Summary of Contents for Movit P!MOT MR-9762E
- Page 1 9762E-01 Lot.No. P!MOT WAO ADVANCED MR-9762E MODEL: Distributor : EK JAPAN CO., LTD. 2002...
- Page 3 PRECAUTION ◆Read this instruction manual carefully before getting started. Have your parents or someone who can help you read the instruction manual with you. Keep this instruction manual for future reference. ◆Be careful when handling the tools such as a penknife and a diagonal cutter. ◆Handle the small and sharp parts carefully.
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Page 4: Table Of Contents
● Contents ● Product Information ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥5 Ⅰ. A Story about Robots 1. What is a robot? ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥6 2. History of robot ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥7 3. Robot Research ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥8 Ⅱ. Assembly of Mechanical Parts 1. Necessary Tools for Mechanical Assembly ‥‥‥‥‥11 2. Before Assembling Mechanical Parts ‥‥‥‥‥‥‥‥11 3. -
Page 5: Product Information
● Product Information P!MOT is a two-wheeled robot installed with one chip microcomputer “AT90S8515,” which includes flash memory. P!MOT has adopted encoder principle model in the gearbox to improve better straight movement. Moreover, it is installed with an infrared line sensor which detects reflection of an infrared line which eminates from an infrared ray LED on either side, by a central Infrared Detector IC as a sensor for recognizing an external situation, and four optical sensors which detect a state of a floor by changes in brightness. -
Page 6: Ⅰ. A Story About Robots
Ⅰ. A Story about Robots 1. What is a Robot? How many times have you heard the word “robot” ? We use this word in the daily conversation with our friends frequently. In reality, we have much opportunity to get in touch with the robots ranged from the virtu- al robot in the animation to the real robots like those work in the factories and those raised in the family as pets. -
Page 7: History Of Robot
2. History of Robots (1) It was born from imagination It was in 1920 that the word robot was created. Enthusiasm of humans for robots is still alive in the history, myths and literature since ancient times. Humans had a wish to produce tools and devices that would work and operate in place of people. -
Page 8: Robot Research
As mentioned above, the robots have started to be manufactured practically with the development of tech- nology. Most of the robots manufactured today are suitable for performing some patterns of works, but not similar with “automan” imaged. The industrial robots are good examples, quite different from human being. Industrial robots finish the given works in the given positions so that no need to have the same construction with humans who have brain, hands and legs. - Page 9 (3)Research on communication Research on communication has two aspects. One is the communication between robots. Another is the com- munication between robots and humans. The research of the information interchange and the harmonization of several robots which operate together is performed.
- Page 10 ● Chronological Table of Robots ● *Marked with ○ in the following list indicate robots appearing in literature and movies, and ● indicate robots which have been actually designed and manufactured. 8th C. B.C.: ○ Pretty Golden Girl (Greek myths; Epic of Homeros “ILIAS”) 5th C.
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Page 11: Ⅱ. Assembly Of Mechanical Parts
Ⅱ. Assembly of Mechanical Parts 1. Necessary Tools for Mechanical Assembly Screwdriver Tweezers Power Supply Diagonal Cutter (not included) Use for cutting parts off Use for turning screw and ad- the frame. justing the Variable Resistor. “AA” Battery × 2 pcs Long-nose Pliers Pen Knife Use for handling parts and holding nuts... -
Page 12: Parts List
3. Parts List * Check the parts by marking a blank box. * Some parts may have lines called weld lines formed through the resin treatment. They have nothing to do with assembly or function. Tire 2pcs Flat spur gear Flat spur gear Screw (small) 14pcs with pinion 4pcs... - Page 13 A set 1pc These parts are not to be used. B set 1pc C set 1pc Dome 1pc...
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Page 14: Assembly Of The Main Body
4. Assembly of the main body (Parts to use) ① Assembling the motor Make 2 sets Motor 2pcs Make sure the shaft Motor is flush with edge. Pinion gear 2pcs Pinion gear (Parts to use) ② Assembling the hexagon shaft Make 2 sets Hexagon shaft 2pcs Flat spur gear with slit 2pcs... - Page 15 (Parts to use) ④ Assembling the gearbox Gearbox C (A-2) * Make sure to apply grease inside the boss in the section with the mark (Apply grease to the other side’s boss too) Nut / 3pcs Gearbox C (A-2) 1pc Screw (large) 3pcs Nut 3pcs Screw (large) / 3pcs...
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- Page 17 (Parts to use) ⑧ Assembling the pulse sensor 1) Insert the phototransistor into the pulse sensor bracket. Pulse sensor bracket (B-1) Phototransistor / 2pcs Phototransistor 2pcs 2) Insert head of the LED as in the figure; next insert the leg. * It is somewhat hard to push.
- Page 18 (Parts to use) ⑩ Installing the caster Caster stopper (C-3) / 2pcs Caster (C-1) 2pcs Caster tire (C-2) 2pcs Caster stopper (C-3) 2pcs Bottom case (B-7) Caster (C-1) Bottom case (B-7) 1pc / 2pcs Caster tire (C-2) / 2pcs (Parts to use) ⑪...
- Page 19 (Parts to use) ⑫ Installing the gearbox ⑨ Assembled unit from step ⑩ Assembled unit from step (Parts to use) ⑬ Installing the frame * If the screw (small) is difficult to screw, use a pair of tweezers. * Be careful to hold wires up. Side frame R (A-6) Screw (small) / 4pcs Side frame R (A-6) 1pc...
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- Page 21 Make 4 sets Floor sensor (Parts to use) bracket A ⑯ Installing the floor sensor (B-5) Back CdS LED with longer wire Floor sensor Floor sensor bracket A (B-5) bracket B LED with 4pcs (B-6) shorter wire Front CdS Back CdS Floor sensor bracket B (B-6) LED with longer wire 4pcs...
- Page 22 (Parts to use) ⑱ Installing Infrared LED cap Infrared LED cap (B-4) 2pcs Floor ⑰ * Make sure the direction of * Bend Infrared LED to be parallel Assembled unit from step Infrared LED. to the floor. Infrared LED cap (B-4) / 2pcs (Parts to use) ⑲...
- Page 23 (Parts to use) ⑳ Installing the keyboard PC board Screw (small) / 2pcs Nut / 2pcs Screw (small) 2pcs Keyboard PC board Nut 2pcs ⑲ Assembled unit from step @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ? @ @ @ @ @ @ @ @ ? e @ @ @ @ @ @ @ @ e ?
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Page 24: Assembly Of The Battery Box
5. Assembly of the battery box (Parts to use) ① Assembling the battery box Battery contact * Make sure to install in the correct direction Battery box (A-9) Battery box (A-9) 1pc Battery contact 1pc (Parts to use) ② Install to the body * Make sure the battery is in the correct direction. -
Page 25: Name And Action Of Each Part
6. Name and action of each part Demo keys [Keyboard (backward)] Main Microcomputer (on the circuit) Infrared LED AT90S8515 Value keys Command keys Infrared detector IC LED-L LED-R Pulse sensor Demo1 Demo2 Demo3 (Inside gear box) STOP BUZZER High 7/IRL 8/ON 9/IRR LABEL... -
Page 26: Let's Operate
This key is used for the input of operation time and number of repetitions. Value key Reset key The function of this key is to stop movement and cancel any inputted programs. Also, push- ing this key initiates the program mode (the state where a program can be inputted from a keyboard.) Push the mode key followed by the corresponding value key when shifting into modes other Mode key... - Page 27 ⑦ Press “Reset” key. Make certain both LED-L and LED-R light up. ⑧ Press “Low” key. “PiPo” will be sounded. ⑨ Press key. “PiPo” will be sounded. ⑩ Press “1” key. “PiPo” will be sounded. ⑪ Press “0” key. “PiPo” will be sounded. ⑫...
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Page 28: Ⅲ. Let's Program
Ⅲ. Let’s program 1. Explanation of the “MODE” P!MOT has six modes. ① Program mode ‥‥‥‥‥‥‥ In this mode, you are able to input programs and operate. ② Demo mode ‥‥‥‥‥‥‥‥ In this mode, the demonstration key is in effective carried out and demonstration operation can be carried out. -
Page 29: Before Programming
Press in order RESET → MODE → to switch to program receive mode. Four ③ Program red and green LEDs on the PC board, to signal program transmission from a personal com- receive mode puter is possible. To forward the program which operates P!MOT from a computer, option- al interface card for P!MOT, the computer with Windows 95/98 which has printer port, and printer cable are required. - Page 30 ● Things to be prepared : A4 white paper Setting the Setting the rotation time rotation time Since a setup of rotation time is performed using an Infrared sensor, please carry out in the place, which does not have any obstacles within about 50cm. If there are materials which reflect Infrared rays in the circumference, it may be unable to set up correctly.
- Page 31 The lower sensor blinks or lights up here. The state of the left-hand side sensor is checked in this example. When the sensor has detected the floor, LED-L blinks and PiPo is sound- ed. Conversely, when having not detected, LED-L has gone out and sound does not sound.
- Page 32 Take for an example of the actions after school of a junior high school student, Nancy. Let’s compare the following two expressions; when we describe the actions as sentences and when we draw a flowchart of the actions. (1) Describe the actions of a student with sentences: Nancy comes home after a club activity.
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Page 33: Programming
3. Programming Now let’s explain programming for the P!MOT. Program mode is the mode in which you can create and execute pro- grams, such as a repetition of operation and sensory-based condition judgments. A program is created using com- mand keys, program keys, and value keys. Now, in order to make a program, let’s read well the explanation of each key, and understand its function. - Page 34 ELSE When in disagreement with the conditions after IF, it jumps to the label of the numerical value shown after “ELSE”, and the program is continued and performed from there. This key can be omitted and program will just go to the next line. It expresses the place used as a jump place.
- Page 35 ● Let’s make a program which P!MOT moves at Middle Speed in a square pattern. 【 Ex.2. Program Ex. 1. 】 Operation time is set at 2. 90degree rotation is set at 4. Start * Since P!MOT uses a direct-current motor and cannot move exact distances or at Middle speed exact angles, it cannot make a perfect square.
- Page 36 The program using FOR-NEXT can be further put into the imperative sentence between 【 Ex.2. Program Ex. 3. 】 FOR-NEXT. This is called multiplex loop. Let’s make a program which continues moving infinitely using a multiplex loop, shifting Start crossroads little by little. FOR 0(∞) 0 ( ∞...
- Page 37 So if we use FOR-NEXT to make an infinitely repeating program we can observe whether Start the sensor is working because it will always be waiting for input from the sensor. If this is expressed by a flow chart, it will become as shown in a left figure. FOR 0(∞) If you make a program list, it will be as follows, IRL is ON?
- Page 38 Are you now able to imagine the program method of P!MOT? Although easy programs have been explained so far, P!MOT is able to do little more complicated programs. We use the term complicated, but it is still just uses the application so far explained so give it a try without thinking too hard.
- Page 39 Program list of the flow chart on the left. [FOR] [IF] [IRL] [ON] [THEN] [ELSE] [LABEL] [IF] [IRR] [ON] [THEN] [BUZZER] [NEXT] [END] [LABEL] [FOR] [FOR] [FOR] [IF] [UFL] [OFF] [THEN] [IF] [UFR] [OFF] [THEN] [NEXT] [LABEL] [STOP] [STOP] [NEXT] [LABEL] [STOP] [STOP]...
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Page 40: Ⅳ. Technical Data
Ⅳ. Technical data 1. Mechanism structure P!MOT uses a “gear mechanism” which relays rotational power from the motor by way of gears to rotate the tires. I’m sure you often see gears since they are used in so many places around us. However, gears important roles other than the mere relay of rotation. -
Page 41: What Is A Computer
● Function of changing rotational power The third function of the gear is rotational power (Called Torque.) The motor used by P!MOT distributes only a few grams of power and by itself is not strong enough to move the tires. So what can we do to increase the power? Let’s explain what happens when a small gear and large gear are combined. - Page 42 ● Computer structure Although the computer is used for various things, and have various functions but did you know that the contents of all computers are the same? Of course computers have different characteristics, as do humans. Some are good at math, some are small, and some work well in the heat.
- Page 43 ● Computers and programs Although the fundamental composition of a computer is the same, why does a computer carry out separate func- tions with each product? A rice cooker cannot make ice, but since the compositions of all computers are the same, it should be able to operate as that? However, it doesn’t operate.
- Page 44 So, how about P!MOT? The same is said in the case of P!MOT. And if the key of the original Intermediate Language of P!MOT is pushed, it will change into the corresponding Computer Language. For example, If you press “forward with low speed,” it automatically becames 11110000. If you press “left turn,”...
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Page 45: Motor Control
3. Motor control P!MOT moves forward and backward by using power of motor rotation. In P!MOT, the following features exist by controlling rotation of the motor by computer. 1. Speed can be changed to a low speed, middle speed, and high-speed. 2. - Page 46 2. Improve the better straight properly P!MOT goes forward, backward, turns left and right and spins all using 2 motors but sometimes it doesn’t move in a straight line because of variations at the time of assembly, etc. Let’s discuss the ways we try to improve this. Before you assemble the gearbox, do you remember that you used a gear with long slit hole (Flat spur gear with slit), also you installed a phototransistor and using a red LED to make pulse sensor, to the gearbox.
- Page 47 P!MOT has pulse sensors on both right and left motors. So, if P!MOT moves forward or backward, each pulse is entered to the computer. By comparing left and right pulses, it can improve better straightness. Let’s see what pro- cessing is actually carried out later. ①...
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Page 48: Sensors
4. Sensors ● What are sensors? Have you seen a robot? you may have heard on TV about robots being developed recently. What kind of parts do those robot consist of? Of course they consist of computers (the electronic brain) and other mechanical parts, but, above all, the sensors play a very important role. - Page 49 ・ Touch Sensor (pressure sensor, temperature sensor) There are many kinds of human senses such as “sense of pressure,” “sense of pain,” or “sense of hot and cold.” Equally, there are various sensors. A Switch which only senses whether it is being touched or not, and a Strengage which converts the pressure to an electric signal according.
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Page 50: Schematic
5. Schematic ⑩ Floor sensor ⑤ condition display ⑧ Infrared ray sensor ⑩ Floor sensor ⑦ Pulse sensor ⑥ Comparator input ① 8 bit Microcomputer ② Stabilized power ⑥ Comparator input ④ Left and right motor drive ③ Buzzer circuit... - Page 51 ⑤ condition display ⑨ Keyboard...
- Page 52 P!MOT is the programmable robot which uses 8BIT microcomputer made by ATMEL “AT90S8515.” The P!MOT is controlled completely by this microcomputer. Let’s explain the circuit of each block. ① 8bit microcomputer The signal for rotating a motor according to the command from a keyboard and the signal with which sound is sounded are outputted, or the output is controlled by the brains which perform all control of P!MOT by the input from an Infrared sensor, a pulse sensor, etc.
- Page 53 ⑥ Comparator input In order to supervise the degree [ exhausting / 3V dry cell of the power supply for motors of P!MOT ], the power supply for motors and the standard voltage made from R9 and R10 are inputted into the comparator which the mi- crocomputer has, and each is compared.
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Page 54: Guidance
● Guidance Those who can use a personal computer in their house, school, and etc., are able to make a program to P!MOT by using the personal computer, and transmit the program to P!MOT. The program is made by personal computer, so save and edit are easy to do. -
Page 55: Ⅴ. Spare Parts List
Ⅴ. Spare Parts List Part No. Description 976201M PC board (Main &Keyboard, including LED & Cds) 976202M A set 976203M B set 976204M C set 976205M Dome 4400196 Screw (Small) M3 × 10 4400271 Screw (Large) M3 × 30 4410041 4600022 Pinion gear 10 teeth... - Page 56 FUKUOKA, JAPAN. NOTICE ① MOVIT and ELEKIT are registered trademarks of EK Japan Co.,Ltd. ② All rights reserved. Reprinting any of this instruction manual without our permission is forbidden. ③ The specifications, form, and contents of this product are subject to change without prior notice.
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