Movit P!MOT MR-9762E Owner'S Manual Download

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9762E-01

WAO ADVANCED

P!MOT

Lot.No.

MODEL:

MR-9762E

EK JAPAN CO., LTD. 2002

Distributor :

Summary of Contents for P!MOT MR-9762E

Page 1: ...9762E 01 WAO ADVANCED P MOT Lot No MODEL MR 9762E EK JAPAN CO LTD 2002 Distributor ...

Page 2: ...2 ...

Page 3: ...ep fingers out of the moving sections such as wheels legs gears and motor shafts Do not hinder the movement of moving sections by force Remove the hindrances in the moving sections such as a piece of thread before operating Otherwise the motor will overheat causing injury and fire The specifications and forms of this product are subject to change without prior notice PRECAUTION Pay attention to th...

Page 4: ...Mechanical Parts 11 3 Parts List 12 4 Assembly of the main body 14 5 Assembly of the battery box 24 6 Name and action of each part 25 7 Explanation of keyboard 25 8 Let s operate 26 Ⅲ Let s program 1 Explanation of the MODE 28 2 Before programming 29 3 Programming 33 Ⅳ Technical data 1 Mechanism structure 40 2 What is a computer 41 3 Motor control 45 4 Sensors 48 5 Schematic 50 Guidance 54 Ⅴ Spare...

Page 5: ...e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g P MOT is a two wheeled robot installed with one chip microcomputer AT90S8515 which includes flash memory P MOT has adopted encoder principle model in the gearbox to improve b...

Page 6: ... to have hard time giving a clear answer to the question of what robots really are A dictionary will give you descriptions about robots such as 1 A man made doll automated by means of complicated and delicate devices Artificial man Auto man 2 Machines capable of automatically operating without the need of human aid by employing the devices as described above All these descriptions tend to make us ...

Page 7: ... together not identical to mechatronics of today In the early part of 1940 when a problem arose to develop robots as a result of the progress of science and technology Isaac Asimov presented his Three Principles for Robot Engineering This eliminated abstraction and contradiction in the robot SF and exhibited clear logic Those three principles were Robots must not hurt humans or neglect humans who ...

Page 8: ...performance with the real pet and can communicate with humans and have the similar outward The new type robot which has two arms and two legs like humans was also developed It can walk not only on level ground but also go up and down the stair 1 Research on moving methods You may image that the research on moving methods consists how to cre ate a robot which can walk on two legs without falling do...

Page 9: ...hich is expected to win the match against to the Meijin of Japanese shougi which is more complicated than chess is performed now Besides various researches are carried out now The new generation robots need not only the efforts of the specialists of mechanics and electronics but also the efforts of the specialists of biologics mathematics and philosophy The corporation of all the specialists is ne...

Page 10: ...i 1886 A word android was first used L Eve future written by Villies de L lsle Adam France 1893 Steam man George More Canada 1893 Chess doll Maxim s Doll written by Ambrose G Bierce USA 1920 Almighty robot R U R written by Karel Capek Czechoslovakia A word of robot was first used 1926 MARIA METRO POLIS written by Thea V Harbous Germany 1927 Robot TELEBOX Manufactured by Westinghouse Electronics Co...

Page 11: ...fore Assembling Mechanical Parts 1 Necessary Tools for Mechanical Assembly Pen Knife Use for cutting off unnecessary projections and burrs Screwdriver Use for turning screw and ad justing the Variable Resistor Long nose Pliers Use for handling parts and holding nuts when screwing Diagonal Cutter Tweezers Use for cutting parts off the frame AA Battery 2 pcs 9V Battery 1 pc Power Supply not included...

Page 12: ... e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g Check the parts by marking a blank box Some parts may have lines called weld lines formed through the resin treatment They have nothing to do with assembly or function Screw small 14pcs Screw large 3pcs He...

Page 13: ...13 A set 1pc B set 1pc C set 1pc Dome 1pc These parts are not to be used Ⅱ Assembly of Mechanical Parts ...

Page 14: ... e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g Install the gear in order e e h h h h h h e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e...

Page 15: ...Tire Wheel A 5 Make 2 sets e e h h h h h h e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g Rotate the ti...

Page 16: ... e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g Parts to use Confirm the followings if the tire does not rotate AA alkaline battery not included 1pc Wire for operation check Check the gearbox operation Assembled unit from step Hook the wire to the motor...

Page 17: ...g the pulse sensor Assembling the pulse sensor Phototransistor 2pcs Pulse sensor bracket B 1 Pulse sensor cover B 2 2pcs Make sure to install in correct direction LED red 2pcs 1 Insert the phototransistor into the pulse sensor bracket 2 Insert head of the LED as in the figure next insert the leg 3 Install the pulse sensor cover It is somewhat hard to push First slant the head and then push into th...

Page 18: ...case B 7 1pc Installing the speaker Installing the caster Side frame L A 7 1pc Speaker 1pc The side view Parts to use Caster C 1 2pcs Caster tire C 2 2pcs Bottom case B 7 Caster stopper C 3 2pcs Speaker Speaker Side frame L A 7 Side frame L Snap Snap Snap Ⅱ Assembly of Mechanical Parts ...

Page 19: ...e frame R A 6 1pc Nut 4pcs Screw small 4pcs Parts to use Assembled unit from step Assembled unit from step Installing the frame Screw small 4pcs Nut 4pcs Side frame R A 6 If the screw small is difficult to screw use a pair of tweezers Be careful to hold wires up Ⅱ Assembly of Mechanical Parts ...

Page 20: ...e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g e e h h h h h h e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e ...

Page 21: ...load facing floor sensors in the rear should be insert ed with the pointed end facing backwards Back Front Wiring Assembled unit from step Wiring table Back CdS Back CdS Front CdS Front CdS LED with longer wire LED with longer wire LED with shorter wire LED with shorter wire Black Black Brown Brown Light emitting diode for pulse sensor RL To the brown right socket Brown connector LL To the brown l...

Page 22: ...e floor Make sure the direction of Infrared LED Floor Infrared LED cap B 4 2pcs Assembled unit from step Installing the side frame B Side frame B A 8 As shown in figure let the wire of the back lower sensor pass through the hole of the side frame Side frame B A 8 1pc Assembled unit from step Ⅱ Assembly of Mechanical Parts ...

Page 23: ...e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e g g g g g g e e h h h h h h e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e ...

Page 24: ...pcs 006P alkaline battery not included 1pc Battery contact 1pc Battery contact Assembled unit from step Parts to use Install until stopper fits the hole When you uninstall push the stopper Make sure the battery is in the correct direction Make sure the main body switch is off when insert the battery box Make sure to install in the correct direction Ⅱ Assembly of Mechanical Parts ...

Page 25: ...d of sounds and correspondences of each key is as right diagram The standard opera tion time is 0 5 sec onds on 1 for 25 6 Name and action of each part Infrared LED Infrared detector IC Keyboard backward Value keys Demo keys Connector Mode key Reset key Power switch Command keys Program keys Main Microcomputer on the circuit AT90S8515 Pulse sensor Inside gear box Floor sensor On the rear also 7 Ex...

Page 26: ...ram key Connector Power switch LED 8 Let s operate Operation check Placement of the batteries Prepare two AA alkaline batteries and one 006P alkaline battery 9V These batteries are not included Use new batteries Do not use different types of batteries Make certain the batteries are inserted correctly check and Make certain the main switch is off then install the battery box in the right direction ...

Page 27: ...e Infrared LEDs upward Is the Infrared LED cap attached correctly 006P Alkaline battery 9V has enough power Is the speaker wired correctly White connector is connected correctly 006P Alkaline battery 9V has enough power Is the pulse sensor attached in the gearbox correctly MPL MPR LL LR wired correctly Are brown black and the connector inserted exactly How to open the Dome How to take out the batt...

Page 28: ...orrespond to the time zero minute to nine minutes Demo 2 Avoid mode Movement If the Infrared sensor perceives an obstacle it avoids the obstacle and moves forward continuously Operation procedure RESET MODE Demo 2 To stop the program press the RESET How to use If there is an obstacle in front it will avoid an obstacle and move forward The PiPo will sound when an obstacle is found or eliminated P M...

Page 29: ...mmediately before Press in order RESET MODE 9 to switch to rotation time set mode In order to raise rotational accuracy P MOT memorizes the time it takes to make right and left 360 degrees rotation Please refer page 30 for more details on setting If other obstacles are in the circumference it reacts also to the obstacle and cannot set up correctly Please set it as the circumference in a place with...

Page 30: ...egin after making one full turn LED L and LED R will blink and right rotation will be stopped Next LED L and LED R will blink on and off And P MOT will rotate to the left It rotates again similarly and when it returns to the place on where the note is put LED L and LED R will blink and left rotation will be stopped Now a setup of rotational time is completed Now you may remove the paper Now let s ...

Page 31: ... performing adjustment of UFR and UBR LED R lights up blinks and then stops The lower parts sensor of each place and correspondence of the volume for adjustment should look at a lower table Refer to the following table to see which volume adjusts which lower sensor Although light detecting sensors become unable to detect a black floor because the floor absorbs the light Since the P MOT has extreme...

Page 32: ...rogram always draw a flowchart first The advantages of drawing a flowchart are 1 You can grasp the procedure clearly 2 You can see the whole program 3 You can easily follow a program find and correct the mistakes Take for an example of the actions after school of a junior high school student Nancy Let s compare the following two expressions when we describe the actions as sentences and when we dra...

Page 33: ...ssing IF indicates the right front floor sensor It will see the condition It decides which sensor will judge the conditions Pressing the 1 UBL value key after pressing IF indicates the left back floor sensor It will see the condition It decides which sensor will judge the conditions Pressing the 3 UBR value key after pressing IF indicates the right back floor sensor It will see the condition It de...

Page 34: ... VALUE KEY and the key showing the state of a sen sor Ex 1 When inputting from the keyboard the conditions perform a label 1 if a right Infrared sensor is ON input as follows IF 9 IRR 8 ON THEN 1 ELSE 2 Ex 2 If a left rear lower sensor is OFF perform a label 3 When different perform the fol lowing line When inputting from the keyboard the conditions input as follows IF 1 UBL 5 OFF THEN 3 How to en...

Page 35: ...tion 4 90 Right Rotation 4 90 Right Rotation 4 90 END Ex 2 Program Ex 2 Exercise 2 is a fairly long program for only by moving in a square pattern But if a program is looked at well it turns out that the same command is repeated A program will become simple if FOR NEXT of a repetition command is used Let s make a program describing the same square using the repetition command called FOR NEXT A pro...

Page 36: ...d skin etc A robot can grasp a surrounding situation by acquiring information from a sensor Next let s consider a program using IF sentence of the condition judgment com mand using information from a sensor FOR 0 ENTER FOR 4 ENTER 2 ENTER STOP 1 ENTER 4 ENTER STOP 1 ENTER NEXT ENTER 2 ENTER STOP 1 ENTER NEXT ENTER NEXT Repeated 4 times NEXT Repeated 4 times YES THEN NO ELSE END Start FOR 0 FOR 4 M...

Page 37: ...here was an obstacle but have had been silent when there was no obstacle This operation shows that P MOT has judged using the information from a sensor IF sentences are conditional commands which decide the next spot depending on whether it is in agreement with the condition Moreover since the jump place when not being in agreement with conditions is omissible and the following line is performed i...

Page 38: ...l just uses the application so far explained so give it a try without thinking too hard Create a program which stops P MOT from falling off a table by use of the in frared sensors and which ends if the sensors do not detect anything after a short time In the case that nothing is detected make the buzzer sound PiPo The number of times repeated until Infrared rays detect is set to 50 When the forwar...

Page 39: ...Please remember that P MOT may fall from the table because of the program trans action s time and the effect of brightness By combining FOR NEXT IF sentence you are able to create programs which respond to many kinds of situations You might feel it is difficult but you are the one who programs P MOT If you arrange each situation one by one it will not be difficult O K let s enjoy creating original...

Page 40: ...th carries out only 1 4 rota tion That is rotation speed is reduced to 1 4 Because the thousands of rotations per minute created by the motor is too fast to use to move a tire gears are used to reduce the rotations to a suitable pace 40 Ⅳ Technical data 1 Mechanism structure The rotating direction reverses 90 Ten teeth Forty teeth one rotation rotate 1 4 Which means it rotates more slowly P MOT us...

Page 41: ... power The third function of the gear is rotational power Called Torque The motor used by P MOT distributes only a few grams of power and by itself is not strong enough to move the tires So what can we do to increase the power Let s explain what happens when a small gear and large gear are combined Torque is relayed to the point where the small and large gears engage with each other Point A If you...

Page 42: ...rite programs that mainly operate the CPU Notebook Character of RAM Reading and writing are possible Contents will be erased when power is turned off It is possible to write a data that mainly calculates CPU Although computers may have many different characteristics they are made up of the above three components The CPU controls the I O interface based on what is written in the memory calculates e...

Page 43: ...understand but basically a computer only understands 2 letters 1 and 0 One means that the electricity is ON and 0 means that the electricity is OFF So you need to use the language of 0 s and 1 s to write a program We call this language Computer Language Let s use computer language to write program which changes TV channel Human language Change the channel to channel 2 Computer language 11101100010...

Page 44: ...support to inquires are performed in regards to the source program the AVR microcomputer AT90S8515 program writing etc of P MOT ATMEL and AVR are registered trademarks of Atmel Corporation in the United States e e h h h h h h e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e e ...

Page 45: ... P MOT speed is changed by carrying is off increases out such on opera tion Therefore voltage is given in the shape of a pulse by ON OFF of a switch and since it adjusts by the width of the pulse the method of such control is called as PWM Pulse Width Modulation control Rotation time is stable It doesn t stop rotating immediately when the switch turned off It rotates for a moment then it stops ON ...

Page 46: ...e no voltage see below picture Therefore since a common gear with a slit will also be rotated if a motor ro tates a signal which repeats H and L can be made This signal is input into a computer and since a computer can know whether a tire is in what state control becomes possible by computer These parts are called Pulse sen sor and make the H and L pulse 2 Improve the better straight properly P MO...

Page 47: ...rols the motors Here I will reconfirm that since a computer with perform the above processing program it control of such a motor can be performed Remember that when you put a computer currently not programmed at all or a computer which is carrying out another program into P MOT the above functions will not be performed The organization of the flat spur gear with pinion the red LED and the phototra...

Page 48: ...ed sensor Infrared de tector IC outputs voltage when it feels Infrared ray that is invisible to human eyes It judges if there is an obstacle or not by the light from Infrared LED reflects or not Third it is phototransistor which is used as pulse sensor Phototransistor converts light into current and distinguishes only light from dark Pulse sensor is not vision sensor but it is using light sensor T...

Page 49: ...ell Sensor can sense the smell like your nose The Gas Sensor is one of these sensors and it can be used for a gas alarm in the kitchen Taste Sensor salt sensor etc Taste is the most difficult thing to sense for an electronic circuit Sensor cannot distinguish delicious from bad tast ing as taste differs for everyone and is determined largely by habit Therefore there are only sensors that detect sal...

Page 50: ... 8 bit Microcomputer Comparator input Comparator input LED condition display LED Infrared ray sensor Floor sensor Floor sensor Pulse sensor Stabilized power Buzzer circuit Left and right motor drive Ⅳ Technical Data ...

Page 51: ...51 LED condition display Keyboard Ⅳ Technical Data ...

Page 52: ... as the switch on when a microcomputer relays the signal of 1 it will be intelligible Since there is FET by eight all although eight signal lines of the microcomput er for controlling this are also needed in P MOT the motor is controlled using the signal line of five microcomput ers It is IC4 which decides which FET to turn on based on the signal outputted from the microcomputer Please re fer to t...

Page 53: ...ither side outputs the light of Infrared rays An Infrared detector unit detects the reflected Infrared rays in obstacles such as a wall Therefore the obstacle which is outside can be found If an Infrared de tector unit detects Infrared rays a signal will be told to the No 37 pin of a microcomputer and it will be used as a material of condition judgment of P MOT Keyboard It is the portion where you...

Page 54: ...ly needs to be clicked with a mouse Since it also has the display part which explains the made program in simply even beginning programmers can be at ease Command selection window The command which operates P MOT is displayed It is the window which chooses the command made into P MOT Value key It can be pressed after choosing a command when it is necessary It inputs time of operation the number of...

Page 55: ...976204M C set 976205M Dome 4400196 Screw Small M3 10 4400271 Screw Large M3 30 4410041 Nut M3 4600022 Pinion gear 10 teeth 976206M Flat spur gear with pinion 42 teeth 12 teeth 976207M Crown gear with pinion 38 teeth 12 teeth 976208M Flat spur gear with slit 40 teeth 976209M Hexagon Shaft 976210M LED Red With code 976211M Phototransistor With code 976212M Speaker With code 901010M Wire for operatio...

Page 56: ...hout our permission is forbidden The specifications form and contents of this product are subject to change without prior notice We do not accept any responsibility for disadvantage or damage caused by improper use or assembly EK JAPAN CO Ltd Recycled paper is used for this instruction manual EK Japan Co Ltd FUKUOKA JAPAN Manufactured by ...

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