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25

ENGLISH

ITALIANO

FRANÇAIS

Min Voltage

Tensione min.

Tension minimum

Over Load Detection Period

Periodo di rilevamento sovraccarico

Période de détection de surcharge

Over Temperature Detection Period

Periodo di rilevamento surriscaldamento

Période de détection de surtempérature

Over Voltage Detection Period

Periodo di rilevamento sovratensione

Période de détection de surtension

Position Control Parameter Kd

Kd parametro di regolazione posizione

Paramètre Kd de contrôle de position

Position Control Parameter Ki

Ki parametro di regolazione posizione

Paramètre Ki de contrôle de position

Position Control Parameter Kp

Kp parametro di regolazione posizione

Paramètre Kp de contrôle de position

Present Load

Carico attuale (corrente)

Charge actuelle (courant)

Present Temperature

Temperatura attuale

Température actuelle

Present Voltage

Tensione attuale

Tension actuelle

ID

ID

ID

Status Detail

Dettagli di stato

Détails de l'état

 Reserved

Riservato

 Réservé

 Motor Moving

Movimento motore

 Déplacement du moteur

 Motor In-Position (Position control\n\tmode 
only)

Motore in posizione (solo modalità di 
regolazione posizione)

 Moteur en-position (Mode de \n\tcontrôle de 
position uniquement)

 Torque off

Coppia Off

 Couple désactivé

Torque on (Position/Speed control)

Coppia On (regolazione posizione/velocità)

 Couple activé (Position/Contrôle de \n\tla 
vitesse)

 Motor Braked

Motore frenato

 Moteur freiné

Status Error

Errore di stato

Erreur d'état

Exceed Potentiometer Range Error

Errore gamma potenziometro superata

 Erreur de dépassement de la plage \n\tdu 
potentiomètre

Over Voltage Limits Error

Errore limiti di sovratensione

 Erreur de limites de surtension

Over Temperature Error

Errore surriscaldamento

 Erreur de surtempérature

Overload/Over-current Error

Errore sovraccarico/sovracorrente

 Erreur de sur/sous charge de \n\tcourant

Requested Packet Checksum Error

Errore checksum pacchetto richiesto

 Erreur de la somme de contrôle du \n\tpaquet 
demandé

Requested Packet Data Error

Errore dati pacchetto richiesto

 Erreur de données du paquet demandé

Requested Packet RX FIFO Error

Errore RX FIFO pacchetto richiesto

 Erreur RX FIFO du paquet \n\tdemandé

Torque Policy

Criteri di coppia

Politique de couple

Language

Lingua

La langue

Motor A1-16

Motor A1-16

Motor A1-16

Servo Tool v1.0

Editor servomotori intelligenti v1.0

Éditeur Smart Servo v1.0

Motor Parameter

Parametro motore

Paramètre Moteur

Please choose COM Port and Connect to 
device

Selezionare la porta COM e connettere al 
dispositivo

Veuillez choisir le port COM et vous connecter 
au dispositif

There are more than one servo connected to 
device!

È presente più di un servo connesso al 
dispositivo!

Il y a plus d'un servo connecté au dispositif !

There is none servo connected to device!

Nessun servo rilevato

Aucun servo n'a été détecté

Warning!This operation would reboot servo. 
Would you like to continue?

Avviso! Questa operazione potrebbe riavviare il 
servomotore. Continuare?

Avertissement ! Cette opération va redémarrer 
Servo. Voulez-vous continuer ?

Warning!This operation would reset servo to 
default setting. Would you like to continue?

Avvertenza! Questa operazione ripristina le 
impostazioni predefinite del servo. Continuare?

Attention ! Cette opération va réinitialiser les 
réglages du servo par défaut. Voulez-vous 
continuer ?

Torque Policy

Valore di impostazione fuori range

La valeur de réglage est hors de portée

Language

Non connesso

Non connecté

Setting value is out of range

OK

OK

05

Appendix

Italiano | Français

Summary of Contents for A1-16

Page 1: ...USER MANUAL ...

Page 2: ...sion or modifications to this product not expressly approved by the party responsible for compliance could void the user s authority to operate the product Please do not break throw or trample the servo Avoid installation in extremely hot rainy or water splashing or being placed in high temperature or moist environment Please use the accessories we match for this servo Never disassemble or modify ...

Page 3: ... radiators heat sources and direct sunlight Operating temperatures between 0 C and 40 C 32 F to 104 F Operating humidity range between 20 and 80 Special Procedures General Do not modify or open any of the actuators Do not drop crush bend deform puncture shred microwave incinerate any of the components Doing so can cause fire electric shock damage or personal injury NOTE For information on your war...

Page 4: ...ervo 07 Setting Up the Servo Tool 08 Installing Servo Tool 08 Overview 08 Installing the XYZrobot Servo Tool 08 Uninstalling the XYZrobot Servo Tool 10 Updating the Software 10 Introduction to Servo Tool UI 11 Main menu 11 Servo Tool 13 Registering an ID 16 Overview 16 Detecting the Smart Servo 16 Configuring an ID 17 Validating the Servo ID 17 Troubleshooting 18 繁體中文 简体中文 日本語 19 Italiano Français...

Page 5: ...tes Windows Operating System Requirements Windows 7 or later including both 32 bit and 64 bit versions Microsoft Net Framework 4 5 Mac Operating System Requirements Mac OS X 10 10 or later Arduino Arduino IDE 1 0 6 ...

Page 6: ... may differ from the model you purchased Setup MCU Board 1 Connect the MCU board to your computer Connect one end of a USB cable to the computer USB Type A and the other end to the MCU board USB Type Mini B Powering on MCU Board 1 Plug the charger cable to the power socket on the MCU board 2 Press the power switch to turn on the Bolide Y 01 Setting Up the Environment ...

Page 7: ...4 From the menu toolbar click Tools Board and select the option XYZrobot BOLIDE option 5 Next select the COM port associated with the Bolide Y 01 From the menu toolbar click Tools Serial Port and select the associated option NOTE If the device is not detected the USB driver may not be recognized The option to select the associated COM port will not be available You will need to update or re instal...

Page 8: ...loading the message Done uploading displays Check that no errors display at the bottom of the frame Connecting Smart Servo 1 Connect one end of a cable to the MCU board and the other end to the smart servo NOTE Make sure there is only one smart servo connected to the MCU board ...

Page 9: ...ctions on installing the XYZrobot Servo Tool software Installing the XYZrobot Servo Tool Before installing the Tool download the driver from http www xyzrobot com 1 Locate the downloaded driver file 2 Click setup exe to run the application The Launching Application window displays Follow the on screen prompts to continue NOTE At the time of writing the file and folder names were under development ...

Page 10: ... the installation is complete the XYZrobot Servo Tool software opens NOTE A security prompt may display requiring authorization to open the software To continue with the procedure click OK to continue or cancel to end the process 02 Setting Up the Servo Tool ...

Page 11: ...ications folder to the Trash located at the end of the Dock 2 Then choose Finder Empty Trash The XYZrobot Servo Tool application is removed from the program list WARNING Emptying the Trash bin permanently removes the content and renders it unavailable NOTE The screens and procedure displayed here may vary slightly from what you see in your system depending on the operating system in use Updating t...

Page 12: ...position 5 Zero Position Drift to rotate the servo hub to the actual position 6 Relax Stops the electric pulse signal to the smart servo allows for manual rotation of the servo 7 Capture Capture the zero position on the servo CAUTION The hub s available range of movement is 165 from servo center If the zero position is outside this range incorrect position information will be read and it will not ...

Page 13: ...information of the smart servo as well as editing functions See Main menu on page 11 Tool Item Description Reboot Servo Reboot the connected smart servo Reset servo to default setting Reset the connected smart servo to default setting Config Item Description Port setting Select the current communication port Detect Motor Detect the connected smart servo Help Item Description About Display informat...

Page 14: ...cast pID with the exception of STAT CMD in which case a reply will be sent Alarm LED Policy RAM Register Address 2 Sets Alarm LED policy when Error is detected 0 Error state Alarm LED blinks 1 User Control LED When r LED Policy r Status Error is TRUE Alarm LED starts to blink Alarm LED blink period is set by r LED Blink Period When r LED Policy r Status Error is TRUE Any values written to r LED Co...

Page 15: ...control parameter integral gain constant Ki Output torque applied to motor is adjusted by multiplying Ki and summation of error over operating time For more features see https en wikipedia org wiki PID_controller Position Control Parameter Kd Servo position control parameter derivative gain constant Ki Output torque applied to motor is adjusted by multiplying Kd and slope of error over operating t...

Page 16: ...is value shows the servo s current temperature The value is in degrees Celsius Present Load This value shows the current currently supplied to the servo The value is 200 times the actual current in amperes Status Error No Status Error Error LED on off 1 Exceed Potentiometer Range Error LED on Blue 2 Over Voltage Limits Error LED on Red LED off White 3 Over Temperature Error LED on Red LED off Whit...

Page 17: ...ugh a USB cable The following procedure provides detailed instructions on how to connect to the smart servo 1 Set up the hardware environment See Setting Up the Environment on page 05 2 Locate and open the XYZrobot Servo Tool application 3 From the toolbar select Config Port to open the option window 4 A list of available ports displays in the window Select the port assigned to the connected MCU b...

Page 18: ...configured for the connected servo Click OK to confirm Validating the Servo ID Finally assembly the new smart servo to the correct position Please refer to the Assembly Manual to identify the servo position After assembly use XYZrobot Editor to validate the servo ID In the XYZrobot Editor Pose Editor move the new servo s slide bar If the slide bar works the servo ID is defined ...

Page 19: ...oblems with other products or are unable to solve the problem with the instructions above please contact your regional manager The Arduino displays Done uploading but still displays an error message the burn program process 1 Possible cause low power Please charge the Li ion battery fully or connect the adaptor and try again 2 Possible cause the selected COM port is wrong Select Config Port Settin...

Page 20: ...Packet is received 0 Show System Error Alarm LED 1 User Control LED LED 狀態變更或偵測到系統錯誤 時 即顯示數值 0 顯示系統錯誤警示LED 1 使用者控制LED 该值表示 LED 状态是否改变或何 时检测到系统错误 0 显示系统错误报警 LED 1 用户控制 LED この値は LEDステータスの変化 の有無 あるいはシステムエラー が検出されたタイミングを表し ます 0 システムエラーアラームLEDを 表示します 1 ユーザーコントロールLED This value is used to calibrate the central point The calibrated position is equal to absolute position plus calibration angle and used in...

Page 21: ...數 比例增益係 數即 Kp 適用於馬達的輸出轉矩 透過與 Kp 和電流位置錯誤相乘進 行調整 伺服位置控制参数 比例增益常 数 Kp 应用于电机的输出转矩 通过乘以 Kp 及当前的位置误差来 调整 サーボ位置制御パラメーター 比 例ゲイン定数Kp モーターに適用 される出力トルクは Kpに現在 位置エラーを乗じることで調整さ れます This value shows present supplying current The value is 200 times the actual current in amperes 此數值顯示當前供應電流 此數值 為實際電流的 200 倍 该值表示当前供电电流 该值是实 际电流的 200 倍 この値は現在の供給電流を示しま す 実際の電流の200倍の数値で 表示されます This value shows present temperature of ...

Page 22: ...ue on Position Speed control 轉矩啟用 位置 速度控制 转矩 开 位置 速度控制 トルクオン 位置 速度制御 Motor Braked 馬達已停止 制动电机 ブレーキをかけたモーター Status Error 狀態錯誤 状态错误 ステータスエラー Exceed Potentiometer Range Error 超出電位器範圍錯誤 超过电位器范围错误 ポテンショメーター範囲超過エ ラー Over Voltage Limits Error 過電壓限制錯誤 过电压限制错误 過圧限度エラー Over Temperature Error 高溫錯誤 过温误差 過剰温度エラー Overload Over current Error 過載 過電流錯誤 过载 过电流错误 過負荷 過剰電流エラー Requested Packet Checksum Error 要求的封包校驗錯誤 ...

Page 23: ... 確認 确认 確認 Please check the device is ready 請檢查裝置是否準備就緒 请检查装置是否准备就绪 装置を確認してください Port Ex COM1 or dev ttyUSB0 連接阜 Ex COM1 or dev ttyUSB0 连接阜 Ex COM1 or dev ttyUSB0 ボート Ex COM1 or dev ttyUSB0 Port 連接阜設定 连接阜设定 ボート設定 Position 位置 位置 ポジション Exit Servo Tool 離開馬達編輯器 离开伺服电机编辑器 サーボモーター編集ソフトを退出 します Read 讀取 读取 読み取ります Ready 準備就緒 准备就绪 確認します Reboot Servo 重新啟動馬達 重新启动伺服电机 ロボットサーボモーター Relax 洩力 泄力 リラックス Reset servo to ...

Page 24: ...que si l état du DEL change ou si une erreur de système est détectée 0 Montre le voyant DEL l alarme d erreur de système 1 DEL de contrôle de l utilisateur This value is used to calibrate the central point The calibrated position is equal to absolute position plus calibration angle and used in position control The value is 0 969 count For example 0 969 is represented as value 3 Questo valore viene...

Page 25: ...fornita Il valore è 200 volte la corrente effettiva Cette valeur indique le courant d alimentation actuel La valeur équivaut à 200 fois le courant actuel This value shows present temperature of servo The value is in degrees Celsius Questo valore indica la tensione attuale del servomotore Il valore è in gradi Celsius Cette valeur indique la température actuelle du servo La valeur est exprimée en de...

Page 26: ...s de surtension Over Temperature Error Errore surriscaldamento Erreur de surtempérature Overload Over current Error Errore sovraccarico sovracorrente Erreur de sur sous charge de n tcourant Requested Packet Checksum Error Errore checksum pacchetto richiesto Erreur de la somme de contrôle du n tpaquet demandé Requested Packet Data Error Errore dati pacchetto richiesto Erreur de données du paquet de...

Page 27: ... editor motore Quitter l Éditeur moteur Read Leggi Lire Ready Pronto Prêt Reboot Servo Riavvia servomotore Redémarrer Servo Relax Relax Relâche Reset servo to default setting ripristina impostazioni predefinite servo Réinitialiser les réglages du servo par défaut Serial port start initialization Inizializzazione avvio porta seriale Initialisation du démarrage du port série Set Imposta Régler Setti...

Page 28: ...r Wert gibt an ob sich der LED Status ändert oder wann ein Systemfehler erkannt wird 0 Alarm LED bei Systemfehler anzeigen 1 Nutzersteuerung LED This value is used to calibrate the central point The calibrated position is equal to absolute position plus calibration angle and used in position control The value is 0 969 count For example 0 969 is represented as value 3 Este valor se utiliza para cal...

Page 29: ... actual current in amperes Este valor muestra la corriente actual que se suministra El valor es 200 veces la corriente real Reservado Dieser Wert zeigt den gegenwärtigen Versorgungsstrom Der Wert entspricht dem 200 Fachen der tatsächlichen Stromstärke This value shows present temperature of servo The value is in degrees Celsius Este valor muestra la temperatura presente del servomecanismo El valor...

Page 30: ...r frenado Motor gebremst Status Error Error de estado Statusfehler Exceed Potentiometer Range Error Error de intervalo del potenciómetro n tsuperado Fehler aufgrund von überschrittenem Potentiometerbereich Over Voltage Limits Error Error de límites de exceso de voltaje Fehler aufgrund überschrittener Spannungsgrenzen Over Temperature Error Error de exceso de temperatura Fehler aufgrund von Überhit...

Page 31: ...0 Port Ex COM1 or dev ttyUSB0 Port Ex COM1 or dev ttyUSB0 Port Configuración de puerto Porteinstellung Position Posición Position Exit Servo Tool Salir del editor de motores Motoreditor verlassen Read Leer Lesen Ready Preparado Bereit Reboot Servo Reiniciar servosistema Servo neu starten Relax Relax Entspannen Reset servo to default setting restablecer la configuración predeterminada del servosist...

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