UXA-90 Light
Multipurpose Humanoid Robot
Operation Manual
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-
Table of Contents
-
# CAUTION ..............................................................................................................................................................3
# BASIC OPERATION ..................................................................................................................................................4
1.
POWER ................................................................................................................................................................5
1.1
REGULAR POWER .........................
.........................................................................
....................................................................................
............ ...................................... 5
1.2
BATTERY POWER ........................
.................................................................. ......................
... ............ ........................................... ... ................. ...................
.................... ..5
2.
USB DRIVER ..........................................................................................................................................................6
3.
FIRMWARE DOWNLOAD..........................................................................................................................................9
3.1
HEAD BOARD ..................................................................................................................................................................................................................................................9
3.2 SWITCH BOARD .........................
............................................................................... ........................................................................................................... .. .......
.......... .....12
3.3
RED INTERFACE BOARD ..................... ... ....................................................... .............. .. .................................................. ........... .. .................................... ..... .................. ...12
3.3. 1 Main Controller.... ..... ---- ............ .. ............................ .......... ... .................................................. ... ................. .. ------ ... ..... .......
12
3.3.2 Sub Controller
....... ................. ................ ..................... .....................................
........................................... ......... ........ ... ... .....
13
4.
SAM ID SETTING ..................................................................................................................................................14
4.1
SAM ID SETTING ........................................ ............... .............. ........................................ ..................... .................................................................
.......................... ... . ...... 14
4.2 SAM INTERFACE SINGLE BOARD EXPLANATION ......................................................................................................................................................................................14
4.3
SAM ID SETTING DIRECTION .....................................
.......... ................................ . ................... ........... .. ..................................................
............................................. 15
S. SOFTWARE ..................................................................................................
........................................................ 16
5.1
SOFTWARE DIRECTION
...................................................................... .. .................................
............ .... ................................................................................................. 16
5.
1.1 ROBOBUILDER DOWNLOAD TOOL .......... .................. ...... ........... . ... ..... ..... ... ..... ......... . .............. . ......................................... .....
16
5.7.2 MOTION BUILDER... ............................. .. ..... .. ..................... . .......... .... ............................. ............ . ....................... ...... ........... ....
18
5.2 ZERO SETTING DIRECTION(ROBOBUILDER DOWNLOAD TOOL) ........... ............................................................... ............ ... ........................................ ............... ...... 30
5.2.1 ZERO SETTING - 7 (PC NETWORK) ..................... --- ... ..................... . .... . ....... --- .... . ..... . ... ........ .... .... ........ ... ...................... ..
30
52.2 ZERO SETTING 2 (Remote controller on Robobuilder Download Tool
-
Zero setting macro) .................................................
32
52.3 ZERO SETTNG- 3 (MOTION INPUT)... ...... ... ........ ... .... ... ....................
..... ..... ... ..... ...
............... ........... ... ................ ... ... .... ... ....... .
33
6.
OPERATION METHOD ...........................................................................................................................................34
6.1
RBTooL ..............................................................
................. ........................................ ................................................. .. ..... ... .............
.........................
................................. 34
6.2 RE MINI CONTROLLER ...........................................................................................................................................................................................................................35
7.
APPENDIX...........................................................................................................................................................36
7.1
REMOTE CONTROLLER KEYMAP ........... ...... .. ....................................... ................................................ ..........
................................... . ............................... ........... ........36
7.2
ID MAP ..............................................................
......................................................... .. ..................................
...................................
..................... ...................................... 37
7.3 BATTERY SPECIFICATION ......................................................................................................................................................................................................................38
IN
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I
-
When taking UXA-90 out from the carrier, lift by holding the handle on the back and have the
robot sit on the floor.
-
It is dangerous to put your hand into the servo motor area when UXA-90 robot is in action.
-
Connect the regular power supply (power adapter) to check if the power works properly. (Do not
use the battery at first.)
-
Always check for damages in UXA-90 robot after use.
-
Do not put UXA-90 robot on an elevated place such as on a table and work on the floor to
prevent the robot from falling.
-
In case of an emergency, press the red button on the SW board during
operation for immediate stop.
-
Do not put your hand into the fan on the knees.
-
Be careful with motions and orders that require immoderate movements
as they may damage the robot.
-
Assure a safe distance from the robot when testing a new motion (movement).
-
Connecting a safety cable is recommended in case of unexpected movements (falling, etc.)
during the test.
-
The manufacturer is not responsible for arbitrary remodeling/improvement or inappropriate
management of the robot.
3
# BASIC OPERATION
The following is based on <Chapter 6.2 RF Mini Controller>, and it explains the initial operation of the
robot.
c
Press the power switch on the SW board with the UXA-90 seated, and check the LED light on
after the robot is turned
on(*Press
the power switch more than 3 seconds when you turn on
the robot's computer together
I
You can control the robot's basic motions without turning on
the computer).
©
Press the power switch on the RE mini controller to turn on the power.
(
Press
0
button on the RF controller to have the UXA-90 stand up in the initial position.
@
Press the button to have the robot move from the initial position. (Reference— Chapter 7.1
Remote Controller Key Map)
<RE controller key arrangement>
4
1. POWER
*
The power for UXA.90 robot is 18.5V, and it operates with
regular power (power adapter) or a battery.
*
The power switch consists of SW board, red interface board,
and PWR board. Among these three powers, red interface
wd>
board and PWR board shall stay 'on' at all times, and turn on
and off the robot with the SW board.
1.1 REGULAR POWER
*
When using the regular power, connect the power adapter provided with the package to the power
supply part(FWR Board) of UXA-90.
1.2 BATTERY POWER
Check the specification of a battery first before use (Refer to
Chapter 7.3 Battery specification). Connect the battery to the
cable inside of the battery case. Remove the power adapter
before use.
5
2. USB DRIVER
Use the Micro-USB cable to connect the PC and UXA-90. Here, the connecting part on the UXA-90 is
the micro socket on the switch board (Refer to Chapter 3.2 Switch Board.). See below for driver
installation guideline and a few setting methods.
<Figure 1>
1)
When the UXA-90 is connected to the PC with the Micro-USB cable, the automatic installation begins
as shown in <Figure 1>
If auto-installation does not begin, try connecting the USB again.
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<Figure 2>
2)
After completing the installation, check the port setting on Device Manager.
Reatorm Defaults
<Figure 3>
3) Click on the Advanced button in the port settings.
OK
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C
USB
Transfer Sizes
.
Canud
Select
lower settings
to
correct performance problems
at low
baud
rates,
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Select higher
settings for footer performance.
Receive
(Bytes)
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(Bytes)
-
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Options
Miscellaneous Options
Select lower settings to correct response problems.
Serial Enumerator
Serial Printer
Timer
(insec)
It.
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E
Latency
Cancel
If
Power
Off
LM
Event
On Surprise
Removal
E
l-
Tmeouts
Set
RTS
On Clone
C
Disable Modem
Ctrl Al Startup
C
Minimum Read Timeout (msec)r
[o
I
Enable Selectee Suspend
Minimum
Write Timeout (rosec);
0
Selectee Suspend Sille Timeout (secs);
<Figure 5>
5) Change the COM Port Number to [COM3], and Latency Timer (msec) to [1].
7
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<Figure 6>
6) Check that the port number has been changed to [COM3].
3. FIRMWARE DOWNLOAD
*Fi
rmware
download is not required unless update notice is released by Robobuilder (p9p13).
The four boards to download the firmware are head board, switch board, and red interface board
(main controller, sub controller). The program used to download the firmware is 'Flash Loader
Demo.exe'. Be careful as each board requires different switches to be pressed before downloading the
firmware.
3.1 Head Board
A. Connect USB to UART to the PC and the head board. The Boot switch is to be pressed when
power is supplied, so press the Boot button while the Reset button is being pressed, and only
keep the Boot button pressed.
Port Name
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B.
Open Flash Loader Demo.exe and set the USB to UART port name and the rate. Press <Next>.
C.
Click <Next>.
D.
Check the list and click <Next>.
10
E.
Refer to the 'UXA-90—L1GHT_PARTLIST file and open the firmware file (.hex) of the head board.
Check the information and click <Next>.
F.
Once the download is completed, click <Close>.
11
3.2 Switch Board
1) Have the Micro-USB on standby.
2) Press Boot button.
3) Connect the Micro-USB cable.
A.
Since there is no Reset button on the switch board, connect the Micro-USB cable to the PC
while the Boot button is pressed.
B.
As explained earlier, download the firmware for the switch board.
When the firmware is downloaded properly on the switch board, connect with the red
interface board and provide power to the red interface board. Check if the LED of the switch
board power button is flickering.
3.3
Red Interface
Board
3.3.1 Main Controller
A.
Connect in the order of PC
-
Switch Board
-
Red Interface Board
-
SMPS (power), and click
the power button on the switch board while the
Boot button is pressed to enter the firmware
update mode.
B.
Download the firmware for the main
controller in the same way.
12
3.3.2 Sub Controller
A.
As shown in the image, fix the UIC SUB CTRL board on the UIC MAIN CTRL board, and
connect the power adapter and the USB to UART cable.
B.
Press the two buttons (Boot, Reset) on the UIC SUB CTRL board as explained earlier, and
down load the firmware with the Flash Loader Demo program.
UIC SUB CTRL board cannot be downloaded individually without connecting the two CTRL
boards.
The power is supplied only when the DIP S/W #3, 4, 5 are switched on. (SW Board part)
13
4. SAM ID SETTING
4.1 SAM ID SETTING
LUMiJIJJ UART
J1Cable
)
1IJ1IA1
4.2 SAM Interface Single Board Explanation
©
USB to UART Cable: Connect the USB to UART cable to the PC as shown in the image.
©
POWER (1 8.5V): Use 18.5V for power.
©
SWITCH: Power switch
@
DIP SWITCH: Only keep the switch #3 on.
14
©
JUMPER, 4Pin Cable: JUMPER, 4Pin Cable part is divided into 'SAM-1XX' and 'SAM-5!2X'.
Connect the jumper and cable for SAM-160, 210 to 'SAM-1XX' and, SAM-3, 5, 30, 100 to 'SAM-
512X'.
4.3 SAM ID SETTING DIRECTION
©
Prepare SAM Interface Single Board, Power Supply (18.5V), SAM Motor(motor for ID setting),
4Pin Cable (cable that fits the motor), and SAM_Programmer.exe.
©
First, connect the power line (18.5V) to the SAM Interface Single Board, and connect the jumper
and 4Pin Cable that corresponds to the SAM Motor specification.
©
Turn on the power, run the SAM_Programmer.exe file, and connect the COM Port.
ij Press [Scan ID] button and check the motor ID, and click [Set ID] to set the motor ID.
©
Click [Scan ID] button three times to see if the motor ID has been set properly.
15
5. SOFTWARE
5.1 SOFTWARE DIRECTION
5.1.1 ROBOBUILDER DOWNLOAD TOOL
5.1.1.1 UI COMPOSITION - DOWNLOAD
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<Figure 1>
L EEl]
A.
Directory: Explores the location in which the motion file is saved
B.
File: Displays list of motion files in the location selected in
A
C.
Download File List: Adds the motion file to download on the UXA-90
D.
Memory Space: Shows the memory space in the UXA-90
E.
Download: Downloads the files on C in the UXA-90 in order
F.
Move & Delete All: Relocates or deletes the files on C
G.
Remote controller: Performs the same function with the UI on the software instead of an actual remote controller
IN
5.1.1.2 UI COMPOSITION
-
ZERO SETTING TOOL
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A.
Zero Point Data: Shows and edits the zero data by ID
B.
File Read: Opens the zero data saved on the file
File Save: Saves the modified data
C.
Get(Zero) from RBC(RQC): Opens the current zero data of the UXA-90
Default Value: Opens the base zero data
Run Basic pose: Orders the base zero data to the UXA-90
D.
Set to RBC: Saves the modified data from A in the UXA-90
17
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5.1.2 MOTION BUILDER
5.1.2.1 UI COMPOSITION
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A.
New: Generates a new project
Open: Opens an existing project
Save: Saves the current project
Save as: Changes the name for the current project
Config: Set details of individual servo motor
Download : Nonuse
B.
Control panel: Checks and edits the parameter of the UXA-90 by ID
C.
Motion data: Displays the information on the motion currently being edited
D.
Displacement reset: Resets the edited displacement
113
© Select the .prj(project) file in the location where the motion file is saved
E.
Motion index: Edit the displacement and torque of the motion currently being edited
F.
New motion: Generates a new motion
Motion list: Shows the list of motions in the project
Save As: Changes the name of the motion currently being edited
Save: Saves the current status of the motion currently being edited
Set Motion: Changes the setting (name, location, gain value) of the current motion
Delete: Deletes the selected scene
Test: Sends the current motion to the UXA-90 to perform
New scene: Adds a new scene to the motion
Paste: Pastes the copied motion
Select All: Select the entire scene of the motion
G.
Scene index: Edits the number of frames in the scenes and the run time
5.1.2.2 DIRECTION
-
OPEN A PROJECT
© Click New.
© Open the project by selecting the .prj file, and the control panel and the motion list are shown as
below.
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The control panel and motion list is blank in the beginning
19
20
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©
Complete editing the project by clicking [Apply Setting]..
21
*
Add a motion on the project if desired motion cannot be found on the list.
©
Click [Add to Project].
22
5.1.23 DIRECTION
—
SETTING PROJECT
©
Click Config.
©
Complete editing the project by with [Set Config].
Above screen appears.
*
Use the [Add SAM(WCK)J and [Delete SAM(WCK)} button to add or delete the number of SAM.
*
Edit the P, D, I gain and parameter value by ID.
5.1.2.4 DIRECTION
-
OPEN MOTION
©
Click Motion List.
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©
Check Motion List.
X Above screen appears.
®
Select the motion file in .rbm format where the motion file is saved.
Look in
j
UXA
50 Motion
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Date modified
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2015-05-14 2.; 8..
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2015-05 15 2.;3...
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©
Double click the motion file on the list.
5. 1.25 DIRECT/ON
-
OPEN A MOTION
*
A motion file is composed of scenes'.
*
Scene' occurs from top to bottom in order, and the total run time is the run time for each scene added
together.
©
Select the scene to edit.
® Edit the displacement and torque for the scene.
<Displacement and torque>
Method 1. Double click the value in ® and edit the number.
Method 2. Drag the wheel by ID on the control panel to edit.
Method 3. Edit with Get Pose'.
Method 3.1. The screen below appears when you click [Get Pose].
23
24
Method 3.3. Selected IDs are highlighted in red on the control panel.
Method 3.4. Have the UXA-90 pose in the desired posture and click [Get pose].
*
Create a new motion if you would like to make a new motion other than the motions provided.
*
The torque value should be between 0 and 4, and the torque is the highest when set at 0.
® Click [Save] to save the edited file.
5.1.2.5 DIRECTION
-
GENERA TEA MOTION
©
Click [New Motion].
25
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L
-
I
3
©
Set the motion name, location, and P, D, I gain by ID, and click [OK].
©
Set the name for the new scene, number of frames, and run time, and click [OK].
Method 3.2. Select the ID to read the posture and click [Close].
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Copy(C)
2
Paste(P)
Initial Pose
Delete(D)
6
7
Insert New Scene(N)
8
File Load and Insert(L)
9
.
Syrnrnetry(M)
Modify lempoCT)
Shift Value of Selected Scene(W)
©
Edit the displacement and torque for the generated scene. (Refer to'- DIRECTION
-
EDIT MOTION')
*
Click [New Scene] to add a new scene.
*
To operate the edited scene, select the scene, click [Test] to have the robot perform the scene.
(Check [Repeat] for test operation to see the robot perform the scene repeatedly.)
©
After the edit is completed, click [Save].
©
Additional function: Right click the scene for various additional functions.
®-®
Copy: Copies the selected scene
©-®
Paste: Pastes the copied scene onto the selected scene
©-®
Initial Pose: Returns to the base posture
©-®
Delete: Deletes the selected scene
©-®
Insert New Scene: Creates a new scene where the selected scene is
©-®
File Load and Insert: Inserts an existing motion where the selected scene is
©-®
Symmetry:
Enable
ry
Left
Side
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-----------------------
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....
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Shift Volo of Sekoted Soeoo8'O
:
Setp(S)
*
Set the ID and direction in [Symmetry Setup] for symmetry, and click [Bi(IateraI)symmetry] to apply the ID and
direction.
©-®
Modify tempo
27
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5.2 ZERO SETTING DIRECTION(Robobuilder Download Tool)
5.2.1 ZERO SETTING
-
1 (PC NETWORK)
*
Increase or decrease the run time at a specific rate.
©-®
Shift Value of Selected Scene
1)
Have the UXA-90 sit down as in the image, and connect the UXA-90 to PC, and turn on the
power(Refer to 3.2 Switch Board for the connection).
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2)
Open the program RBtool and select [Open Port] or [Search Port].
29
30
*
Replace all position values by ID at once.
(Useful to edit several scenes at once)
To save the file again after editing the zero point, click [File Save].
3) When the USB port is connected, the status changes to [Close Port] as shown in the image.
The robot begins to move once # button on the remote is pressed. If the zero point is set
using RBTool on PC, pressing # button will activate the # button combination function like a
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5.2.2 ZERO SETTING
-
2 (Remote controller on Robobuilder Download Tool
-
Zero setting macro)
toggle key. To turn off the # button combination function, press # button once more. While the
# button combination function is on, press C button and then B button to run the setting macro,
and press the button for each macro function for setting. Lastly, to write the zero point, press C
button.
To establish the setting for the robot in the beginning, press # button followed by C button
and A button to read the current location value and set the zero point. Here, the basic walking
position is not the basic posture, but the posture where the robot has the legs stretched fully.
Be careful not to set the zero point when the robot is in its basic posture or basic walking
posture
-
the robot must be laid flat on the floor.
See below for each key combination macro.
#
+
LR(stretch left leg)
#
+
LA(fold left leg)
#
+
RR(stretch right leg)
#
+
RA(fold right leg)
#
+
U(stretch both legs)
#
+
D(fold both legs)
#
+
1(upper body lean forward)
#
+
L(upper body to the left)
#
+
4(both knees forward)
#
+
3(upper body lean
#
+
R(upper body to the right)
#
+
6(both knees backward)
backward)
#
+
7(both ankles forward)
#
+
9(both ankles backward)
31
__
32
This function is the zero point setting macro for walking, so the first motion must be the basic
walking. The main purpose of this function is to simply set the zero point and to do so only
with the remote controller and without the use of computer.
4) To use a new zero file, click [File Read], and to use a zero file saved in MC, click [Get from
RBC(RQC)]. The zero value for the motors can be changed after opening the file. With the front
horn of the motor in the center, clockwise direction is shown as (+, red), and counterclockwise
direction is shown as
(-,
blue).
Zero Point writing succesful!
5) Click [Write Zero] after editing the zero point and check the pop-up message. Click [OK] and
press [C] on the remote controller, and the robot will move to the base posture (standing up).
5.2.3 ZERO SETTNG- 3 (MOTION INPUT)
When the zero setting is missed and need to configure again, it is necessary to set an approximate zero
9
.
J I 1A'V I [.1 I
kyl
I * I [•i I]
point before setting the precise zero point to avoid any malfunction. Follow the direction below.
UXA-90 can be operated with two remote control methods: the remote controller in RBTool or RF mini
©
Connect the power adapter and the USB cable to the UXA-90.
controller.
©
Hold the waist of the robot, and turn on the power with all its joints straight
©
Open RBTool.exe and click <Connect Port>
j Press # button and C button on the remote controller.
©
Press A button while the robot is standing straight, and check the buzzer sound.
©
The robot is relaxed for 5 seconds, and torque is applied to all motors.
rtj Press A button again, and repeated the direction above 5 times.
®
Press C button to save the memory.
r
•
i;I V
<RF-USB>
<RF-USB zoomed in>
A.
Connect the RF module to the RF-USB in the direction shown in the image below. (Both RE and
After this, continue with 5.2.1 ZERO SETTING (PC) to set a precise zero point.
USB cable methods can be used. USB cable method was explained earlier.)
B.
Connect the RF-USB to the PC.
C.
Open Robobuilder Download Tool and connect the port.
OdTIOftT:Z,,,p,tT
M
Us h ii
Icornr,n.n,nabr
0
0 S
00
0th
LOtS P 0 10 I!
Itck( rtPo,t op
<Robobuilder Download Tool>
33
L
34
6.2 RF MINI CONTROLLER
A.
Fix the RE module paired with UXA90 onto the RE controller.
B.
Turn on the power of UXA-90 while it is sitting down, and turn on the RE controller.
C.
Press
•
button on the RE controller, and the UXA-90 stands up to the initial position.
<RE Controller Key Arrangement>
D.
Run the motion with the RE controller keys. (Reference— 7.1 REMOTE CONTROLLER KeyMap)
D.
Turn on the power of UXA-90 while it is seated.
7. APPENDIX
E.
Press C button on the remote controller UI, and the UXA-90 stands to the initial position.
F.
Run the motion with the buttons on the remote controller UI. (Reference— 7.1 REMOTE
7.1 REMOTE CONTROLLER KeyMap
CONTROLLER KeyMap)
The list on the file to be downloaded matches the number on the remote controller.
Button
mode
Motion
No.
Motion list
Remark
0
0
7
INIT
Init Motion
U
U
1
BASIC
Basic Posture for
walking
0
0
2
KICK
Right kick
40
3
TURN-LEFT
Turn Left
II
-
4
WF SHORT
Walking forward
istep
5
TURN
-
RIGHT
Turn Right
O
0
6
SIDE
-
LEFT
Left Step
O
0
8
SIDE
-
RIGHT
Right Step
9
WF_4STEP
Walking forward
4step
O
10
BASIC
Basic Posture for
walking
10
1
0
11
WF_6STEP1
KWaIking
forward 4step
+
400
12
INTRODUCTION
Introduction
RF
13
GANGNAM
GangnamStyle
dance
+
4
14
DEMO1
Demo motion
EE
+
tf
15
+0
400'
16
17
0
18
40
19
ED
'4~p
4
0
20
0
21
SITDOWN
Sitdown
rLF
dO'
404b
33
PWR_OFF
System
Shutdown(Built-
in PC)
IJ
0
40
34
MODE-CHANGE
ModeChange
35
1
1
36
ID
Actuator Type
0
SAM 210P
1
SAM-210P
2
SAM-210P
3
SAM-210P
4
SAM-210P
5
SAM-210P
6
SAM-210P
7
SAM-210P
8
SAM-210P
9
SAM-210P
10
SAM-160P
11
SAM-160P
12
SAM-100
13
SAM-100
14
SAM-100
15
SAM-100
16
SAM-30
17
SAM-30
18
SAM-30
19
SAM-30
20
SAM-30
21
SAM-30
22
SAM-160P
23
SAM-30
24
SAM-30
*Th
e
battery in the picture above is an example. Use a battery fulfilled the specification below.
*A charger for the battery is not inclusive in the package, and users can use a charger for
lithium batteries which is the same type for R/C products.
Specification
Capacity:
2200mAh or higher.
Voltage:
551P / 5 Cell / 18.5V
Discharge:
More than 1OC (Constant)
Weight:
Below 330g
Dimensions:
Below 106
x
36
x
45mm
Discharge Plug:
XT60
1'I III X
M
TR
7.3 BATTERY SPECIFICATION
37
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