RoboBuilder UXA-90 Light, Operation Manual

Page 1: ...UXA 90 Light Multipurpose Humanoid Robot Operation Manual 1 1 R0B0193MUP I FNM ...

Page 2: ...ARD EXPLANATION 14 4 3 SAM ID SETTING DIRECTION 15 S SOFTWARE 16 5 1 SOFTWARE DIRECTION 16 5 1 1 ROBOBUILDER DOWNLOAD TOOL 16 5 7 2 MOTION BUILDER 18 5 2 ZERO SETTING DIRECTION ROBOBUILDER DOWNLOAD TOOL 30 5 2 1 ZERO SETTING 7 PC NETWORK 30 52 2 ZERO SETTING 2 Remote controller on Robobuilder Download Tool Zero setting macro 32 52 3 ZERO SETTNG 3 MOTION INPUT 33 6 OPERATION METHOD 34 6 1 RBTooL 34...

Page 3: ...elevated place such as on a table and work on the floor to prevent the robot from falling In case of an emergency press the red button on the SW board during operation for immediate stop Do not put your hand into the fan on the knees Be careful with motions and orders that require immoderate movements as they may damage the robot Assure a safe distance from the robot when testing a new motion move...

Page 4: ...ower switch more than 3 seconds when you turn on the robot s computer together I You can control the robot s basic motions without turning on the computer Press the power switch on the RE mini controller to turn on the power Press 0 button on the RF controller to have the UXA 90 stand up in the initial position Press the button to have the robot move from the initial position Reference Chapter 7 1...

Page 5: ...oard shall stay on at all times and turn on and off the robot with the SW board 1 1 REGULAR POWER When using the regular power connect the power adapter provided with the package to the power supply part FWR Board of UXA 90 1 2 BATTERY POWER Check the specification of a battery first before use Refer to Chapter 7 3 Battery specification Connect the battery to the cable inside of the battery case R...

Page 6: ...omatic installation begins as shown in Figure 1 If auto installation does not begin try connecting the USB again Bluethoth Cu puter Cothrftlthuu DuB thuer Diepley edeptthe ODD CD ROM duu H n nthDeue IDE ATWATAPI 4 11 IEEE1394 Ru Duet uunt ull e Irnegieg 1ev Keybneedu j Miceend 0th pnnting dew ttMc n tu n Nc nn nrle edeyten PCMCIA edeptern POOnCOM IPTI cOM16 Li 9meDuundneednnn u Seondudeu ndge nnen...

Page 7: ...es 1d09 J BM Options Miscellaneous Options Select lower settings to correct response problems Serial Enumerator Serial Printer Timer insec It j E Latency Cancel If Power Off L M Event On Surprise Removal E l Tmeouts SetRTS On Clone C Disable Modem Ctrl Al Startup C Minimum Read Timeout msec r o I Enable Selectee Suspend Minimum Write Timeout rosec 0 Selectee Suspend Sille Timeout secs Figure 5 5 C...

Page 8: ...IDE ATA1ATAPI oontrollerc IEEE 1394 Boo hoot oontrollern lmogrng devioen Keyboardn Mow and other pomting deoroeu Monitoro Network adapter PCMCIA odoptero 0 PorN COM LPT Prooenno y Smart oard modern Sound video and game 000tro6ern y Sntnnr devioen ttnioernal Serial Bun oontrollers Figure 6 6 Check that the port number has been changed to COM3 ...

Page 9: ... download the firmware is Flash Loader Demo exe Be careful as each board requires different switches to be pressed before downloading the firmware 3 1 Head Board A Connect USB to UART to the PC and the head board The Boot switch is to be pressed when power is supplied so press the Boot button while the Reset button is being pressed and only keep the Boot button pressed Port Name IcO J Paflty Baud ...

Page 10: ...B Open Flash Loader Demo exe and set the USB to UART port name and the rate Press Next C Click Next D Check the list and click Next 10 ...

Page 11: ...E Refer to the UXA 90 L1GHT_PARTLIST file and open the firmware file hex of the head board Check the information and click Next F Once the download is completed click Close 11 ...

Page 12: ... firmware is downloaded properly on the switch board connect with the red interface board and provide power to the red interface board Check if the LED of the switch board power button is flickering 3 3 Red Interface Board 3 3 1 Main Controller A Connect in the order of PC Switch Board Red Interface Board SMPS power and click the power button on the switch board while the Boot button is pressed to...

Page 13: ... USB to UART cable B Press the two buttons Boot Reset on the UIC SUB CTRL board as explained earlier and down load the firmware with the Flash Loader Demo program UIC SUB CTRL board cannot be downloaded individually without connecting the two CTRL boards The power is supplied only when the DIP S W 3 4 5 are switched on SW Board part 13 ...

Page 14: ...JIJJ UART J1 Cable 1IJ1IA1 4 2 SAM Interface Single Board Explanation USB to UART Cable Connect the USB to UART cable to the PC as shown in the image POWER 1 8 5V Use 18 5V for power SWITCH Power switch DIP SWITCH Only keep the switch 3 on 14 ...

Page 15: ...or ID setting 4Pin Cable cable that fits the motor and SAM_Programmer exe First connect the power line 18 5V to the SAM Interface Single Board and connect the jumper and 4Pin Cable that corresponds to the SAM Motor specification Turn on the power run the SAM_Programmer exe file and connect the COM Port ij Press Scan ID button and check the motor ID and click Set ID to set the motor ID Click Scan I...

Page 16: ...ck tScan nih FReon O Figure 1 L EEl A Directory Explores the location in which the motion file is saved B File Displays list of motion files in the location selected in A C Download File List Adds the motion file to download on the UXA 90 D Memory Space Shows the memory space in the UXA 90 E Download Downloads the files on C in the UXA 90 in order F Move Delete All Relocates or deletes the files o...

Page 17: ...ob Scrbder oilS the PC Select Comport and click 0 oPerti etittot clot ScoPort bctloo let IS C I Figure2 I D A Zero Point Data Shows and edits the zero data by ID B File Read Opens the zero data saved on the file File Save Saves the modified data C Get Zero from RBC RQC Opens the current zero data of the UXA 90 Default Value Opens the base zero data Run Basic pose Orders the base zero data to the U...

Page 18: ...SITION Cl A E 4174122 DpI Dove SovoAs Cello I 0oWlø000 Figure 1 I G A New Generates a new project Open Opens an existing project Save Saves the current project Save as Changes the name for the current project Config Set details of individual servo motor Download Nonuse B Control panel Checks and edits the parameter of the UXA 90 by ID C Motion data Displays the information on the motion currently ...

Page 19: ...ion Changes the setting name location gain value of the current motion Delete Deletes the selected scene Test Sends the current motion to the UXA 90 to perform New scene Adds a new scene to the motion Paste Pastes the copied motion Select All Select the entire scene of the motion G Scene index Edits the number of frames in the scenes and the run time 5 1 2 2 DIRECTION OPEN A PROJECT Click New Open...

Page 20: ... PROJECT Click Config Complete editing the project by with Set Config Above screen appears Use the Add SAM WCK J and Delete SAM WCK button to add or delete the number of SAM Edit the P D I gain and parameter value by ID 5 1 2 4 DIRECTION OPEN MOTION Click Motion List 00 00 1 52i 17 21 11 000000 101001 121 mlftl1 TlDI1I 12 01001 10210001101 001 01 101 ao 202 Q000r Check Motion List X Above screen a...

Page 21: ...el Double click the motion file on the list 5 1 25 DIRECT ON OPEN A MOTION A motion file is composed of scenes Scene occurs from top to bottom in order and the total run time is the run time for each scene added together Select the scene to edit Edit the displacement and torque for the scene Displacement and torque Method 1 Double click the value in and edit the number Method 2 Drag the wheel by I...

Page 22: ...han the motions provided The torque value should be between 0 and 4 and the torque is the highest when set at 0 Click Save to save the edited file 5 1 2 5 DIRECTION GENERA TEA MOTION Click New Motion 25 E1 L I 3 Set the motion name location and P D I gain by ID and click OK Set the name for the new scene number of frames and run time and click OK Method 3 2 Select the ID to read the posture and cl...

Page 23: ...he edit is completed click Save Additional function Right click the scene for various additional functions Copy Copies the selected scene Paste Pastes the copied scene onto the selected scene Initial Pose Returns to the base posture Delete Deletes the selected scene Insert New Scene Creates a new scene where the selected scene is File Load and Insert Inserts an existing motion where the selected s...

Page 24: ...90 sit down as in the image and connect the UXA 90 to PC and turn on the power Refer to 3 2 Switch Board for the connection i L L Li _L J L C l J Cl 21 Dera tVoIu 7 5 9 U h n P andtR d 5h P PC I C m 707 70 0 0 0 0700 00 0 lick I P 0 lOon 2 Open the program RBtool and select Open Port or Search Port 29 30 Replace all position values by ID at once Useful to edit several scenes at once ...

Page 25: ...posture where the robot has the legs stretched fully Be careful not to set the zero point when the robot is in its basic posture or basic walking posture the robot must be laid flat on the floor See below for each key combination macro LR stretch left leg LA fold left leg RR stretch right leg RA fold right leg U stretch both legs D fold both legs 1 upper body lean forward L upper body to the left ...

Page 26: ...n and C button on the remote controller Press A button while the robot is standing straight and check the buzzer sound The robot is relaxed for 5 seconds and torque is applied to all motors rtj Press A button again and repeated the direction above 5 times Press C button to save the memory r i I V RF USB RF USB zoomed in A Connect the RF module to the RF USB in the direction shown in the image belo...

Page 27: ...UI Reference 7 1 REMOTE 7 1 REMOTE CONTROLLER KeyMap CONTROLLER KeyMap The list on the file to be downloaded matches the number on the remote controller Button mode Motion No Motion list Remark 0 0 7 INIT Init Motion U U 1 BASIC Basic Posture for walking 0 0 2 KICK Right kick 40 3 TURN LEFT Turn Left II 4 WF SHORT Walking forward istep 5 TURN RIGHT Turn Right O 0 6 SIDE LEFT Left Step O 0 8 SIDE R...

Page 28: ...AM 30 24 SAM 30 The battery in the picture above is an example Use a battery fulfilled the specification below A charger for the battery is not inclusive in the package and users can use a charger for lithium batteries which is the same type for R C products Specification Capacity 2200mAh or higher Voltage 551P 5 Cell 18 5V Discharge More than 1OC Constant Weight Below 330g Dimensions Below 106 x ...