Vstone Robovie-nano User Manual

Vstone Co.,Ltd.

ATR

1

0．Introduction

Please Read First

Thank you for purchasing the Robovie-nano bipedal robot kit. Contained herein are the

directions for assembling the robot kit. Please carefully follow the instructions and have fun.

This is a do it yourself assembly kit. The quality of the end product will vary depending on how

the robot is assembled by the user, so careful attention must be followed to following the

directions. Please do not hesitate to seek assistance if any problems arise during 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 not be

able to answer any Windows specific questions. A working level knowledge of PCs is assumed

from this point forward.

A battery charger is not included with this kit, however 4 AA batteries are required for operation,

so it is recommended that the user purchase rechargeable Ni-MH batteries and an off the shelf

battery charger.

※ Please note that the specifications listed herein are subject to change without advanced

notice, in order to enhance performance of the Robovie-nano system.

2

Safety Warnings

●As for this product、this is a do it yourself robot kit so much of the stated performance in this

manual cannot guaranteed, due to the nature of varying methods of user assembly..

●Please do not use of this product、assemble、or store parts around small children、This kit

contains small pieces which may be easily swallowed.

●This product is not a toy. If shown in front of kids, always make sure an adult is present.

●The product can get damaged or ruined is left in areas of high moisture, humidity or

condensation.

●Please use adequate safety measures and techniques when using tools.

●Please do not modify or alter any of the circuitry 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 result in equipment failure, electric shock, shorts or even fires.

●Please prepare adequate table space when assembling, programming and testing the robot.

During programming, the robot can suddenly move and knock items over, and possibly cause

personal injury to the user or anyone nearby due to high torque servo motors and sharp

brackets.

●Please check the polarity of the connectors. Fire and other hazards may occur if installed

incorrectly.

●Please be careful to avoid crimping the cables in the robot frame. Short can occur.

●Please remove all cables and connectors at the plug end. Failure to do so could tear the wire

and lead to shorts or fires.

3

About the Servo Motors

A servo motor has an important rule and concept concerning its mounting. If it is mounted in a

wrong way, the robot will not move correctly. When assembling the servo motor, read this page

thoroughly.

○Servo motor original position

The servo motor is controlled by the CPU and can be programmed by the user to freely run.

The servo motor VS-S020 used for the Product has frame mounting holes in the top and back

covers, into which a frame is mounted. Then, mount a servo horn to an output shaft (power

supplied shaft), followed by the frame there, to use it as the robot’s joint. A movable range of the

robot’s joint depends on this mounting of the servo horn.

The servo motor has its movable range. The VS-S020 used for the Product moves within a

range of about 130º, that is from -65º to +65º.* The central position of 0º is called the “origin.”

each servo motor has a slight angle discrepancy. Even if the angle of the origin is sent from the

CPU board to the servo motor, it may be slightly dislocated from the origin. Assuming that the

origin position based on a signal from the CPU board is correct, this robot uses software to adjust

an error produced in the actual servo motor. (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 important in order to set a movable range of the joint

more accurately. If the origin is not accurately set, the robot cannot move successfully in

motions, such as getting up, which require an accurate movable range. Try each hole in the

servo horn one after another until it is located at the most accurate angle to the origin. When

mounting the servo horn to the output shaft, do not allow the servo motor’s output shaft to be

rotated.

○About “motor lock.”
Some servomotor can not rotate in 130º by some joint frame. We limit the rotating range in
software, however we can not limit the rotating range perfectly at the legs and arms.
If a hand or a foot gets caught on the body at the time of activating the servo motors, an
excessive load will be applied to the servo motors. This condition is called “motor lock.” If
this condition persists, the servo motors will be heated and go out of order(breaking
gear/case/servo circuit board/CPU board ). While compensating, touch the servo motors
periodically with your hand to check if they are heated. If they are too hot to touch, turn off
the Power switch of the Robot immediately and wait until the servo motors are cooled down.
Please be careful of Motor lock.

4

１．Equipment

Please prepare the following tools and have readily available during and after assembling the

robot.

●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
＃０、＃１ Philips （＃２ cannot be used）

●Other useful items

Screwdriver, tweezers, towels, cellophane tape, bowl for screws

＃０ ＃１ ＃２

Screws A,B Screws C,D,E,F Do Not

5

2．Parts Discription

・Servo Motor VS-S020

Dimensions：22.5×11.5×24.6mm（L×W×H）
Torque：2.2kg・cm
Speed：0.11S/60°
Weight：12g
Range of Motion：140°
Electrical Input：4.8V～6V（7.4V Optimal）
Protocol：PWM

・Robot Internal CPU Board ＶＳ-ＲＣ003ＨＶ

Dimensions： 52x48(44)x13mm
Weight： 21g
Servo Motor Output：30ch
Voice/Sound Output：2W
Electrical Input： 5V～16V
PC interface：USB (HID)
Remote Control： PS2 Wireless Remote, Probo
Expansion Boards：IXBUS × 1

Included Parts

6

Servo Holder Ａ

× ２ each

Knee Frame

×２

Servo Holder Ｃ

X 1 each

Servo Holder Ｂ

X 1 each

Servo Holder Ｄ

×４

Link Arm Ａ

×４

Link Arm Ｃ

×４

Link Arm Ｂ

×４

Rear Link Arm

×４

Parts List

Please confirm all parts are included in kit

Main Body

Frame

＜L＞

＜L＞ ＜L＞＜Ｒ＞ ＜Ｒ＞

＜Ｒ＞

7

Top Frame

×１

Foot

×２

Bottom Frame

×１

Battery Box Frame

×１

Bracket Ａ

X 2 each

Bracket Ｂ

X 1 each

Side Frame

X 1 each

Body

Frame

＜L＞ ＜L＞＜Ｒ＞ ＜Ｒ＞

＜L＞ ＜Ｒ＞

8

Front Cover

×１

Back Cover

×１

Arm HolderＢ

×２

Arm HolderＣ

×２

Arm Holder Ａ

×２

Hand Frames

×１each

Arm

Frames

Flat Washer

×２

＜L＞ ＜Ｒ＞

9

Screw NA

M2-3 Course Thread

×１０２

3

M2-

４

M2-

５

M2-

４

M2-

S

バ

Spacer A

M2-3(Hex spacer）

×２

6

M3-

Screw NF

M3-８ Fine Thread

×４

8

M3-

Twist Screw

×２

Spacer C

M3-20(Hex Spacer)

×２

3

M2-

ス

20

M3-

バインドネジ

Screw NB

M2-４ Course Thread

×４

Screw ND

M2-５ Binding

×１０

Screw NC

M2-４ Ｓ Tight

×７５

Screw NE

M3-6 Fine Thread

×２４

ス

Screw

Varieties

B

S

Sp

Binding Screw

S Tight Screw

Spacer

S

B

Sp

Sp

10

Speaker

×１

USB Cable

×１

Connector and Cable

Gamepad Receiver

×１

CPU Board

VS-RC003HV

×１

Servo Motors

VS-S020

×１５

Battery Terminal

×１

VS-S020

Servo Horn

×１５

Washer

×２８

Washer Bearing

×２

Major
Parts

Cable Ties

×１０

Initial Position

Adjustment Jig

×１

11

３．Assembly

Important Points

・Please use new screw driver.

Philips head screwdriver ＃０： Ｍ２‐３ Course thread, Ｍ２‐４ course thread.
Flat head screwdriver ＃１： Ｍ２‐４Ｓ tight、Ｍ２‐５ Binding、M３‐６、M３‐８ screws.

・Please make sure to use correct screw type.

In particular, M2-4 tapping screws and M2-5tapping screws are very similar. Please note

that if you use M2-5 tapping screw for the output shaft of the servo, it may case 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 install the servo horn in wrong position, the robot may not be

able to play motions properly.

Assembly Instructions

Please follow the following instruction in order.

① Setting up servo motors
② Assembling right leg
③ Assembling left leg
④ Assembling right arm
⑤ Assembling left arm
⑥ Assembling Body
⑦ Attaching legs and arms onto the body
⑧ Wiring
⑨ Attaching covers onto front and back

12

Naming and positioning of the servo motors

Ｓ6：Head
Ｓ5：（Right Eye ＬＥＤ）
Ｓ4：（Right Hand）
Ｓ3：Right Elbow Roll Axis
Ｓ2：Right Shoulder Roll Axis
Ｓ1：Right Shoulder Pitch Axis

ＣＮ３ ＣＮ４

Ｓ6：（Right Leg Yaw Axis）
Ｓ5：
Ｓ4：Right Thigh Roll Axis
Ｓ3：Right Thigh Pitch Axis
Ｓ2：Right Ankle Pitch Axis
Ｓ1：Right Ankle Roll Axis

ＣＮ１

Ｓ6：（Left Leg Yaw Axis）
Ｓ5：
Ｓ4：Left Thigh Roll Axis
Ｓ3：Left Thigh Pitch Axis
Ｓ2：Left Ankle Pitch Axis
Ｓ1：Left Ankle Roll Axis

ＣＮ２

Ｓ6：Power Cable
Ｓ5：（Left Eye ＬＥＤ）
Ｓ4：（Left Hand）
Ｓ3：Left Elbow Roll Axis
Ｓ2：Left Shoulder Roll Axis
Ｓ1：Left Shoulder Pitch Axis

13

① Setting up servo motors

Please prepare the necessary parts

USB

Cable

×１

CPU Board

VS-RC003HV

×１

Battery Box

×１

Servo motor

VS-S020

×１５

If you are installing Yaw axis extension kit, please prepare following parts.

Servo Motor

VS-S020

×２

Other Parts

PC

NiCad rechargeable battery
（AAA、full charged）

14

Please insert RobovieMaker２ Install CD into 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 version)

Click Next

１ Installing RobovieMaker2

15

Click Next

Click Next

Click Next

Click Install

It takes a few minutes

Click Finish

16

Connect USB cable to
CPU Board.

Connect to PC

Insert the cable firmly.

Connect 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 the first time.

Please wait until PC detects the CPU Board.

２ Connect CPU board to PC

17

① Click Start

③Click 「RobovieMaker2」

②Place the 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 controlling Robot from PC.

５ Creating new robot project

18

Make sure you select this

check box.

Type in name of your robot.

Select directory 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 new board.

Make sure you press the reset button before you

click the “OK” button.

19

The initialization of the CPU Board is completed.

It will open the following window.

20

３ Numbering Servo Motors

Placing number tags on to the cable of each servo motor.

Please use ＣＮ１-Ｓ６ and ＣＮ２-Ｓ６ for “Yaw Axis kit”.

If you are installing the Yaw Axis kit, please place the CN1-S16 and CN2-S6 to

the servo cables.

４ Preparing Battery Box

Please push the tabs (circled in orange) outward so that you can insert and takeout the battery easily.

Push outward

Please place the tag onto

the cable, not the connector.

21

Ｓ6：Head

Ｓ5：（Right Eye ＬＥＤ）
Ｓ4：（Right Hand）

Ｓ3：Right Elbow Roll Axis
Ｓ2：Right Shoulder Roll Axis
Ｓ1：Right Shoulder Pitch Axis

Ｓ6：（Right Leg Yaw Axis）
Ｓ5：
Ｓ4：Right Thigh Roll Axis
Ｓ3：Right Thigh Pitch Axis
Ｓ2：Right Ankle Pitch Axis
Ｓ1：Right Ankle Roll Axis

Ｓ6：（Right Leg Yaw Axis）
Ｓ5：
Ｓ4：Left Thigh Roll Axis
Ｓ3：Left Thigh Pitch Axis
Ｓ2：Left Ankle Pitch Axis
Ｓ1：Left Ankle Roll Axis

Ｓ6：Power Cable

Ｓ5：（Left Eye ＬＥＤ）
Ｓ4：（Left Hand）

Ｓ3：Left Elbow Roll Axis
Ｓ2：Left Shoulder Roll Axis
Ｓ1：Left Shoulder Pitch Axis

Connect the cable on
ＣＮ４－６ Pin of the CPU
Board.

Make sure the black (or brown)

cable is placed toward outside.

Connecting all servo motors onto the CPU board.

ＣＮ１ ＣＮ２

ＣＮ４ ＣＮ３

茶赤橙 茶赤橙 橙赤茶 橙赤茶

Place the cables so that the brown or black cable goes to outside.

６ Connecting Servo Motors

ＵＳＢPort

Rotary Switch

Do not insert battery

CN6

CN7

CN11

CN1 CN2

CN4 CN3

CN5

If you connect wires wrong, the robot may not work properly.

５ Connecting Battery Box

22

７ Positioning Servo Motors

Start up RobovieMaker2.

Connect CPU Board to PC and push the button in tool bar.

Place batteries in the battery box and turn on the switch, and turn on the switch on the CPU Board.
Then, click servo motor ON/OFF button in tool bar. It will power up the servo motors.

When you turn on the power, it will

change the voltage shown in the

status window.

If you press the button, all the

servo motors moves to cente

r

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 completed steps to find center position of servo motors.
For the farther steps, do your assembly relative to this cente

r

position.
Please do not move the output shaft of the servo motors while
placing servo horns.

Now, follow the above procedure reverse direction, and turn off the switch.

Then, remove the USB cable, battery box, and servo motors from CPU board.

CommunicServo Motor ON/OFF Button

23

②Right Leg Assembly

Please gather the necessary parts

Servo Motor

VS-S020

×２

VS-S020 Type

Servo Horn

×１

Bushing

×１

Screw NA

M2-3 Course Thread

×１０

6

M3-

Screw NE

M3-6 Fine Thread

×１

3

M2-

Servo Holder Ａ (Right)

×１

Servo Holder B (Right)

×１

Servo HolderＤ

×１

BracketＡ(Right)

×１

Foot Plate

×１

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×５

CN1-S１ CN1-S２

※ Please prepare the servos

with the following seals
attached

。

24

１ Right Ankle Block Assembly ①

3

M2-

２ Right Ankle Block Assembly ②

３ Back of Right Leg ①

3

M2-

Watch the

Direction

Servo Horn Positioning

CN1-S１

CN1-S２

CN1-S１Installed

25

４ Back of Right Leg ②

3

M2-

５ Back of Right Leg ③

４

M2-

S

6

M3-

Bushin

g

ブ

Inversion

＜Back＞ ＜Front＞

From Above

Note that the screws are too close

26

Screw NA

M2-3 Course Thread

Please gather the necessary parts。

Servo Motor

VS-S020

×２

Screw NA

M2-3 Course Thread

×６

Servo Holder A (Right)

×１

Servo Holder C (Right)

×１

Servo Holder D

×１

3

M2-

CN1-S３ CN1-S４

※Please prepare the servos

with the following seals
attached

。

６ Right Thigh Assembly ① ７ Right Thigh Assembly ②

Do NOT Pinch the Cables!

3

M2-

3

M2-

CN１-S４

CN１-S３

27

Please gather the necessary parts

Screw NA

M2-3 Course Thread

×８

Link Arm A

×２

Link Arm B

×２

Link Arm C

×２

3

M2-

Rear Link Arm A

×２

Knee Frame A

×１

４

M2-

S

Screw NF

M3-８ Fine Thread

×２

8

M3-

Spacer C

M3-20(Hexagonal)

×１

Screw NC

M2-４ Ｓ Tight

×１０

Screw NE

M3-6 Fine Thread

×８

ス

20

M3-

V

S-S020Type

Servo Horn

×２

Bushing

×１０

6

M3-

28

８ Right Link Arm Assembly

９ Right Arm Link Assembly ①

４

M2-

S

４

M2-

S

3

M2-

6

M3-

3

M2-

Inversion

Servo Horn Positioning

2 Sets

＜Front＞

DO NOT Strip the Screw
Threads！

29

１０ Right Link Arm Assembly ②

４

M2-

S

3

M2-

3

M2-

6

M3-

Inversion

Servo Horn Positioning

＜Front＞

30

１１ Attaching the rear link ①

6

M3-

6

M3-

８

M3-

８

M3-

１２ Attaching the rear link ②

＜Back＞

＜Back＞

Side View

Side and Rear View

Sp

20

M3-

31

１３ Completed Right Leg Assembly

＜Front＞ ＜Back＞

32

③Left Leg Assembly

Please gather the necessary parts

Servo Motor

VS-S020

×２

V

S-S020Type

Servo Horn

×１

Bushing

×１

Screw NA

M2-3 Course Thread

×１０

6

M3-

Screw NE

M3-6 Fine Thread

×１

3

M2-

Servo Holder Ａ (Left)

×１

Servo Holder Ｄ

×１

Bracket A (Left)

×１

Right Foot Plate

×１

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×５

Servo Holder B (Left)

×１

CN２-S１ CN２-S２

※Please prepare the servos

with the following seals
attached

33

１ Left Ankle Block Assembly ①

3

M2-

２ Left Ankle Block Assembly②

３ Back of Left Leg ①

3

M2-

Watch the

Direction

Servo Horn Positioning

CN２-S１ CN２-S２

CN1-S１Installed

34

４ Back of Left Leg②

3

M2-

５ Back of Left Leg ③

４

M2-

S

6

M3-

Bushin

g

Inverted

＜Back＞ ＜Front＞

Top Down View

Do NOT Strip the Screw
Threads！

35

Please gather the necessary parts。

Servo Motor

VS-S020

×２

Screw NA

M2-3 Course Thread

×６

Servo Holder A (Left)

×１

Servo Holder C (Left)

×１

Servo Holder D

×１

3

M2-

CN２-S３ CN２-S４

※Please prepare the servos

with the following seals
attached.

６ Left Thigh Block Assembly ① ７ Left Thigh Block Assembly②

DO NOT Pinch the Cables!

3

M2-

3

M2-

CN２-S４

CN２-S３

36

Please gather the necessary parts

Screw NA

M2-3 Course Thread

×８

Link Arm A

×２

Link Arm B

×２

Link Arm C

×２

3

M2-

Rear Link Arm A

×２

Knee Frame A

×１

４

M2-

S

Screw NF

M3-８ Fine Thread

×２

8

M3-

Spacer C

M3-20(Hexagonal)

×１

Screw NC

M2-４ Ｓ Tight

×１０

Screw NE

M3-6 Fine Thread

×８

ス

20

M3-

V

S-S020Type

Servo Horn

×２

Bushing

×１０

6

M3-

37

８ Left Link Arm Assembly

９ Left Arm Link Assembly ①

４

M2-

S

４

M2-

S

3

M2-

6

M3-

3

M2-

Inverted

Servo Horn Positioning

2 Sets

＜Front＞

DO NOT Strip the Screw
Threads！

38

１０ Left Link Arm Assembly ②

４

M2-

S

3

M2-

3

M2-

6

M3-

Inverted

Servo Horn Positioning

＜Front＞

39

１１ Attaching the rear link①

6

M3-

6

M3-

８

M3-

８

M3-

１２ Attaching the rear link ②

＜Back＞

＜Back＞

Side and Rear View

Side View

ス

20

M3-

40

１３ Completed Left Leg Assembly

＜Front＞ ＜Back＞

41

④Right Arm Assembly

Please gather the necessary parts

Servo Motor

VS-S020

×２

V

S-S020Type

Servo Horn

×１

Bushing

×１

Screw N

A

M2-3 Course Thread

×４

6

M3-

Screw NE

M3-6 Fine Thread

×１

3

M2-

Hand Frame (Right)

×１

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×５

Holder Arm B

×１

Holder Arm C

×１

Holder Arm A

×１

CN３-S２ CN３-S３

※Please prepare the servos

with the following seals
attached。

42

１ Right Arm Block Assembly ①

２ Right Arm Block Assembly ②

３ Right Arm Block Assembly③

3

M2-

Watch the
Direction！

CN3-S２CN３-S３

Inverted

3

M2-

43

４ Attaching the Right Forearm ①

3

M2-

５ Attaching the Right Forearm ②

Servo Horn Positioning

ブッシュ

Bushin

g

ブ

Attaching the CN３-S３

44

６ Attaching the Right Forearm ③

Inverted

４

M2-

S

6

M3-

＜Back＞

＜Front＞

DO NOT Strip the Screw

Threads!

45

⑤Left Arm Assembly

Please gather the necessary parts

Servo Motor

VS-S020

×２

V

S-S020Type

Servo Horn

×１

Bushing

×１

Screw N

A

M2-3 Course Thread

×４

6

M3-

Screw NE

M3-6 Fine Thread

×１

3

M2-

Hand Frame (Right)

×１

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×５

Holder Arm B

×１

Holder Arm C

×１

Holder Arm A

×１

CN４-S２ CN４-S３

※Please prepare the servos

with the following seals
attached。

46

１ Left Arm Block Assembly ①

２ Left Arm Block Assembly ②

３ Left Arm Block Assembly③

3

M2-

向きに注意！

CN４-S３CN４-S２

Inverted

3

M2-

47

４ Attaching the Right Forearm ①

3

M2-

５ Attaching the Right Forearm ②

Servo Horn Positioning

ブッシュ

Bushin

g

Attaching the CN３-S３

48

６ Attaching the Right Forearm ③

Inverted

４

M2-

S

6

M3-

＜Back＞

＜Front＞

DO NOT Strip the Screw

Threads!

49

⑥Assembling the Torso

Please gather the necessary items

Servo Motor

VS-S020

×３

V

S-S020Type

Servo Horn

×１

Screw NA

M2-3 Course Thread

×３０

3

M2-

Bottom Frame

×１

Bracket Ｂ

×１ each

Side Frame

×１ each

Battery Box Frame

×１

Battery Terminal

×１

Top Frame

×１

CN３-S１

CN４-S１ CN３-S６

※Please prepare the servos

with the following seals

attached

CPU Board

VS-RC003HV

×１

50

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×５

For customers who have purchased the yaw extention set, please

prepare the following parts when assembling at the same time.

Servo Motor

VS-S020

×２

CN１-S６ CN２-S６

※Please prepare the servos

with the following seals

attached

V

S-S020Type

Servo Horn

×２

Screw NA

M2-3 Course Thread

×８

3

M2-

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×１０

Flat Washer

×２

This page explains the procedures for assembling the yaw axis upgrade with the robot.
If you are assembling the kit without the yaw axis upgrade, please move to the page
and steps listed below.

W/Out Yaw Axis → Start from Page 51 Step 1
W/ Yaw Axis → Start from Page 52 Step 3

51

１ Mounting Bracket B

２ Mounting the Arm Pitch Axis

3

M2-

Watch the Direction！

CN３-S１

3

M2-

CN４-S１

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 to Step 6: Mounting the Battery Case」

52

Steps 3, 4 and 5 outline the procedures for installing the yaw axis extension upgrade.
If you do not have the yaw axis extension upgrade, please start from Page 51.

３ Thigh Bracket Assembly

４ Attaching the Hip Yaw

Watch Direction!

CN１-S６

CN２-S６

3

M2-

４

M2-

S

４

M2-

S

＜L＞

＜R＞

＜R＞

＜L＞

Do NOT Strip the Screw
Threads！

53

５ Mounting Arm Pitch Axis

Loop the cable through

the hole

3

M2-

3

M2-

→ 「Move to Step 6: Mounting the Battery Case」

CN３-S１

CN４-S１

54

６ Mounting the Battery Case

3

M2-

3

M2-

55

７ Mounting the Battery Case

3

M2-

８ Head Assembly

４

M2-

S

CN３-S６

Do Not Strip the Screw

Threads!

56

９ Head Assembly

3

M2-

3

M2-

Cables go UNDER the
head frame。

Make sure to loop the

head servo cable under

the frame!

57

１０ Attaching the CPU

１１ Attaching the Power Switch

3

M2-

3

M2-

A

ttach the black side of the

servo cable toward the

outside of connector CN4-S6

58

⑦ Arm & Leg Mounting

Please gather the necessary parts

VS-S020

Servo Horn

×６

Washer

×４

Screw NA

M2-3 Course Thread

×８

6

M3-

Screw NE

M3-6 Fine Thread

×４

3

M2-

４

M2-

S

Screw NC

M2-４ Ｓ Tight

×３０

Bracket Set Ａ

X 2 each

＜L＞ ＜Ｒ＞

Flat Washer

×２

59

１ Attaching ① Leg

Direction for attaching the servo horn

Bushin

g

＜Back＞

60

２ Attaching ② Leg

４

M2-

S

４

M2-

S

6

M3-

＜Back＞

＜Front＞

Inversion

61

３ Mounting ① Arm

４

M2-

S

6

M3-

＜Ｌ＞

＜正面＞

＜Ｒ＞

3

M2-

４ Mounting ② Arm

４

M2-

S

４

M2-

S

A

ligning the servo motor

A

ligning the servo motor

62

５ Arm ③ Mounting

Bushing

A

ligning the

servo motor

A

ligning the

servo motor

Bushing

63

６ Mounting ④ Arm

４

M2-

S

４

M2-

S

6

M3-

反転

＜Back＞

＜Front＞

64

⑧ Securing the Wires

Please gather the necessary parts

５

M2-

バ

Screw ND

M2-５ Binding

×８

Wire Tie Down

×８

It is important to properly secure the wires after assembly in order to prevent unnecessary
accidents from wire tangling and snagging.

B

65

１ Fastening the Screws

Attached the screws the areas in the
○ below

66

２ Wiring the Arms

From the bottom

Wire Ties

結束バンドの止め方

５

M2-

バ

Wire Tie

＜背面＞

５

M2-

バ

Through the Bottom

Wrap around the top

Cable

B

B

67

３ Wiring the Legs

＜Back＞

Wire Ties

５

M2-

バ

５

M2-

バ

Insert through the

middle of the frame

Through the middle

Through the bottom

Through

the middle

Over the top

B

B

68

４ Cable Connection to CPU

Ｓ6：Head

Ｓ5：（右目ＬＥＤ）
Ｓ4：（右ハンド）

Ｓ3：Rt Elbow Roll Axis
Ｓ2：Rt Arm Roll Axis
Ｓ1：Rt Arm Pitch

Ｓ6：（Rt Leg Yaw）

Ｓ5：

Ｓ4：Rt Leg Roll
Ｓ3：Rt Leg Pitch
Ｓ2：Rt Ankle Pitch
Ｓ1：Rt Ankle Roll

Ｓ6：（Lt Leg Yaw）

Ｓ5：

Ｓ4：Lt Leg Roll
Ｓ3：Lt Leg Pitch
Ｓ2：Lt Ankle Pitch
Ｓ1：Lt Ankle Roll

Ｓ6：power cable

Ｓ5：（左目ＬＥＤ）
Ｓ4：（左ハンド）

Ｓ3：Lt Elbow Roll Axis
Ｓ2：Lt Arm Roll Axis
Ｓ1：Lt Arm Pitch

Connect all of the servo cables to the CPU board as shown

Incorrectly connecting the cables may lead to problems with the robot.

ＣＮ１ ＣＮ２

ＣＮ４ ＣＮ３

茶赤橙 茶赤橙 橙赤茶 橙赤茶

Connect the cable 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, expansion board）

CN11 ：Speaker Connector

＜Connector Orientation＞

Please use the following directions for connecting the cables listed below。

・Servo Motors ：Connect with the brown or black cable facing out from the CPU board.

・Controller、IXBUS ：Connect the △ symbol on the connector with the △ symbol in the figure.

Usually, △ aligns with Pin 1。

・Speaker ：No polarity. Connect anyway you choose.

・VS-LED1 ：Connect with the brown or black cable facing out from the CPU board。

Speaker Controller

69

⑨ Securing the Front and Back Covers

Please gather all the necessary parts

５

M2-

バ

Screw ND

M2-５ Binding

×２

Cable Ties

×２

Front Cover

×１

Back Cover

×１

４

M2-

Screw NB

M2-４ Course Thread

×４

Screw NA

M2-3 Course Thread

×８

3

M2-

Twist Screw

×２

Speaker

×１

Connector and Cable

Gamepad Receiver

×１

Spacer A

M2-3 (Hex Spacer）

×２

3

M2-

ス

B

Sp

70

１ Attaching the Speaker

４

M2-

２ Attaching the Front Cover

Cable is on the
Right

Twist Screw

＜正面＞

Be careful not to crimp the
s

p

eaker cable with the frame

71

４ Attaching the Receiver Connctor

Receiver

Connector

3

M2-

ス

3

M2-

3

M2-

５ Connecting 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.

３ Speaker Connection

Connect the speaker cable to CN11.
There is no polarity for direction.

CN11

72

６ Wiring Together

７ 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 t

ying

down

Cable Tie

3

M2-

3

M2-

５

M2-

バ

５

M2-

バ

B

B

73

４．Servo Motor Position
Correction

If you turn the robot’s servo motors ON immediately after assembly, the limbs will move into an

awkward posture and the robot will not move correctly. Please correct the position of the servo

motor according to the following steps

4. Click the button to link the software 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 the PC

通信ボタン

⑤Confirm the 「status window」 error code is 「0x0b」

※When the 「VS-IX001」gyro/accelerometer chip is connected, the error code will be 「0x00」
If the error reads anything other than 「0x00、0x0b」、you may have some kind of problem。Please refer

to the RobovieMaker2 reference manual。

Confirm the error code is 「0x0b」

１ PC と接続する

74

Press the button to apply power to the servo motors.

If, at the moment you push the button and the servo motors go into an unnatural pose, immediately

push the button to turn OFF the servo motors, as you may damage the motors.

２ 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 be a problem with battery, the battery connection or the

servo motors may be improperly connected. Please switch off immediately

Check that you have 5v in the window

Servo Motor ON/OFF Button

75

３ About the Slider

Pose sliders will appear as shown in the image below.

Left Leg Slider

Right Leg Slider

Right Arm Slider

Left Arm Slider

Head Slider

Turn ON/OFF the servo motor by
checking or unchecking the box.
Check in the box is live power.

Click the top half and bottom

half of the 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.

Y

ou can change the state of the slider b

y

clicking on the bar and dragging it left
or right with your mouse, or clicking on
the slider background and scrolling the
bar with the mouse wheel.

Background will turn black with the

slider is active

Specify the angle of the servo motor to change the value of the slider.

Slider Name

A

ngle of the Servo Motor

76

４ Power the Servo Motors 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 power.

Servo ON/OFF Button

77

５ 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

Y

ou have aligned the legs

properly if the jig is flush

against the two brackets.

78

７ Pitch right leg axis

Place a check in the 「Right Leg Pitch」、「Right Ankle

Pitch」boxes and push the servo motor power button.

Use the provided jig as shown to adjust the

initial position of the servos on the right leg.

Align the 2 sides as

shown

Y

ou have aligned the legs

properly if the jig is flush

against the two brackets.

８ left leg and roll axis

Place 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 Ankle Roll」box and
push the servo motor power button.

As shown on the right, using a jig for adjustin

g

the initial position lets you set the prope

r

angle.

A

pply the jig to the

bracket without an

y

gaps

A

pply the jig to the

bracket without an

y

gaps

A

djust the servos

to be parallel with
the jig, as shown.

A

djust the servos

to be parallel with
the jig, as shown

79

９ Right leg and roll axis

Place a check in the 「Right 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 「Right Ankle Roll」bo

x

and push the servo motor power button.

As shown on the right, using a jig for adjustin

g

the initial position lets you set the proper

angle.

A

pply the jig to the

bracket without an

y

gap

s

A

pply the jig to the

bracket without an

y

gaps

A

djust the servos

to be parallel with

the jig, as shown

A

djust the servos

to be parallel with

the jig, as shown

１０ Check the roll axis

Make sure the alignment of the LEFT and RIGHT feet are as shown below.

If not, tweak the positions of each leg with the sliders until you achieve alignment like the image

below.

Make sure both the left an

d

right legs are straight.

80

１１ Shoulder Pitch Correction

Place a check in the 「LEFT Shoulder Pitch」 and 「Right Shoulder Pitch」 boxes then click the servo

power button

Align the 「LEFT Shoulder Pitch」 and 「Right Shoulder Pitch」 as shown below.

A

djust so that the frame

and body are parallel to

the upper bracket of the
shoulder

１２ 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 the 「Left Elbow Roll」box and
push the servo motor power button

Adjust the elbow roll as shown on the image to

the right

A

djust the inner side of the

arm and torso to be

parallel.

(Torso and arm spacing is
about 15mm)

A

djust the outside o

f

the arm and the han

d

to be parallel.

81

１３ Right Arm “Shoulder” Roll Axis

Place a check in the 「Right 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 the 「Right Elbow Roll」bo

x

and push the servo motor power button

Adjust the elbow roll as shown on the image to

the right

A

djust the inner side of the

arm and torso to be parallel.

(Torso and arm spacing is

about 15mm)

A

djust the outside o

f

the arm and the han

d

to be parallel.

１４ Head Yaw Axis

Place a check in the 「head yaw」 box and click the servo motor power button

Adjust the head yaw as shown on the image below.

The head should be looking

forward completely as

shown.

82

１５ Servo Initial Position Adjustment

Servo initial configuration button

After all the servo motors have been configured click the button.

A

fter clicking 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 settings will be lost once powe

r

is disconnected. To finalize, press the button to write the settings to the CPU’s ROM.

Mode Switch/ Audio Settings Write button

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.

84

５．Gamepad Operations

Motion files for operating the robot are uploaded to the CPU board by default when the initial settings are

written. You can control the robot with the PS2 wireless remote controller if a receiver is connected.

At this time, the only controller supported is the wireless robot gamepad controller"VS-C1", manufactured by

Hori "Vibration Wireless Anaheim 2 TURBO”. If you want to connect with the game pad, please attach the

connector and associated receiver to the inside of the robot’s body. Please see the assembly manual.

１ Button

方向キー

L1,L2

R1,R2 ボタン

●ボタン

▲ボタン

×ボタン

■ボタン

Pressing in the sticks function as

the L3 and R3 buttons.

アナログスティック、L3,R3 ボタン

SELECT+START turns ON/OFF the servos.

SELECT+○△□×Map Button Switch

SELECT、START

The function of the game pad buttons are as follows. To apply power ON to the robot,

first press and hold the SELECT button then press the START button.
※ This will not activate the robot when the USB cable is connected

Direction

L1,L2 Button R1,R2 Button

●button

▲button

×button

■button

Analog Stick、L3,R3 Button

SELECT+START turns ON/OFF the servos.

SELECT+○△□×Map Button Switch

SELECT、START

85

２ Selecting the Maps

The controller can switch the map manually during the operation. In other words, you can get the
same button to behave differently and have a completely different function. The standard
configuration is equipped with the following three maps from the controller SELECT button + △ ○
×. The operator can switch between maps by pressing any one of button configurations above.

Basic motions and behaviors such as bowing, self introduction, cart wheels and

walking have all been programmed into this map by default.

Basic Operation SELECT + ▲

Soccer SELECT + ●

Battle SELECT + ■

Punching, throwing, takedowns and other defensive features are included.

Shoot, kick and goal keeper functions have all been programmed into this map.

２ Mode Switch

The board has a CPU mode 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.

Robovie-nano is written in the following modes by default as shown below:

Control maps in this mode should not have any optional parts.

０： Basic (Plain) Control Map

This is used for operations when robot is wearing the suit.

１： External Robot Control Map

This map contains the motion files to use with the yaw axis version of the robot.

２： Yaw Axis Control Map

This map is used when the 「VS-IX001」 gyro/accelerometer chip is installed. With the

gyro, walking is more stable and the robot will use the accelerometer to detect when it
has fallen over and automatically stand back up.

３： Gyro Sensor Control Map

Servo motors will automatically power ON and begin self introduction.

Servo motors will automatically power OFF once finished.

９： Auto Demonstration Self Introduction

４～８ （Not Used）

86

●

▲

×

■

Hello

Ye s

Self Intro

No Way

Keep Pushing R1

R1+●

R1+▲

R1+×

R1+■

Nice to meet you

Cartwheels right

Cartwheels 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

３ Always Common Buttons （motions）

These buttons have the same functionality in all default control maps

３ Primary Modes SELECT + ▲

87

●

▲

×

■

Front Punch

Right Punch

Left Punch

Defend

While Holding R1 Button

R1+●

R1+▲

R1+×

R1+■

Punch

Punch（right）

Punch（left）

Defend

４ Soccer SELECT + ●

●

▲

×

■

Forward little

Shoot right

Shoot left

N/A

While pushing R1 button

R1+●

R1+▲

R1+×

R1+■

Walk forward slightly

Keeper save right

Keeper save left

Keeper save middle

５ Battle Mode SELECT + ■