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Leg Yaw

Please continue only if you have purchased a yaw extension kit for your robot.

「

Place a check in the LEFT and RIGHT yaw access boxes and click the servo motor power button.

As shown below, "yaw left thigh", "yaw right thigh," lets you adjust the angle of the servo.

Align the two sides as shown.

６

Left leg pitch axis

Place a check in the

「

Left Leg Pitch

」、「

Left Ankle Pitch

」

boxes and push the servo motor power button.

Use the provided jig as shown to adjust the

initial position of the servos.

Align the 2 sides as shown

You have aligned the legs
properly if the jig is flush
against the two brackets.

Содержание Robovie-nano

Страница 1: ...Vstone Co Ltd ATR...

Страница 2: ...the course of the assembly After assembling the robot a personal computer PC will be required for programming purposes A software usage guide is included with the kit however the manufacturer will no...

Страница 3: ...ry or electrical components This could result in equipment failure electric shock or even fires Do not apply any foreign objects especially metals or substrates to the electronic circuitry This could...

Страница 4: ...r An error adjusting method is described later In the following description origin is used as the origin set by the CPU board Mounting a servo horn A servo horn mounting angle to the origin is importa...

Страница 5: ...Personal Computer CPU Pentium 3 or equivalent 1GHz or Greater RAM 128MB OS Windows 2000 XP Vista Display XGA or Better Interface USB CD ROM Drive Installed Tools Screw Drivers Philips cannot be used...

Страница 6: ...12g Range of Motion 140 Electrical Input 4 8V 6V 7 4V Optimal Protocol PWM Robot Internal CPU Board 003 Dimensions 52x48 44 x13mm Weight 21g Servo Motor Output 30ch Voice Sound Output 2W Electrical I...

Страница 7: ...ervo Holder each Knee Frame Servo Holder X 1 each Servo Holder X 1 each Servo Holder Link Arm Link Arm Link Arm Rear Link Arm Parts List Please confirm all parts are included in kit Main Body Frame L...

Страница 8: ...7 Top Frame Foot Bottom Frame Battery Box Frame Bracket X 2 each Bracket X 1 each Side Frame X 1 each Body Frame L L L...

Страница 9: ...8 Front Cover Back Cover Arm Holder Arm Holder Arm Holder Hand Frames each Arm Frames Flat Washer L...

Страница 10: ...2 3 Hex spacer 6 M3 Screw NF M3 Fine Thread 8 M3 Twist Screw Spacer C M3 20 Hex Spacer 3 M2 20 M3 Screw NB M2 Course Thread Screw ND M2 Binding Screw NC M2 Tight Screw NE M3 6 Fine Thread Screw Variet...

Страница 11: ...aker USB Cable Connector and Cable Gamepad Receiver CPU Board VS RC003HV Servo Motors VS S020 Battery Terminal VS S020 Servo Horn Washer Washer Bearing Major Parts Cable Ties Initial Position Adjustme...

Страница 12: ...ase a malfunction of the robot Please install the servo horn in specified center position When installing the servo horn to servo please try several times until you find the center position If you ins...

Страница 13: ...xis 6 Right Leg Yaw Axis 5 4 Right Thigh Roll Axis 3 Right Thigh Pitch Axis 2 Right Ankle Pitch Axis 1 Right Ankle Roll Axis 6 Left Leg Yaw Axis 5 4 Left Thigh Roll Axis 3 Left Thigh Pitch Axis 2 Left...

Страница 14: ...e the necessary parts USB Cable CPU Board VS RC003HV Battery Box Servo motor VS S020 If you are installing Yaw axis extension kit please prepare following parts Servo Motor VS S020 Other Parts PC NiCa...

Страница 15: ...nto CD drive of your PC and open the folder from MyComputer Read the license agreement and select Agree Click Next Please Double click the file called RobovieMaker2_Inst_ exe indicates the software ve...

Страница 16: ...15 Click Next Click Next Click Next Click Install It takes a few minutes Click Finish...

Страница 17: ...CPU Board to PC and PC will recognize the CPU Board PC will automatically detect the CPU Board when it is connected It may take several times to detect the CPU board when you are connecting it for th...

Страница 18: ...cursor over the All Programs The following dialogues will appear when you start the program for the first time Click OK Select create new project Click OK Start RobovieMaker and prepare for controlli...

Страница 19: ...ctory your want to save the data of the robot Select Robovie nano Click Create Push the reset button on the CPU Board and click OK Click OK Click OK Please initialize your CPU Board if you are using n...

Страница 20: ...19 The initialization of the CPU Board is completed It will open the following window...

Страница 21: ...r Yaw Axis kit If you are installing the Yaw Axis kit please place the CN1 S16 and CN2 S6 to the servo cables Preparing Battery Box Please push the tabs circled in orange outward so that you can inser...

Страница 22: ...Left Ankle Roll Axis 6 Power Cable 5 Left Eye 4 Left Hand 3 Left Elbow Roll Axis 2 Left Shoulder Roll Axis 1 Left Shoulder Pitch Axis Connect the cable on Pin of the CPU Board Make sure the black or...

Страница 23: ...tton all the servo motors moves to center position Button opens status window After verifying that all the servo motors are running press the ON OFF button again and turn all servo motors off You have...

Страница 24: ...020 VS S020 Type Servo Horn Bushing Screw NA M2 3 Course Thread 6 M3 Screw NE M3 6 Fine Thread 3 M2 Servo Holder Right Servo Holder B Right Servo Holder Bracket Right Foot Plate M2 S Screw NC M2 Tight...

Страница 25: ...24 Right Ankle Block Assembly 3 M2 Right Ankle Block Assembly Back of Right Leg 3 M2 Watch the Direction Servo Horn Positioning CN1 S CN1 S CN1 S Installed...

Страница 26: ...25 Back of Right Leg 3 M2 Back of Right Leg M2 S 6 M3 Bushing Inversion Back Front From Above Note that the screws are too close...

Страница 27: ...ervo Motor VS S020 Screw NA M2 3 Course Thread Servo Holder A Right Servo Holder C Right Servo Holder D 3 M2 CN1 S CN1 S Please prepare the servos with the following seals attached Right Thigh Assembl...

Страница 28: ...crew NA M2 3 Course Thread Link Arm A Link Arm B Link Arm C 3 M2 Rear Link Arm A Knee Frame A M2 S Screw NF M3 Fine Thread 8 M3 Spacer C M3 20 Hexagonal Screw NC M2 Tight Screw NE M3 6 Fine Thread 20...

Страница 29: ...28 Right Link Arm Assembly Right Arm Link Assembly M2 S M2 S 3 M2 6 M3 3 M2 Inversion Servo Horn Positioning 2 Sets Front DO NOT Strip the Screw Threads...

Страница 30: ...29 Right Link Arm Assembly M2 S 3 M2 3 M2 6 M3 Inversion Servo Horn Positioning Front...

Страница 31: ...30 Attaching the rear link 6 M3 6 M3 M3 M3 Attaching the rear link Back Back Side View Side and Rear View Sp 20 M3...

Страница 32: ...31 Completed Right Leg Assembly Front Back...

Страница 33: ...0 VS S020Type Servo Horn Bushing Screw NA M2 3 Course Thread 6 M3 Screw NE M3 6 Fine Thread 3 M2 Servo Holder Left Servo Holder Bracket A Left Right Foot Plate M2 S Screw NC M2 Tight Servo Holder B Le...

Страница 34: ...33 Left Ankle Block Assembly 3 M2 Left Ankle Block Assembly Back of Left Leg 3 M2 Watch the Direction Servo Horn Positioning CN S CN S CN1 S Installed...

Страница 35: ...34 Back of Left Leg 3 M2 Back of Left Leg M2 S 6 M3 Bushing Inverted Back Front Top Down View Do NOT Strip the Screw Threads...

Страница 36: ...0 Screw NA M2 3 Course Thread Servo Holder A Left Servo Holder C Left Servo Holder D 3 M2 CN S CN S Please prepare the servos with the following seals attached Left Thigh Block Assembly Left Thigh Blo...

Страница 37: ...crew NA M2 3 Course Thread Link Arm A Link Arm B Link Arm C 3 M2 Rear Link Arm A Knee Frame A M2 S Screw NF M3 Fine Thread 8 M3 Spacer C M3 20 Hexagonal Screw NC M2 Tight Screw NE M3 6 Fine Thread 20...

Страница 38: ...37 Left Link Arm Assembly Left Arm Link Assembly M2 S M2 S 3 M2 6 M3 3 M2 Inverted Servo Horn Positioning 2 Sets Front DO NOT Strip the Screw Threads...

Страница 39: ...38 Left Link Arm Assembly M2 S 3 M2 3 M2 6 M3 Inverted Servo Horn Positioning Front...

Страница 40: ...39 Attaching the rear link 6 M3 6 M3 M3 M3 Attaching the rear link Back Back Side and Rear View Side View 20 M3...

Страница 41: ...40 Completed Left Leg Assembly Front Back...

Страница 42: ...o Motor VS S020 VS S020Type Servo Horn Bushing Screw NA M2 3 Course Thread 6 M3 Screw NE M3 6 Fine Thread 3 M2 Hand Frame Right M2 S Screw NC M2 Tight Holder Arm B Holder Arm C Holder Arm A CN S CN S...

Страница 43: ...42 Right Arm Block Assembly Right Arm Block Assembly Right Arm Block Assembly 3 M2 Watch the Direction CN3 S CN S Inverted 3 M2...

Страница 44: ...43 Attaching the Right Forearm 3 M2 Attaching the Right Forearm Servo Horn Positioning Bushing Attaching the CN S...

Страница 45: ...44 Attaching the Right Forearm Inverted M2 S 6 M3 Back Front DO NOT Strip the Screw Threads...

Страница 46: ...o Motor VS S020 VS S020Type Servo Horn Bushing Screw NA M2 3 Course Thread 6 M3 Screw NE M3 6 Fine Thread 3 M2 Hand Frame Right M2 S Screw NC M2 Tight Holder Arm B Holder Arm C Holder Arm A CN S CN S...

Страница 47: ...46 Left Arm Block Assembly Left Arm Block Assembly Left Arm Block Assembly 3 M2 CN S CN S Inverted 3 M2...

Страница 48: ...47 Attaching the Right Forearm 3 M2 Attaching the Right Forearm Servo Horn Positioning Bushing Attaching the CN S...

Страница 49: ...48 Attaching the Right Forearm Inverted M2 S 6 M3 Back Front DO NOT Strip the Screw Threads...

Страница 50: ...Servo Motor VS S020 VS S020Type Servo Horn Screw NA M2 3 Course Thread 3 M2 Bottom Frame Bracket each Side Frame each Battery Box Frame Battery Terminal Top Frame CN S CN S CN S Please prepare the ser...

Страница 51: ...ervos with the following seals attached VS S020Type Servo Horn Screw NA M2 3 Course Thread 3 M2 M2 S Screw NC M2 Tight Flat Washer This page explains the procedures for assembling the yaw axis upgrade...

Страница 52: ...rm Pitch Axis 3 M2 Watch the Direction CN S 3 M2 CN S 3 M2 3 M2 Steps 1 and 2 on this page are for robots without the yaw axis extension When assembling the yaw axis please skip to page 52 step 3 Move...

Страница 53: ...r installing the yaw axis extension upgrade If you do not have the yaw axis extension upgrade please start from Page 51 Thigh Bracket Assembly Attaching the Hip Yaw Watch Direction CN S CN S 3 M2 M2 S...

Страница 54: ...53 Mounting Arm Pitch Axis Loop the cable through the hole 3 M2 3 M2 Move to Step 6 Mounting the Battery Case CN S CN S...

Страница 55: ...54 Mounting the Battery Case 3 M2 3 M2...

Страница 56: ...55 Mounting the Battery Case 3 M2 Head Assembly M2 S CN S Do Not Strip the Screw Threads...

Страница 57: ...56 Head Assembly 3 M2 3 M2 Cables go UNDER the head frame Make sure to loop the head servo cable under the frame...

Страница 58: ...57 Attaching the CPU Attaching the Power Switch 3 M2 3 M2 Attach the black side of the servo cable toward the outside of connector CN4 S6...

Страница 59: ...8 Arm Leg Mounting Please gather the necessary parts VS S020 Servo Horn Washer Screw NA M2 3 Course Thread 6 M3 Screw NE M3 6 Fine Thread 3 M2 M2 S Screw NC M2 Tight Bracket Set X 2 each L Flat Washer...

Страница 60: ...59 Attaching Leg Direction for attaching the servo horn Bushing Back...

Страница 61: ...60 Attaching Leg M2 S M2 S 6 M3 Back Front Inversion...

Страница 62: ...61 Mounting Arm M2 S 6 M3 3 M2 Mounting Arm M2 S M2 S Aligning the servo motor Aligning the servo motor...

Страница 63: ...62 Arm Mounting Bushing Aligning the servo motor Aligning the servo motor Bushing...

Страница 64: ...63 Mounting Arm M2 S M2 S 6 M3 Back Front...

Страница 65: ...e Wires Please gather the necessary parts M2 Screw ND M2 Binding Wire Tie Down It is important to properly secure the wires after assembly in order to prevent unnecessary accidents from wire tangling...

Страница 66: ...65 Fastening the Screws Attached the screws the areas in the below...

Страница 67: ...66 Wiring the Arms From the bottom Wire Ties M2 Wire Tie M2 Through the Bottom Wrap around the top Cable B B...

Страница 68: ...67 Wiring the Legs Back Wire Ties M2 M2 Insert through the middle of the frame Through the middle Through the bottom Through the middle Over the top B B...

Страница 69: ...le with the BROWN or BLACK lead facing OUT USB Port Rotary Switch CN6 CN7 CN11 CN1 CN2 CN4 CN3 CN5 Connector Discription CN1 5 Servo Motors Power VS LED1 CN6 Controller CN7 IXBUS External devices expa...

Страница 70: ...e gather all the necessary parts M2 Screw ND M2 Binding Cable Ties Front Cover Back Cover M2 Screw NB M2 Course Thread Screw NA M2 3 Course Thread 3 M2 Twist Screw Speaker Connector and Cable Gamepad...

Страница 71: ...70 Attaching the Speaker M2 Attaching the Front Cover Cable is on the Right Twist Screw Be careful not to crimp the speaker cable with the frame...

Страница 72: ...the Receiver IXBUS Cable Line up the right side of the cable as shown Connector comes already attached to the cable from the factory CN6 Connect to CN6 with the brown cable facing up Speaker Connecti...

Страница 73: ...er Attaching the Back Cover Taping down the excess cable Taping is not required however it makes covering the back of the robot easier The cable tie has holes in both ends for tying down Cable Tie 3 M...

Страница 74: ...re with the CPU board 1 Remove the front cover of the robot to insert a nickel metal hydride rechargeable battery 2 Connect the robot s CPU board to the PC with the USB cable 3 Open RobovieMaker2 on t...

Страница 75: ...motors as you may damage the motors Checking the Servos Turn on the robot s power switch At this time please check the 5v voltage as indicated below If you experience a low voltage 3v etc there may b...

Страница 76: ...e spin button to fine tune the angle of the servo motor By moving the slider left or right you can change the angle of the servo motor You can change the state of the slider by clicking on the bar and...

Страница 77: ...ors One at a Time Uncheck all of the boxes to remove power from the servo motors Push the button on the software to confirm no moving servos Even if you turn the robot ON the servos will not have powe...

Страница 78: ...aw left thigh yaw right thigh lets you adjust the angle of the servo Align the two sides as shown Left leg pitch axis Place a check in the Left Leg Pitch Left Ankle Pitch boxes and push the servo moto...

Страница 79: ...a check in the Left Leg Roll box and push the servo motor power button As shown on the right using a jig for adjusting the initial position lets you set the proper angle Place a check in the Left Ank...

Страница 80: ...g for adjusting the initial position lets you set the proper angle Apply the jig to the bracket without any gaps Apply the jig to the bracket without any gaps Adjust the servos to be parallel with the...

Страница 81: ...t of the shoulder Left Arm Shoulder Roll Axis Place a check in the Left Arm Roll box and push the servo motor power button Adjust the shoulder roll as shown on the image to the right Place a check in...

Страница 82: ...servo motor power button Adjust the elbow roll as shown on the image to the right Adjust the inner side of the arm and torso to be parallel Torso and arm spacing is about 15mm Adjust the outside of t...

Страница 83: ...g the button the following dialogue will appear Click Yes The writes the configuration to the RAM temporary memory Click OK Since the settings have only been written to the RAM at this time all settin...

Страница 84: ...83 In the CPU Write Settings Dialogue Window click Overwrite all and select Run to begin the write press Once the files have been written to the CPU board your robot assembly is complete...

Страница 85: ...connector and associated receiver to the inside of the robot s body Please see the assembly manual Button L1 L2 R1 R2 Pressing in the sticks function as the L3 and R3 buttons L3 R3 SELECT START turns...

Страница 86: ...switch as shown on the right This is intended to change the mode of operation for various demonstration maps and auto run routines With the map and auto demo you can register up to 10 operations Robov...

Страница 87: ...left N A R2 LEFT UP DOWN RIGHT Forward Side step left Side step right Backward Turn right Turn left L2 Get up from face down Get up from face up R1 Shift button All direction L1 L3 R3 Always Common Bu...

Страница 88: ...olding R1 Button R1 R1 R1 R1 Punch Punch right Punch left Defend Soccer SELECT Forward little Shoot right Shoot left N A While pushing R1 button R1 R1 R1 R1 Walk forward slightly Keeper save right Kee...

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