the following the EXACT spelling of all commands Every sign is important and even if some commands look a bit strange it is all correct and not a typing mistake CD ROM drive has of course to be repla ced by the path of the CD ROM drive The folder on the CD CD ROM drive gt Software avr gcc Linux contains all relevant installation files for the avr gcc avr libc and binutils First of all you have to copy all installation files in a directory on your hard disk this applies for both installation methods We will use the Home directory usual abbreviation for the current home directory is
14. modules are fitted with a compatible bootloader Moreover it contains a few useful extra functions as e g a simple terminal program It is not necessary to install the RobotLoader Just copy the program some where in a new folder on the hard disk CD ROM drive gt Software RobotLoader RobotLoader zip Unpack the program somewhere on your hard disk e g in a new folder C Programme WR3obotLoader or similiar This folder contains the RobotLoader exe file that you can start with a double click The Robot Loader program itself is in the Java archive JAR RobotLoader lib jar Alternatively you can start this via the command line Under Windows java Djava library path jar RobotLoader lib jar Linux java Djava library path lib jar RobotLoader lib jar 34 The long D option is necessary to enable the JVM to find all used libraries Windows doesn t require this and you can just start with the exe file Linux requires the shell script RobotLoader sh It might be necessary to make the script executable chmod x RobotLoader sh After that you can start it in a console with RobotLoader sh It is advisable to create a shortcut on the desktop or in the start menu to make the start of the Robot Loader more convenient Under Windows make a right click on the RobotLoader file exe and then click on Desktop create shortcut in the Send to menu Robot Arm Library Robot Arm CONTROL Library and Ex
15. programs 62 A CIRCUIT DIAGRAM ROBOT ARM RA2 HOBBY LOOPNI AO9T nOLY 07 Col Ilo 6 20A A9T n0T AAS DOA 01 N JT 520951 X TEA eme 9 LINE MYI MI 95 22 A9T n0T MOI 064 ig Sag WE li YOVOHIALV SOA3IHS 6 ISA ss am 2 0 sod p 04125 vC 001 EMS 82 piuonmo i XI A9T nOT 9 Ont sod n oA1s MOT CMS SPIPNI a al SE x01 UT TONMHS 75 A SDA o v 01 D 3 9 2 E 9 SIT li sod p OAJos Iv ues OAWHS cct sod n ponos 0p 65 NH 66 E Nd 86 uor 9001 gumo 9 92 79 A9T n01 79 NOT al 1 289 OQV SS Ivan HNQI MYI SIT 96 9jua1mo c 5 ETA UG TS 974 85 pumo SIN 65 SDA Vd 09 aumo puuno ETA O0Vd I9 pueuno 91 101 MOI Bre Ico MYI IOASJS lod IS I 63 B CIRCUIT DIAGRAM POWER SUPPLY RA2 HOBBY UOISIADY v 4g E i 901 FUTUNA AV 10901 TU UN iv 12945 OTOC Un wq vv Joquinyy 9215 ODA npo npo npo E UNC
16. that the compiler is criticizing If you click on the coloured error message PN2 skips in the relevant editor directly to the faulty line The indication at the end AVR Memory Usage is also very useful Size after AVR Memory Usage Device atmega64 Program 3074 bytes 4 796 Full text data bootloader Data 68 bytes 1 7 Full data bss noinit This means for the Atmega64 processor that our program has a size of 3074 bytes and that 68 bytes of RAM are reserved for static variables you have to add to this the dynamic ranges for heap and stack but this would go too far just keep always at least a few hundred bytes of memory free We dispose in total of 64kb 65536 bytes of Flash ROM and 2kb 2028 bytes of RAM On the 64kb 2k are occupied by the bootloader so we can only use 62kb Make always sure that the program fits into the available memory space The RobotLoader doesn t transfer the program if it is too big 59 This means that the example programs above leave 60414 bytes of free space The relatively short example program Example 01 Leds c is only so big because the Robot ArmBaseLibrary is included So don t worry there is enough space for your programs and so small programs usually don t need so much memory space The function library on its own needs several kb of Flash memory but makes your job much easier and therefore your own programs will generally be quite small compared to the Robo
17. the mouse cursor changes into a double arrow at the upper edge of the grey area marked output at the bottom of the program window You can take a quick look at the program that you just opened with the source text editor but you don t need to understand right now what is happening exactly However as a first info The green text are comments that are not part of the actual program They are only used for description documentation purposes 56 We will explan this in detail a bit further down there is also a version of this program WITHOUT comments so that you can see how short the program is in fact The comments inflate it a lot but are necessary for the understanding The uncommented version is also useful to copy the code in your own pro grams First of all we just want to test if the compi lation of programs works properly 1179038 Window Help Line Endings Use Tabs WinAVR Make All WinAVR Make Clean WinAVR Program In the Tools menu on top both freshly instal led menu items see fig should appear or the WinAVR inputs existing as a standard in PN whatever it works normally with both Please click now on MAKE ALL Stop Tools Ctrl Shift K Options PN2 retrieves now the above mentioned make all bat batch file This will on its turn retrieve the program make More info about make will follow later The example program will now be compiled The generated hex file con
18. the tilde gt mkdir Robot Arm gt cd CD ROM drive gt Software avr gcc Linux gt cp Robot Arm After the successful installation you can erase the files to save space 27 Automatic Installation Script Once you have made the script executable via chmod you can start immediately gt cd Robot Arm gt chmod x avrgcc build and install sh gt build and install sh Answer to the question if you want to install with this configuration or not PLEASE NOTE The compilation and installation will take some time depen ding on the computing power of your system e g about 15 min on a 2GHz Core Duo Notebook Slower systems will need longer The script will include also some patches These are all the diff files in the directory If the installation was successful following message will be displayed Javrgcc build and install sh Javrgcc build and install sh installation of avr GNU tools complete Javrgcc build and install sh add usr local avr bin to your path to use the avr GNU tools Javrgcc build and install sh you might want to run the following to save disk space Javrgcc build and install sh avrgcc build and install sh rm rf usr local avr source usr local avr build As suggested you can execute rm rf usr local avr source usr local avr build This erases all temporary files that you will not need anymore You can skip the next paragraph and set
19. 2 4 20 or higher already include the required driver at least for the compatible previous model FT232BM of the chip on our USB interface the FT232R The hardware is automatically recognized and you have nothing else to do In case of a problem you can get Linux drivers and support and maybe also newer drivers directly from FTDI http www ftdichip com Once the hardware has been connected you can check under Linux via cat proc tty driver usbserial if the USB serial port has been correctly installed This is normally all you have to do It is worth to mention that the Robot Loader uses under Windows D2XX dri vers and the full USB designations appear in the port list e g USBO Robot USB Interface serialNumber Whereas under Linux the virtual comport designations appear such as dev ttyUSBO dev ttyUSB1 etc The normal com ports are equally displayed as dev ttySO etc In this case you have to try which port is the correct one Unfortunately Linux doesn t have such a convenient driver that does both Therefore it made more sense to use the Virtual Comport drivers that are included in the kernel anyway The installation of a D2XX driver would require quite a lot of manual work Finalization of Software Installation Now the installation of the software and the USB interfaces is completed You just need to copy the most important files from the CD on a hard disk especially the complete Documentation folder and if it h
20. AREX AREXX AREXX EDUCATIONAL ROBOT ROBOT ARM HOBBY MOUNTING INSTRUCTIONS Model RA2 HOBBY AREXX THE NETHERLANDS V0610 Table of Contents 1 Product description ROBOT ARM 3 2 Required tools 5 3 Part list 6 4 Mounting instructions 8 5 Starting the Robot 22 6 Software installation 23 T Programmer and Loader 36 7 1 Robot loader 37 7 2 Connection of USB interface Windows 38 7 3 Connection of USB interface LINUX 41 7 4 Testing the USB interface 42 7 5 Opening a port Linux 43 7 6 Selftest 44 7 7 Calibration 46 7 8 Keyboard test 48 8 RACS 49 9 Programming the ROBOT ARM 54 XX APPENDIX modifications A Circuit diagram Robot Arm 63 B Circuit diagram Power Supply 64 C Circuit diagram Connectors 65 D Circuit diagram Keyboard 66 E PCB 67 F New PCB 68 G New PCB 69 AREXX and ROBOT ARM are registered trademarks of AREXX Engineering HOLLAND English translation March 2006 AREXX Engineering NL This manual is protected by laws of Copyright Any full or partial reproduction of the contents are forbidden with out prior written authorization by the European importer AREXX Engineering Zwolle NL Manufacturer and distributor cannot be held responible for any damage resulting from mishandling mounting mistakes or disrespect of the instructions contained in the manual Subject to changes without prior notice REXX Technical mounting support AREXX
21. E EE E 4 calibration program to nien nien start calibration tiii Main Menu iiri Advanced Menu tiii t t 0 Run ALL Seiftests 1 4 c Calibrate Robotarm t 1 LED Test m Current Measuring Servos 2 Voltage Sensor Test b Start Position 3 Buzzer Test t t 4 Servo Test System voltage 04 90V t t Please enter your choice 0 4 c m or b RobotLoader Calibration To calibrate the robot arm in the right position you have to calibrate the robot arm in the same position as the picture in the manual chapter calibration You can use the next keys to change the position Stop the servo movement hold Bring all servomotors into central Seve pasisin ENED position so that the Robot Arm looks It will stop de calibration program like on page AT s The servomotors 2 6 are approximately in a central position 5 and the finger servo 1 is almost Position 1649 closed Once the calibration C Calibrate is completed the robot can execute following selftest The result of the calibration is saved in ATMEGA 46 Calibratio
22. E the first connection of the hardware The CD contains an installation program for the driver For 32 and 64 Bit Windows 7 XP Vista Server 2003 and 2000 systems CD ROM drive gt Software USB_ DRIVERWin2k XPYCDM Setup exe For old Win98SE Me systems such a handy program does unfortunately not exist You need to install an older driver manually after connecting the equipment see below Just execute the installation program There will just be a short note that the driver has ben installed and that s all Now you can connect the USB interfac to the PC PLEASE DO NOT CONNECT TO THE ROBOT YET Just connect to the PC via the USB lead Please touch the PCB of the USB interface only at the edges or at the USB plug or at the plastic shell of the programming plug see safety instructions on static discharges Please avoid touching any of the components on the PCB soldering points or contacts of the IDE connector unless absolutely necessary in order to prevent static discharges The previously installed driver will be used automatically for the device without any help from your side Under Windows XP 2k small speech bubbles appear at the bottom above the task bar The last message should be The device has been successfully installed and is ready for If you have connected the USB interface before the installation or use Win98 Me it doesn t matter so much Windows will ask you for a driver This installation method is also po
23. EO l JDA 06 npo A9T R0O0T CC8SNT ASt n0001 Coup npo ncc I S OLSTINT O0 SNT an Id 64 E I Kg 10401 rurun Ani 20402 rurun jr v pd Jo 12245 Q10c un 01 vv UOISTAOY JoqumN 9215 yen soid l c 5 LAXE i A LASATA a ped Aay C CIRCUIT DIAGRAM CONNECTORS RA2 HOBBY 65 m x d t I 4 I UMvIGpp 10901 30901 rurunjgr jv d PAS O10C un vv UOISTASY JoqwunN 9219 eni ped Aay 1xo 66 D CIRCUIT DIAGRAM KEYBOARD RA2 HOBBY 9Vd LNd o o m Vd NVL ria NMC 90ARHS CIC orad o o gt LHOM Sid 9 55 SOASIHSS 8vIYNI 8 o Vd mr _
24. ample Programs The Robot Arm Library and the related example programs are in a zip archive on the CD CD ROM drive gt Software Robot Arm Examples Robot ArmExamples MINI zip Just unpack them directly into a directory at your convenience on the hard disk It is recommended to unpack the example programs into a folder on a data partition Or in the My files folder a sub folder Robot Arm Examples or else under Linux into the Home directory It s entirely up to you The individual example programs will be discussed later in the software chapter 35 7 Programmer and Loader To load a HEX Robot Arm program from the PC into the Robot Arm we will use the USB programming adaptor and our RobotLoader software The loose USB port adaptor transmitter receiver transceiver included in the package must be connected on one side to a USB port of the computer and on the other side to the Prog UART port of the Robot Arm PCB The program upload into the Robot Arm erases automatically the previously existing program RobotLoader USBO RP6 USB Interface ARTBUGKH RobotArm Selftest hex RobotLoader software 36 7 1 Robot Loader As said the RobotLoader has been developed to upload easily new programs into the Robot Arm and into all our robots provided that they contain a compati ble bootloader RobotLoader RobotLoader If the voltage drops below lt 4 4 V a warning is displayed RobotLoader
25. arf 2 DF_CPU 16000000UL Os funsigned char funsigned bitfields Creating load file for Flash Robot Arm Leds hex Creating load file for EEPROM Robot Arm Leds eep avr objcopy j eeprom set section flags eeprom alloc load change section Ima eeprom 0 no change warnings O ihex Robot Arm Leds elf Robot Arm Leds eep exit 0 Size after AVR Memory Usage Device atmega64 Program 3074 bytes 4 7 Full text data bootloader Data 68 bytes 1 7 Full data bss noinit EEPROM 14 bytes 0 7 Full eeprom end gt Process Exit Code 0 gt Time Taken 00 04 58 The Process Exit Code 0 at the end is most important It means that no error occurred during compilation If another code appears there the sourcecode contains an error that must be corrected before it will work In this case the compiler will output various error messages that give some more information Please note however that the Process Exit Code 0 is not a guarantee of a fully error free program The compiler will not find flawed thinking in your pro gram and it can t prevent the robot from running into a wall IMPORTANT You might find warnings and other messages further above These are often very helpful and always indicate important problems That s why these always need to be solved PN2 highlights warnings and errors by colours to make the identification easier Even the line number is indicated
26. arm exactly as described in the drawing Servo arm Servo screw M2 3x6 Bottom plate Mounting the servo arm 1x Assembled bottom plate Following parts are required 1x Servo coupling rod 1x Servo screw small M2x6 2x Servo screw large M2 3x6 Coupling rod Can the rod rotate freely at Servo screw 180 degrees M2 3x6 Servo screw M2x6 Bottom plate Mount the servo arm exactly as described in the drawing 11 Mounting the dual servo For the final assembly of the dual servo following parts are required Round head screw 8 Disc with 1x Dual servo holder axis 2x Disc with axis 2x Round head screw M3 x 8 2x Locknut M3 4x Selftapping screw 2 6x6 1x Cover 3x Selftapping screw 2 3x8 2x Servo disc 2x Servo screw small M2x6 Mount the dual servo exactly and in the same order as described in the drawing Selftapping screw 2 6x6 Dual servo holder with servos Servo disc Dual servo holder with servos Servo screw M2x6 12 Mounting the dual servo holder Following parts are required 1x Assembled bottom plate 1x Dual servo holder Servo screw 2x Servo screw small M2x6 2x Servo screw large M2 3x6 TEST Can the dual servo rotate freely at 180 degrees Servo screw M2 3x6 Bottom plate Mount the dual servo exactly as described in the drawing Mounting the wrist servo Following parts are required 1x Miniservo 1x Servo h
27. asn t been done yet the example programs This avoids to look constantly for the CD if you need these files The folders on the CD are all named in such a way that they can be easily allocated to the relevant software packages or documentation If you loose the CD one day you can download the most important files as this manual the RobotLoa der and the example programs from the AREXX home page You will find there also the links to the other software packages that you require 41 7 4 Testing the USB Interface and starting the RobotLoader The next step is a test of the program upload via the USB interface Connect the USB interface to the PC always connect the PC first and the other end of the 10 pin ribbon cable to the PROG UART connector on the Robot Arm Robot Arm MUST BE SWITCHED OFF The 10 pin ribbon cable is mechani cally protected against polarity inversion As long as it is not forced it can t be connected the wrong way round Then start the RobotLoader Depending RobotLoader Einstellungen gr MI on which language you have selected the ny menus might have a bit different names Eme screen shots show the English version Via the menu item Options Preferences you can select under Language Sprache the required language English or German and then click on OK German Once you have selected your language you have to re start the Robot Loader to validate the changes Open por
28. evelopment for AVR micro control lers in C language In addition to the GCC for AVR designated by the term more details later WinAVR includes the convenient source text editor Programmers Notepad 2 that we will also use for the program deve lopment of the Robot Arm WinAVR is a private project that is not supported by a company It is available for free in the internet You will find updated versions and more information at http winavr sourceforge net In the meantime the project gets the official support from ATMEL and the AVRGCC is available for AVRStudio the development environment for AVR s from ATMEL However we will not describe it in this manual as Programmers Notepad is much better suited for our purpose The WinAVR installation file is on the CD in the folder lt CD ROM drive gt Software AVR GCC Windows WinAVR The installation of WinAVR is simple and self explanatory Normally you don t need to change any settings So just click on Continue 24 If you use Windows Vista or Windows 7 you must install the latest version of WinAVR It should also work perfectly with Windows 2K and XP If not you can try one of the older versions that are also on the CD before you make a new installation of WinAVR you have to uninstall the existing version first Officially Win x64 is not yet supported but the CD contains a patch for Win x64 systems if a problem arises You will find more information
29. ildren They can get hurt with the tools or swallow small components and parts Check the correct polarity of the batteries Make sure that batteries and holder remain always dry If the ROBOT ARM gets wet remove the batteries and dry all parts as thoroughly as possible Remove the batteries if the ROBOT ARM will not be used for more than one week 1 3 What can we do with the Robot Arm Transfer example and new programs into the Robot Arm Control the Robot Arm via a keyboard Control and program the Robot Arm via the RACS software Extend the Robot Arm with ready to use extension modules so that it can hear feel and see in order to react to its environment Just as genuine robots can build e g cars this robot can also do some tasks for you The Robot Arm can communicate with its environment and many other units via its I2C interface Artificial intelligence The Robot Arm improves its software automatically via its selflearning software 2 Required tools Needle nose Sidecutter Screwdriver set Screwdriver Double open end wrench Included mg Selftapping screws behave like wood screws i e they cut a thread into the material in a rotating motion that functions like a nut To this end this type of screw has a larger thread and a sharper tip as a normal screw Selftapping screws Parker Selftapping screws have a cutout at the top M The best way to fasten such a screw is 2 Slightly
30. in this case the output of the compiler You can convert many other things in PN2 and it offers many useful features 55 Open and compile an example project Let s test now if everything runs properly Lr open the example projects File View Tools Select in the File menu the item Open rm Project s Mew d Open Open Project si A normal file section dialogue appears Search the folder Robot Arm Examples MINI V in the folder into which you have saved the example programs Sktrg 2 Glose Projectisi Open the Robot ArmExamples ppg file This is a project group for PN2 that uploads all example programs as well as the Robot Arm Library into the project list Projects Recent Files d Recent Projects d Exit Now all example projects are conveniently at hand if you want to refer to them at the beginning or look for functions in the Robot Arm Library etc Open the first example program on top of the list 01_Leds and select file 01_Leds that appears on the left edge of the program window Just double click on 01_Leds c A source text editor is displayed in a window inside the program An output area should appear on the bottom of the program window of PN2 If not you have to enable this area via the View menu gt Enable output OR if the area is too small increase the size by pulling the edges with the mouse
31. item Normally the AVR GCC is a pure command line program without graphic interface You will find more recent versions of Programmers Notepad on the project homepage http www pnotepad org The newest versions of WINAVR don t require the setting up of menu items anymore PLEASE NOTE In this section we don t describe anymore how you have to set up menu items in PN2 as the newest WINAVR versions have done this already for you 54 See on page 56 Open and compile an example project how you can open an example project If you have opened an example project it should look a bit like this on the PN2 screen File View Tools Help 4 81 t New Project Group E Calibrate RobotArm 3 3002 Uart o1 Robot ArmExamples ppg file R E or This is a project group for PN2 i TET Uart 02 that uploads all example programs Be i e RobotArm Uart 02 c plus the Robot Arm Library into the 3 3 04 Stopwatches project list Projects 8 _Stopwatches c 2 3 05 Measuring Current i m Makefile _ L RobotArm Measuring Current c a i 06 Move 01 Makefile 221 RobotArm Move 01 c B I 07 Move 02 _ Makefile Text Clips E Tags Projects On the left hand side are shown all example projects on the right hand side the source text editor with the mentioned syntax highlighting and at the bottom the tools output
32. loosen the screw 3 Tighten the screw again If the screws are loosened and tightened too often the hole enlargens gradually and the screw doesn t fit anymore properly Locknut Fastening a locknut Do not force the screws otherwise the plastic may crack Locknut Double open end wrench The set includes a double open end wrench Use this wrench for the M2 and M3 nuts You can use this wrench instead of pliers 5 3 PART LIST Servomotor Servolever CD USB lead Keyboard QO CD O 4xMini O 2x O 1x O 1x O 1x O 2x Maxi Disk with Servo disc Holder for Servo holder axis maxi servo dual Spacer for Servo Cover for maxi Cover for servo holder servo holder Servo holder Servo holder Fingertip for finger servo Wrist O 1x O 1x Servo bottom plate Cover servo holder Coupling rod Program Wrist adaptor Programming Servo exten lead sion lead O 1x Servo screw Selftapping screw Servo screw Selftapping screw Selftapping screw small M2x6 M2 3x8 large M2 3x6 M2 6x6 M3 5x8 O 8x O 4x O 10x O 8x O 4x Round head Round head Round head screw Nut Locknut M3 screw M3x6 screw M3x8 M3x10 O 4x O 8x O 2x 4 Mounting instructions for mechanical parts Mounting the bottom servo Following parts are required 1x Bottom plate 1x Maxi servo Screw M3x8 nonet o 4x Round head screw M3x8 4x Nut M3 Fasten the servo exactly as described in the drawings Servo Bo
33. makefiles Now the binutils can be compiled and installed gt make gt make install Depending on the computing power of your system this can take a few minu tes That applies also to the next two sections especially to the GCC Java 6 The RobotLoader see Info below has been developed for the Java platform and is suitable for Windows and Linux theoretically also for operating systems like OS X but AREXX Engineering is unfortunately not yet in a position to give official support To make it work you need to install an updated Java Runtime Environment JRA It is often already installed on the computer but it must be at least version 1 6 Java 6 If you have no JRE or JDK installed you must install the supplied JRE 1 6 from SUN Microsystems or alternatively download a newer version from http www java com or http java sun com 292 Windows The JRE 1 6 for Windows is in following folder CD ROM drive gt Software Java JRE6 Windows Under Windows the installation of Java is very simple You just have to start the setup and follow the instructions on the screen that s it You can skip the next paragraph Linux Under Linux the installation doesn t present any major problems although some distributions require some manual work In the folder CD ROM drive gt Software Java JRE6 you will find the JRE1 6 as an RPM SuSE RedHat etc and as a self extracting archive bin Under Linux it is advisable to look f
34. n position 7 8 Keyboard Test The set is supplied with a keyboard that can be connected to the Robot Arm It is a good option for simple demonstrations and allows us to practice the control of a robot arm via a keyboard The keyboard is fitted with 6 control keys and 4 special keys for later extensions If we want to test the Robot Arm via the keyboard we need to transfer the ap propriate hex program into the robot s microprocessor Please click on the button Add on the bottom of the RobotLoader window and select the file RobotArmExamples RobotArm Key Board hex in the example directory Select the file RobotArm Key Board hex in the list and press subsequently the Upload button on the top right side below the progress bar Having done that you can control the Robot Arm simply via the keys on the keyboard PCB Keyboard Keyboard lead 48 8 0 RACS Software RACS Robot Arm Control Software is the easiest way to control and program the Robot Arm Programming via the RACS method requires the RobotLoader software and the USB programming adaptor Prior to using the robot you need to upload the HEX software RAC MINI hex into the Flash memory of the processor Connect the programming control lead to the USB port on your computer and start the Loader software Following user interface is displayed RobotLoader 0580 FT232R USB UART A9008Zgl Fig 1 If no USB port appears in the list
35. nd check the interface ERROR ET Connection Failed Fig 7 52 7 3 RACS Automated Position Control Following controls are available in the window below run repeat pause stop save load Shep ine 5 j 1 add replace insert clear Add Replace Insert Clear Save Load Run Step Time Pause Stop this button adds the current slider position to the list the selected list item will be replaced by the current slider positions the current slider positions will be inserted above the selected list item the selected list item will be erased the list items will be saved in a file the list items are uploaded from a file Caution the current list items will be erased The list items are processed in sequence starting at the top If the Repeat option has been enabled the Robot Arm will keep processing all items continuously The step time defines how long in seconds the robot will wait until it processes the next item in the list If the list contains only very short travels the selected time may be short If on the contrary very long travels have been programmed e g full 180 servo motions the selected time must be set longer as the robot will not reach its target position and will proceed prematurely to the next step item The process is paused The process is stopped 53 8 0 Programming the Robot Arm Now we are graduall
36. nstallation files for Firefox are also on the CD in the folder CD ROM drive MSoftware Firefox if ever you haven t installed an updated web browser it should be at least Firefox 1 x or Internet Explorer 6 After the language selection you will find in the CD menu in addition to this manual that you can also download from our home page information data sheets and pictures also the menu item Software It contains all software tools USB drivers and example programs with source code for the Robot Arm Depending on the safety settings of your web browser you can start the instal lation programs directly from the CD 295 If the safety settings of your web browser don t allow a direct installation from the CD ROM you have to copy the files first into a directory on your hard disc and start the installation from there For more details please refer to the software page in the CD menu Alternatively you can also switch to the CD drive via a file manager and install the software from the CD The names of the directories are self explanatory so that you can allocate them easily to the corresponding software packages and operating systems WinAVR for Windows We will start with the installation of WinAVR WinAVR is as the name says only available for Windows Linux users can skip to the next section WinAVR pronounce like the word whenever is a collection of many useful and necessary programs for the software d
37. older wrist 2x Selftapping screw M2 6x6 Selftapping screw 2 6x6 Servo holder lt Miniservo wrist Mount the wrist servo exactly as described in the drawing 13 Mounting the wrist cover Following parts are required 1x Assembled wrist 1x Wrist cover 1x Selftapping screw M2 3x8 Selftapping screw 2 3x8 Mount the cover exactly as described in the Assembled wrist drawing Final assembly of the wrist servo Following parts are required 1x Assembled wrist 1x Servo disc 1x Servo screw small M2x6 Servo disc Servo screw M2x6 Assembled wrist Mount the servo disc exactly as described in the drawing 14 Mounting the finger servo holder Following parts are required 1x Assembled wrist 1x Finger servo holder 2x Servo screw small M2x6 Finger servo holder Servo screw M2x6 Mount the finger servo holder exactly as described in the drawing Mounting the finger servo holder Following parts are required 1x Assembled wrist 1x Finger servo holder 1x Servo disc 1x Screw M3x8 1x Locknut M3 Wrist assembly Can the wrist rotate freely at 180 degrees Mount the servo disc exactly as described in the drawing screw M3x8 Locknut M3 Servo disc 15 Mounting the finger servo i i 1x Assembled wrist Following parts are required 1x Mini servo 2x Selftapping screw M2 6x6 Fasten the servo at the servo holder exactly as described in
38. on the software page of the CD menu AVR GCC avr libc uad avr binutils for Linux Windows users can skip this section Linux might require more effort Some distributions already contain the re quired packages but they are mostly obsolete versions Therefore you need to compile and install newer versions It is impossible to describe in detail the numerous Linux distributions as SuSE Ubuntu RedHat Fedora Debian Gentoo Slackware Mandriva etc that exist in many versions with their own particularities and we will keep here only to the general lines The same applies to all other Linux sections in this chapter The procedure described here must not necessarily work for you It is often helpful to search in the internet e g for lt LinuxDistribution gt avr or similar Try different spellings The same applies to all other Linux sections of course with the suitable keywords If you encounter problems with the instal lation of the AVR GCC you can also take a look in our robot network forum or in one of the numerous Linux forums First of all you have to uninstall already installed versions of the avr gcc the avr binutils and the avr libc because as said these are mostly obsolete You can do that via the package manager of your distribution by searching for avr start up and uninstall the three above mentioned packages as far as they exist in your computer You can find out easily if the avr gcc has already been ins
39. or Java packages in the package manager of your distribution Keywords e g java java6 and use the packages of your distribution rather than those on the CD ROM However make sure to install Java 6 71 6 or a newer version but definitely not an older one Under Ubuntu or Debian the RPM archive doesn t work directly You will have to use the package manager of your distribution to find a suitable installation package The RPM should however work well with many other distributions like RedHat Fedora and SuSE If not you always have the solution to unpack the JRE e g to usr lib Java6 from the self extracting archive bin and set manually the paths to the JRE PATH and JAVA HOME etc Please refer to the installation instructions from Sun that you will find also in the above mentioned directory and on the Java website see above 33 You can check if Java has been correctly installed by entering the command java version in a console The output should be approximately as follows java version 1 6 0 Java TM SE Runtime Environment build 1 6 0 b105 Java HotSpot TM Client VM build 1 6 0 b105 mixed mode sharing If the output is totally different you have either installed the wrong version or there is another Java VM installed in your system Robot Loader The Robot Loader has been developed to load easily new programs and all extension modules into the Robot Arm as long as the
40. rts flashing In this case the robot must be driven back to its last position as quickly as possible or the servopower in the RACS software must be disabled di sable the checkbox servopower Otherwise the Robot Arm might be definitely damaged 50 7 2 RACS Connection 1 Double click on the Robot Arm Control Software to start it following interface is displayed connection servo control COMI connect arm Servo6 rotate 5 bottom Fig 2 Servo4 middle Servo3 top claw rotate gripper repeat Step Time add replace insert clear 2 In the dropdown menu are listed all serial interfaces connection Fig 3 3 Plug in the USB programmer 4 Click on Update button When you look again that the dropdown menu you will see an additional interface This interface has been initialized by plugging in the USB programmer Attention The name of the interface differs from one computer to the other 51 Select the new interface connection update connect Fig 4 Enable the checkbox Connect Fig 5 update Enable the checkbox servo power Fia 6 servo control Ig 9 servo power Move the slider to control the servos If an error occured during the establishment of the connection following window appears The connections must be established again repeat steps 2 6 a
41. ssible The driver is also in unpacked format on the CD 38 If you are in this situation a dialogue appears under Windows to install the new driver You have to indicate the path to the system where it can find the driver Under Windows 2k XP you need to select first the manual installation and not to look for a web service On our CD the driver is in the above men tioned directories 90 just indicate the directory for your Windows version and eventually a few other files that the system doesn t find automatically they are all in the directo ries mentioned below Under Windows XP and later versions there is often a message that the FTDI drivers are not signed verified by Microsoft normally not here as the FTDI dri vers are signed This is irrelevant and can be confirmed without any problem Operation For 32 and 64 Bit Windows 7 XP Vista Server 2003 and 2000 systems CD ROM drive SoftwareUSB DRIVERWin2k XPYFTDI 2 For older Windows 98SE Me systems CD ROM drive SoftwareUSB DRIVERWin98SE MEWY TDI D2XX After the installation of the driver a re start of the computer may be necessary with ol der versions like Win98SE PLEASE NOTE Under Win98 Me only one of both drivers is working Either Virtual Comport or the D2XX driver from FTDI Unfortunately there is no driver that offers both functions Normally there is no virtual comport available as the RP6Loader under Windows uses as a standard the D2XX drivers
42. t Windows Select the USB port As long as no other USBO FT232R USB UART A9008Z2h USB gt Serial Adaptor with FTDI controller is connected to the PC you will see only one single entry that you have to select If more ports exist you can identify the port via the name Robot USB Inter face or FT232R USB UART Behind the port name the programmed serial number is displayed If no ports are displayed you can refresh the port list via the menu item Robot Loader gt Refresh Portlist N WARNING If the voltage drops below 4 4 V a warning is displayed The maximum voltage that the RobotLoader can measure is 5 1V 42 7 5 Open a port Linux Linux handles the USB serial adaptor like a normal comport The installation of the D2XX driver from FTDI would not be as simple as that under Linux and the normal virtual comport VCP drivers are included anyway in the current Linux kernels It works almost the same as under Windows You just need to find out the name of the Robot Arm USB interface and make sure that the USB port is not unplugged from the PC as long as the connection is open otherwise you might have to re start the RobotLoader to re connect Under Linux the names of the virtual comports are dev ttyUSBx x being a number e g dev tty USBO or dev ttyUSB1 The names of the normal comports under Linux are dev ttySO dev tty S1 etc They also show up in the port list as far as they e
43. t ArmBaseLibrary The just compiled program can now be uploaded via the RobotLoader into the robot To do that you have to add the newly generated hex file into the list in the RobotLoader via the button Add select it and click on the Upload button exactly as you did for the selftest program After that you can switch back to the terminal and look at the output of the program Of course you need to launch the execution of the program The easiest way to do it in the terminal is to press the key combination STRG S on the keyboard or to use the menu or just to send an s after a reset you have to wait a little bit though until the message READYT is displayed in the terminal The key combination STRG Y is also very convenient as the currently selected program is uploaded into the Robot Arm and immediately started This avoids to click on the Flash Loader tab in the terminal or to use the menu The example program is very simple and is only composed of a small LED running light and some text output 60 As a conclusion We hope that our robots have guided you on your way into the world of robots We share the conviction of our Japanese friends that robots will become the next technological revolution after computers and mobile phones This revolution will trigger new economical impul Ses Unfortunately Japan other Far East countries and also the USA have largely overtaken Europe in this field Unlike Europe
44. tains the program in the translated format for the microcontroller and can be uploa ded and executed later The compilation process generates a lot of temporary files suffixes like o 55 sym elf Just ignore them The newly set up tool make clean will erase them all Only the hex file is of interest for us By the way the function make clean will not erase this file 57 After the activation of the menu item MAKE ALL following output should display below in a considerably shortened version Some lines may look of course a bit different gt make exe all begin avr gcc WinAVR 20100110 4 3 3 Copyright C 2008 Free Software Foundation Inc This is free software see the source for copying conditions There is NO warranty not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE Size before AVR Memory Usage Device atmega64 Program 3074 bytes 4 7 Full text data bootloader Data 68 bytes 1 7 Full data bss noinit EEPROM 14 bytes 0 7 Full eeprom Compiling C Robot Arm_Leds c avr gcc c mmcu atmega 4 1 gdwarf 2 DF_CPU 16000000UL Os funsigned char funsigned bitfields fpack struct fshort enums Wall Wstrict prototypes Wa adhlns Robot Arm Leds Ist std gnu99 MMD MP MF dep Robot Arm Leds o d Robot Arm Leds c o Caterpillar Leds o Linking Robot Arm Leds elf mmcu atmega16 gdw
45. talled or not via a console as e g gt which avr gcc 25 If a path is displayed a version is already installed So just enter gt avr gcc version and look at the output If the displayed version is smaller than 3 4 6 you have to uninstall in any case this obsolete version If the version number lies between 3 4 6 and 4 1 0 you can try to compile programs see following chapter If it fails you have to install the new tools We will install hereafter the currently most updated version 4 1 1 status March 2007 together with some important patches If the packages above do not appear in the package manager although an avr gcc has definitely been installed you need to erase manually the relevant binary files i e search in all bin usr bin etc directories for files starting with avr and erase these of course ONLY these files and nothing else Eventu ally existing directories as usr avr or usr local avr must also be erased Important You have to make sure that the normal Linux development tools as GCC make binutils libc etc are installed prior to compiling and installing The best way to do so is via the package manager of your distribution Every Linux distribution should be supplied with the required packages on the instal lation CD or updated packages are available in the internet Make sure that the texinfo program is installed If not please install the rele vant package before you continue otherwise
46. the drawing Selftapping screw M2 6x6 Mini servo Mounting the finger servo holder 1x Assembled Wrist 1x Servo disc 1x Servo screw small M2x6 Following parts are required Assembled wrist Fasten the disc on the servo exactly as described in the drawing Servo screw M2x6 Mounting the finger 1x Assembled wrist Following parts are required 1x Finger 2x Servo screw small M2x6 2x Servo screw large M2 3x6 Mount the finger exactly as described in the drawing Servo screw R M2 3x6 Assembled wrist TEST Can the finger rotate FREELY Servo screw M2x6 Final arm assembly 1x Assembled wrist Following parts are required ix Assembled 2x Servo screw small M2x6 2x Servo screw large 2 3x6 Servo screw M2x6 Assembled wrist Servo screw M2 3x6 Assembled Bottom plate Fasten the wrist on the arm exactly as described in the drawing 17 Mounting the base and the PCB 1x Metal base 4 Spacer M3x6 Following parts are required 4x PCB 4x Spacer M3x30 Spacer M3x6 Metal base Final assembly of the Robot Arm 1x Base assembly Following parts are required 1x ARM assembly 4x Round head screw M3x6 Round head screw M3x6 qux aie e Jun ar CUR Bh Il 2 4 9 0 IMPORTANT Complete all the wiring prior to proceeding with these steps Please refer to the circuit diagram on page 20 Terminal assignment on
47. the main PCB Connect the servos via the servo extension leads and use the spiral to run the wires properly Servo 6 5 4 3 2 1 I2C Keyboard ON OFF PROGRAMM UART switch Battery terminal 20 READY 5 Starting the Robot 1 Start by assembling the mechanical and electronic modules of the Robot Arm via the mounting instructions 2 If necessary connect the 9V mains adaptor 7 to 12 V max 3 Switch the robot on via the main On Off switch Voltage supply Mains adaptor There are 2 options to power the robot The easiest solution is to connect a mains adaptor with an output voltage of 7 12V 2 Amps to the DC 9V input This way the voltage is connected to the INPUT of the voltage regulator Batteries The second solution is to connect a battery to the battery terminal This way the battery voltage is connected to the OUTPUT of the voltage regulator and should therefore never exceed 5 5V If you use 4 pieces of normal 1 5V mono batteries D cells you should connect a diode in series in forward direction to the positive wire Even more appropriate would be 4 pieces of the large 1 2V mono D size accumulators AN WARNING ES 4 The max voltage that the RobotLoader is able to measure is 5 1 V DC terminal 12 V Battery terminal 5 5 V As soon as the Robot Arm is connected to a power supply the servos move slightly and the yellow LED LED1 lights up
48. the path to the avr tools If the execution of the script failed you have to look attentively to the error message scroll the console up if necessary In most cases it is just a matter of missing programs that should have been installed earlier as e g the before mentioned texinfo file Before you continue after an error it is recommended to erase the already generated files in the standard installation directory usr local avr preferably the whole directory 28 If you don t know exactly what has gone wrong please save all command line outputs in a file and contact the technical support Please join always as much information as possible This makes it easier to help you GCC for AVR The GCC is patched compiled and installed a bit like the binutils gt cd Robot Arm bunzip2 gcc 4 1 1 tar bz2 tar xf gt cd gcc 4 1 1 gt patch pO gcc patch Ob constants diff gt patch pO lt gcc patch attribute alias diff gt patch pO lt gcc patch bug25672 diff gt patch p0 lt gcc patch dwarf diff gt patch p0 lt gcc patch libiberty Makefile in diff gt patch pO gcc patch newdevices diff gt patch p0 lt gcc patch zz atmega256x diff gt mkdir obj avr gt cd obj avr gt configure prefix PREFIX target avr enable languages c ct disable nls disable libssp with dwarf2 gt make gt make install After the just press Enter and continue to write
49. ttom plate M3 Nut Mounting the servo arm 1x Bottom plate with servo Following parts are required 1x Servo arm 1x Servo screw large M2 3x6 Servo arm screw Servo arm Fasten the servo arm on the servo see detailed drawing Mounting the bottom servo Following parts are required 1x Bottom part 1x Maxi servo holder LUPUS TOTEN 4x Servo screw small M2x6 Maxi servo holder Mount the servo holder on the servo arm please look at the detailed drawing Bottom plate Mounting the servo holder 1x Bottom plate with servo Following parts are required holder 1x Disc with axis 1x Round head screw M3x8 Round head screw M3x8 1x Locknut M3 Disc with axis Servo holder Locknut Bottom plate Mount the servo axis on the servo Please refer to the detailed drawing 9 Mounting the servo 1x Assembled bottom plate 1x Servo large 1x Servo spacer 4x Round head screw M3 5x8 Following parts are required Servo IMPORTANT Don t forget the spacer for the servo Bottom plate Mounting the cover for the servo holder Following parts are required 1x Assembled bottom plate Selftapping screw 1x Servo holder cover M3x10 1x Selftapping screw M3x10 Mount the cover exactly as decribed in the drawing Bottom plate 10 Mounting the servo arm 1x Assembled bottom plate Following parts are required 1x Servo arm 1x Servo screw large M2 3x6 Mount the servo
50. umo 3001 SIA JDA 001 vld 1709010 001 ETA 0Vd L E pismo ae 91 101 al ere 19 MI IOA3IIS ITA DDA IS v 68 G NEW PCB ROBOT ARM RA2 HOBBY I UMeIGPp 70401 WAY 10991 rur d jo 19948 0102 290 1 mq vv UOISIAOY 9219 INL ALO npo ODA ODA EO JDA AUS Al ALt OTA ALAI 6 1001 Ic 0cO A9T R000T a oo Ve HOLy N A91 0ZC 512010 6 71 CC8SNT In f AV 9LSTINT ALY STA ZA 065 Ta ASt n000T 17001 119 an 01 OY AUS NH A6 0d 91 sod 9 HWN ATI VV 9715 00 69
51. xist The RobotLoader remembers if there are several ports which port you have used last time and selects this port automatically when you start the program in general most of the settings and selections are maintained Now you can click on the button Connect The RobotLoader will open the port and test if the communication with the bootloader on the robot is working The black field Status on the bottom should show the message Connected to Robot Arm or similiar together with an information about the currently measured voltage If not just try again If it still doesn t work there is a mistake Switch the robot off immediately and start searching for the error If the voltage is too low a warning is displayed You should immediately charge the accumulators preferably even earlier when the voltage drops below 4 0V 43 7 6 SELFTEST The yellow voltage LED lights up when the Robot Arm is switched on The status LED goes off when a HEX file is uploaded As soon as a program is started the status LED lights up in red In the robot status Ready the same LED lights up in green If this worked you can execute a small selftest program to test the functio ning of all robot systems Please click on the button Add on the bottom of the Robot Loader window and select the file RobotArmExamples MINI Example 11 SelftestRobotArm Selftest hex in the example directory This file contains the selftest program in
52. y coming to the programming of the robot Setting up the source text editor First of all we need to set up a little development environment The so called source text also called sourcecode for our C program must be fed into our computer one way or the other To this end we will definitely not use programs like OpenOffice or Word As this might not be obvious for everybody we stress it here explicitly They are ideally suited to write manuals like this one but they are totally inappropriate for programming purposes Source text is pure text without any formatting The compiler is not interested in font size and colour For a human being it is of course much clearer if some keywords or kinds of text are automatically highlighted by colours These functions and some more are contained in Programmers Notepad 2 abbeviated hereafter by PN2 that is the source text editor that we will use ATTENTION Under Linux you need to use another editor that offers about the same functions as PN2 Usually several editors are pre installed e g kate gedit exmacs or similiar In ad dition to the highlighting of keywords and others called syntax highlighting it offers also a rudimentary project management This allows to organise several source text files in projects and to display in a list all files related to a project Moreover you can easily retrieve programs like the AVR GCC in PN2 and get the programs conveniently compiled via a menu
Download Pdf Manuals
Related Search