XYZrobot A1-16 User Manual Download | Manualshive

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U S E R M A N U A L

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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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