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“ METAL-FIGHTER ” EDUCATION COURSE

“ METAL-FIGHTER ” EDUCATION COURSE. 1. Robot Controller MR-C3024FX. charge input (adapter). DIO port 18-23 motor 18-23 (G6D). battary source input. DIO port 12-17 motor 12-17 (G6C). power switch. DIO port 0-5 motor 0-5 (G6A). A/D, xiro rf/RC receiver. DIO port 6-11

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“ METAL-FIGHTER ” EDUCATION COURSE

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  1. “METAL-FIGHTER” EDUCATION COURSE

  2. 1. Robot Controller MR-C3024FX charge input (adapter) • DIO port 18-23 • motor 18-23 (G6D) battary source input • DIO port 12-17 • motor 12-17 (G6C) power switch • DIO port 0-5 • motor 0-5 (G6A) • A/D, xiro • rf/RC receiver • DIO port 6-11 • motor 6-11 (G6B) • PC interface download for robobasic • LCD/PWM output • RX/TX (serial port)

  3. 2. Link to Metal-Fighter • motor 12-14 • G6C (right arm) • motor 6-8 • G6B (left arm) • motor 18-22 • G6D (right leg) • motor 0-4 • G6A (left leg)

  4. 3. ROBOT to PC Interface • Signal port setting ② set controller information ③ view controller information MR-C3024 FX series circuit

  5. 4. Interface Error • Must be make sure accurately power condition ? - check battary link, battary charge condition • Must be make sure accurately interface cable ? - check enclosed serial interface cable (serial port at PC , port at Robot) • Check make sure accurately telecomunication port ? - Please check the port between real telecomunication with robobasic on programed port • Please make sure accurately controller? - Metal-Fighter must be make sure“MR-C3024FX serial port” Before robot programming, Please check an error and controller signal display

  6. 5. Program Download ② Combine Operation ③ download ① Template no.1 sheet open ④ action ⑤ if push the remocon “1”key, the robot bow

  7. 6. Program Basis I Basic Header ‘PTP function set (robot simultaneous controlling) PTP SETON PTP ALLON ‘Motor direction setting (for Metal-Fighter) DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 ‘Motor motion begin location setting (prevent extreme motor action) GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 ‘Basic motor speed setting SPEED 5 ‘All motor action MOTOR G24

  8. 7. Control Basis Language • PTP (Point To Point; robot simultaneous controlling) Multi-linked robots needed many linkage simultaneous actionfor one motion. And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwiselate completed . Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneouscompleted. • Zero Point To assembling multi-linked robots very difficult accuracy. during setup come to error by little by little, if the errors are accumulated it shoud be big error end of assembling, and then action program come to some trouble. so that after end of assembling robot , needed state revision step. This point we define “Zero Setting”

  9. 8. Program Basis II The Example Program “ Sit down to Stand-up” 1. Describe basic header at edit window 2. Click the manu “motor control” 3. Display current motor state 4. Current motor state “insert” => Stand-up pose 5. R_Leg, L_Leg remove the check “at group use button” 6. User can set motion down pose by Manually 7. R_Leg, L_Leg click at “group use button” 8. Current motor state “insert” => Sit down pose 9. “Close” 10. User can modify at edit window themselves. 11. Down load 12. Metal-Fighter play motion.

  10. 9. Programming DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 Above example robot sit down to stand-up pose after 3 seconds.

  11. 10. Setting IR Remocon DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 main: a = REMOCON(1) IF a = 1 THEN 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ELSEIF a = 2 THEN 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ENDIF GOTO main Push remocon “1” button key : sit down Push remocon “2” button key : stand-up pose

  12. Thanks you! Contact : sales@minirobot.co.kr

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