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rero rero2.0 User Manual

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Robot Construction Kit
rero2.0
User's Manual
Cytron R&D (MSC) Sdn Bhd

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Summary of Contents for rero rero2.0

  • Page 1 Robot Construction Kit rero2.0 User’s Manual Cytron R&D (MSC) Sdn Bhd...

  • Page 2: Table Of Contents

    Table of Content Chapter Page Introduction rero Packing List Product Overview rero Hardware Modules 3.1.1 rero controller (GC06) 3.1.2 rero Cube Servo (G15) 3.1.3 rero Head Module 3.1.4 rero IR sensor 3.1.5 rero Ultrasonic Sensor Getting Started Battery Installation rero Controller Menu...
  • Page 3 Animator rero Remote Troubleshooting rero LED Blink Status...

  • Page 4: Introduction

    The most basic way to program a complete rero robot is Teach Mode. User teach rero and rero replay back what it remember from the teaching. With rero animator, user can create time-lined motion sequences similar to making an action movie for rero.

  • Page 5: Rero Packing List

    2.0 rero Packing List rero set is packed in an elegant plastic storage box. rero standard set included modules and parts shown as following...

  • Page 6: Product Overview

    3.0 Product Overview 3.1 rero Hardware Modules rero consists of several modules and parts which can be assembled to build up a robot. These modules are main controller, Head Module and sensor modules. rero parts includes joints, connects, wheel, claw, footplate, spacers, wire clips, extension wires, and rero opener.

  • Page 7: Rero Controller (Gc06)

    3.1.1 rero Controller (GC06) rero controller is the brain of rero robot system. It controls all the Cube Servo movement and process all Signals from the rero sensors. USB Micro Port Touch Screen LCD RGB LED Indicator Charging Port Bootloader Button...
  • Page 8 Status indicator of rero controller Bootloader Button Boot into bootloader mode by press and hold bootloader button while power on by pressing power button. User can update rero controller firmware in bootloader mode. Thumb Screw Access to the battery compartment under the LCD.
  • Page 9 Controller Side View Sliding Slot 6 Sliding slots with latch for assembly with rero parts to create a complete functional robot. Output Ports 6 output slots at two sides or the rero controller for daisy chain servos and sensors.
  • Page 10 MicroSD Card Battery Connector Main connector Main connector Battery Cells Connector rero Controller Battery Compartment MicroSD card MicroSD card is used to save rero files and settings. Rechargeable Battery Space rero comes with rechargeable Lithium Battery as main power source.
  • Page 11 High Ampere Dean-T connector to supply power for rero Cube servos and sensors. Battery Cells Connector Connector battery cells to main controller. Main Connector Battery and signal wires for rero main circuit board. Always make sure the cable is properly latched to connectors after installing or removing battery.

  • Page 12: Rero Cube Servo (G15)

    3.1.2 rero Cube Servo (G15) Output Connect Latch Male Wire Slot Female wire Cube Servo Cube Servo is a Servo motor that user can set it to rotate and position it to certain angle position. It can also operate in wheel mode for continuous rotation.
  • Page 13 To test Cube Servo using rero controller, connect the Cube Servo to rero controller. Go to ‘Servo’ Menu. In the Servo menu, select the servo you want to test from the list of connected servo. LED on Cube Servo will light on when selected.

  • Page 14: Rero Head Module

    3.1.3 rero Head Module (RR-SH-01) rero Head Module has build in sensor of IR sensor and Sound sensor. It has 2 RGB LEDs as the eyes. rero Head module can be attached to Cube Servo give Head Module the flexibility to move or rotate.
  • Page 15 User can test rero Head Module using ‘Sensor’ menu on rero Controller. Connect the Head Module to rero controller then go into Sensor Menu, select the ID of Head Module in the list of sensors. There are 3 features can be tested, namely the sound sensor, IR sensor and RGB LEDs.
  • Page 16 Head IR sensor IR sensor is located infront of the Head Module above the eyes. IR sensor is used for trigger the robot to start when user wave their hand infront the face of robot. Head Sound Sensor (Microphone) Microphone is located inside of the Head Module and it is invisible from outside. Microphone can be used to detect maximum sound volume, trigger robot to start by hand claps.
  • Page 17 Max Sound Level Sound Level Time Audio sampling (dashed line) and Maximum sound level (shaded) on every sampling time Clap 3 Clap 2 Clap 1 Sound Level Clap Threshold Time >800ms >800ms Clap Threshold (dashed line) and Clap detection.
  • Page 18 Head Eyes (RGB LEDs) By default the eye will light on with white color when powered on. User can set different colour to the eye to give beautiful outlook to the Head Module. Eyes are composed 2 RGB LEDs, the color of the eyes are based on 8 bit RGB true colour set by user.

  • Page 19: Rero Ir Sensor

    By default the Red LED indicator of the rero IR sensor is off. User can change the LED register of the control register to make it when the sensor detects obstacle, the red LED will light on. The IR sensor can detect a white surface obstacle up to maximum...
  • Page 20 User can test rero IR sensor using the rero Controller ‘Sensors’ menu. Connect the IR Sensor to rero Controller, then go into Sensor Menu. Select the rero IR sensor ID to display the IR values. The IR sensor values is display as scrolling bar with numeric value from 0 to 255 depending on the reflected IR ray intensity.

  • Page 21: Rero Ultrasonic Sensor

    Ultrasonic Sensor is and ultrasonic ranging module which measure distance from the obstacle in front of the sensor. rero Ultrasonic Sensor measure distance from at least 5cm up to 200cm. It detects obstacle down to 0cm but the distance reading may be not true. User can test rero Ultrasonic sensor using the rero Controller ‘Sensors’...

  • Page 22: Getting Started

    4.0 Getting Started 4.1 Battery Installation (First Time Only) rero battery is not preinstalled in rero controller. User will need to install it into the rero controller before starting the robot building process. Follow the steps below to install the battery.
  • Page 23 Step 2: Plug in the Dean-T connector of battery and let the wires run under the wire guide. Plug In Dean-T Wire Guide Connector...
  • Page 24 Step 3: Place the rero Battery into battery space. Step 4: Plug in battery cells connector. Battery Cells Connector...
  • Page 25 Step 4: Close the cover and lock back the controller cover by turning the thumb screw clockwise...
  • Page 26 Step 5: Power on rero controller by pressing the Power Button to verify that battery is properly installed. rero Controller will display the Main Menu after Boot Screen. Rero controller Main Menu...

  • Page 27: Rero Controller Menu

    (OS) and the firmware can be updated online through the USB bootloader. rero controller has multiple menus that serve different functions to user. Boot Page When the rero controller is turned on, the rero logo is shown to indicate the system is booting up.

  • Page 28: Main Menu

    Main Menu This is the main menu of the rero controller and will be shown after the booting process completed. 1. Set ID Button - Enter the set ID sub-menu to read or modify the servo motor and sensor ID.
  • Page 29 6. Remote Button - Enter the remote sub-menu to control the robot via rero Remote. 7. Settings Button - Enter the settings sub-menu to change the settings of the rero controller. 8. Battery Indicator - Indicate the battery level of the rero controller.
  • Page 30 Read or modify the ID of the servo motor or sensor with this sub-menu. Only one servo motor or sensor can be connected to the rero controller while using this function. 1. Current ID - Shows the current ID of the servo/sensor.
  • Page 31 Upon entering this sub-menu, rero controller will search for all the connected servo motor and this will take up to 1 second. All the servo motors will be listed under the servo list box. Select a servo motor from the list and the...
  • Page 32 1. Servo List Box - List of the connected servo motors. 2. Refresh Button - Refresh the servo motor list. 3. Angle Meter - Touch the angle meter to command the servo to move to that position. Only available when wheel mode is not enabled and the position is within the valid path of the servo.
  • Page 33 Save Button - Save the moving path of the servo motor. b) Cancel Button - Discard the moving path of the servo motor. 8. Battery Indicator - Indicate the battery level of the rero controller. 9. Exit Button - Go back to the main menu...
  • Page 34 Sensor can be tested in this sub-menu. The eyes LED of the head module can be tested here too. Upon entering this sub-menu, rero controller will search for all the connected sensor and head module. This may take up to 1 second. All the sensors/head module will be listed under the list box.
  • Page 35 If the head module is selected, the following screen will be shown. 1. Sensor List Box - List of the connected sensors/head module. 2. Refresh Button - Refresh the sensor/head module list. 3. Sensor Type - Shows the type of the sensor/head module.
  • Page 36 6. IR Value - Shows the infrared sensor value of the head module. 7. LED Check Box - Toggle the RGB LED on the eyes of the head module. 8. Battery Indicator - Indicate the battery level of the rero controller. 9. Exit Button - Go back to the main menu...
  • Page 37 TEACH Sub-Menu This is the sub-menu for the teach mode where the motion of the robot can be programmed without using the computer. 1. File Radio Button - Select which file to save the robot motion. 2. Message - Shows the operation guide and tips.
  • Page 38 5. Next Button - Press to add the current position of the servo motors to the motion. 6. Stop Button - Press to stop teaching. 7. Battery Indicator - Indicate the battery level of the rero controller. 8. Exit Button - Go back to the main menu.
  • Page 39 PLAY Sub-Menu Sub-menu to playback the programmed motion. 1. File Radio Button - Select which file to play. 2. Message - Shows the operation guide and tips. 3. File Type and Name - Shows type and name for the selected file.
  • Page 40 6. Play Button - Press to start playing the selected file. 7. Stop Button - Press to stop playing. 8. Battery Indicator - Indicate the battery level of the rero controller. 9. Exit Button - Go back to the main menu.
  • Page 41 REMOTE Sub-Menu Enter this sub-menu to control the robot with the rero Remote Apps in your smart phone. The name of the robot will be shown on the title bar and it can be changed by using the rero Animator.
  • Page 42 SETTINGS Sub-Menu Set the screen brightness and volume here. 1. Brightness Button - Reset the LCD brightness to the default level. 2. Brightness Slider - Set the LCD brightness. 3. Volume Button - Reset the system volume to the default level. 4.
  • Page 43 Lock Screen rero controller will lock the screen and enter standby mode when the screen is not touched for more than 2 minutes. To wake it up again, simply touch the screen and unlock it by sliding the slider bar to the right.
  • Page 44 This screen is shown when the rero controller is connected to the computer via the USB cable. 1. USB Logo - The USB logo is shown when the rero controller is connected to the computer via USB. 2. Turn On USB Storage Button - Press to enable the USB mass storage device to access the files in the SD card...

  • Page 45: Setting Cube Servo And Sensor Ids

    To change the ID, user must connect only one Cube Servo or only one sensor to rero controller. Go into SET ID menu of rero controller and key in the ID that you want to set and press ‘OK’ button to set the ID. User can press ‘Read ID’...

  • Page 46: Charging Battery

    4.4 Charging Battery rero battery level is always monitored by rero controller and is display by the battery icon at right upper corner. The battery level is indicated by shaded level in the icon and also the colour of the icon. The battery icon colour will change from green to yellow and red when low battery.
  • Page 47 Please use the provided battery charger to charge rero’s battery. Incompatible battery charger can damage the battery or even cause fire and explosion. rero robotics kit come with quality LiPo Balance Charger. Balance charger makes sure that all the cells in battery are charged in balance to reduce the risk of cell overcharge and...

  • Page 48: Charging On Rero Controller

    (AC input 100V -240V, 50/60Hz) and charging cable 4.4.1 Charging on rero Controller Connect the Charger to the rero controller with the charging cable provided as shown by picture following.
  • Page 49 Charging rero’s battery in rero controller, wait for all Charger’s LED turn Green for full charge. There are 3 bicolour LED on rero’s charger. After power on the LED will be green colour and red LED will blink every 2 seconds. When the charger is charging, all the LED is in red colour. Each LED indicates a battery cell in rero LiPo...

  • Page 50: Advance Charging Method

    4.4.2 Advance Charging Method Adult supervision is needed for this method of charging. This method is to charge rero battery directly from charger without rero controller. User can get access to the battery by opening the battery compartment. To get access to battery compartment, user will need to unlock the thumb screw on rero controller by turning it counter clockwise to open the rero controller casing.
  • Page 51 Do not attempt to short any of the battery terminals which can cause fire or explosion. For a prolonged storage of rero controller, user is advice to keep the battery capacity at around 60 percent only for a greater battery life time.

  • Page 52: Build Your Own Robot

    5.0 Build Your Own Robot! 5.1 rero Hardware Construction Joints Joints Most of the part has Joint as shown in figure. These Joints will be attached to connects to create robot assembly.
  • Page 53 Connects Connects Some rero parts have Connect as shown in the figure above. These connects can be attached to rero parts that has Joint to build robot part. G15 Output Connect G15 Output Connect has direction marking which user will need to follow when sliding it into the joint slot.
  • Page 54 Direction Mark Follow the direction marking when connecting Cube Servo to joints...
  • Page 55 Interconnect Interconnect can be use to attach two joints together. There is no direction constraint for interconnect. Rotatable Connect Rotatable connect has similar physical appearance as interconnect but has 2 free rotating surfaces . It is used to support U-Joints connection and can be use to build free rotating wheels too. U-Joint Connected to Cube Servo are normally used as robot’s Arms and Knees which has one rotation axis.
  • Page 57 Wide U-Joint can be use to build a compact 2 axes rotating Joint which can be use at shoulder and ankle of robot.
  • Page 59 Controller Slots Slots In Order to connect rero parts to rero controller, user MUST use Adapter Joint to convert rero controller slot into Joint. Then rero part can be connected to Adaptor Joint to attach it to rero controller. Recommended Adapter...
  • Page 60 Single and Double Spacers are used to fix the Adaptor Joint position in the rero controller slot as shown by figures below.
  • Page 61 Figure below shows example of using Adaptor Joint to connect a Cube Servo to rero controller.
  • Page 62 Wire Clip Wire clip is used to organize and tidy up dangling wire on rero robot after all the hardware setup and wiring is done. Organizing wires and connectors using wire clip...

  • Page 63: Dismantle Rero Into Parts

    5.2 Dismantle rero Into Parts To dismantle rero parts, the basic step that apply for all parts that locked together by the latch is shown as following: Step 1: Push the rero opener into the slot to push down the latch to release the locked part.
  • Page 64 Slot Latcher  Push the Connect part locked by latch in the Joint/Slot to the direction of the rero Opener to release the part from the slot, at the same time release the force on rero Opener.  Or Push the part with Joint to opposite direction of rero opener to release the Connect parts.
  • Page 65 Release rero Cube joint from Interconnect Release rero Interconnect from Cube Joint slot...
  • Page 66 Release rero claw from Cube Servo...

  • Page 67: Wiring

    Hence, not all the Cube Servos or sensors need to be connected directly to rero controller’s output ports, instead it can be connected to other Cube Servos or sensor to get power and communication line. This can save a lot of direct connections from controller to servos and sensors and make the whole wiring simple and neater.
  • Page 68 Daisy Chained Connection...
  • Page 69 Wrong or Broken Daisy Connection...

  • Page 70: Rero Programming

    This is an important step the make sure all the Cube Servo will only move in a safe path that does not clash on other rero parts after it is assembled as a robot. To Set Path Limit go into Servo Menu.
  • Page 71 Press Set Path to start setting the path limit for the selected servo. Rotate the selected Cube Servo, together with the attached part in both movable directions to the maximum. This is to let the rero controller knows how much angle...
  • Page 72 Cube Servo will not move into that region. Press ‘Save’ button to save the path limit to the selected servo. Repeat the Set Path Limit procedure for all the Cube Servos that form the rero robot.
  • Page 73 Green Colour: Moving path Red Color: Path that Cube Servo will avoid Path Limit shown by Green and Red Color on Position Meter To set Cube Servo into wheel mode which the servo can rotate 360° continously, in the Set Path Sub-Menu tick the ‘Wheel’...
  • Page 74 Teach Mode is the most basic option to program your rero. It is designed for beginner or those who wish to program a simple movement for rero. Twist your rero robot joints or servos to the position or posture you want it to be, then press save.
  • Page 75 Teach Mode on rero Controller Select any file (File 1 to File 5) that you want to save the motion file. then press ‘Teach’. Time Frame Twist...
  • Page 76 Now, twist your rero to the first position (the initial position) you want it to be. Every Cube Servo can be rotated. You can rotate all of them or only part of them in the same time Frame. When the rero is twisted to the desired position, press ‘NEXT’.
  • Page 77 epeat the same process for the second desired position and the subsequent positions. Twist Twist robot to desired position then press NEXT to record all servos’ position into time line...
  • Page 78 To teach the wheel mode’s servo to move forward, slightly rotate (10° to 90°) the wheel Cube Servo in the desired direction. Do not rotate more than 1 rotation to avoid confusion to the rero Controller. Teach wheel mode Servo to rotate in the desired direction...
  • Page 79 Press ‘stop’ when you have done and then ‘X’ to go back to the main menu. Info You can teach up to 65535 positions or time frames in 1 file. Each time frame positions will take 1 second to complete.
  • Page 80 Playing Motions To Play the motion file that has been saved from the teach motion step. Go into ‘PLAY’ Menu Select the file that you save the motions.
  • Page 81 Press ‘Play’ to start playing all the motions that was save. Observe the running ‘Time Frame’ and Time’ on screen. rero robot will start moving once you pressed the ‘PLAY’ button.
  • Page 82 To Stop the rero robot, press the ‘STOP’ Button. If the screen is locked, slide the Slider on screen to unlock the screen. You can record different series of motion into all the File 1 to File 5 and play different motions by playing the...

  • Page 83: Rero Animator

    Download rero Animator software from rero website’s download page (http://rero.com.my/downloads). Double click on the downloaded file to initiate software installation. Follow the simple installation steps. A short-cut will be created on your desktop. Double click on it to launch rero Animator software. rero Animator icon...
  • Page 84 Interface Overview Every time you open rero Animator software, you will see the programming interface as shown below. Interface Overview Title & File name -- Software name and current motion file name are displayed here. Shows [new] if the current motion has not been saved.
  • Page 85 1. Motion File New Motion file -- Create new motion file & automatically detect Servo(s) available if rero Controller is connected & powered up. Open Motion file -- You can browse saved or downloaded Motion file via the file browser window.
  • Page 86 -- Shows USB icon with tick symbol (√) when rero Controller is connected and powered up, otherwise shows icon with cross symbol (×). Robot Name -- Read & edit robot name saved in rero Controller. This name will appear in rero Remote. Upload Motion -- Uploads the motion to rero Controller.
  • Page 87 Add Action -- Create new Servo below the last row. 4. Editing Copy Action -- Copies the selected Action. Current version only supports one Action copy. Cut Action -- Cuts the selected Action. Current version only supports one Action cut. Paste Action -- Paste the copied/cut Action to the selected location.
  • Page 88 6. Information Displays information like software name, software version, company and rero website link. Always make sure your copy of software is up-to-date by checking on rero website download page and this information message box. Software version (build date) Information message box If you are not sure about the function of a button, mouse over the button shows tips (button name and keyboard short-cut key if available).
  • Page 89 Motion Canvas 1. Time frame -- This column indicates the starting time and duration of an Action, at the resolution of 0.2 sec/frame. 2. Servo -- It shows the ID number and name (comment) of a servo motor and enables you to configure each servo motor. A Servo can be configured to Position mode or Wheel mode.
  • Page 90 1. Selected Servo -- Click on the Servo ID column to select a servo. 2. Robot Connection Status -- USB symbol with ‘X’ sign shows rero Controller is not powered up and/or not connected to computer. You will see USB symbol with ‘√’ sign when rero Controller is detected.
  • Page 91 3. Servo ID -- Servo ID can be edited by click on ‘Edit’ button. Valid ID range is between 0 to 253. It’s recommended NOT to edit the pre-set Servo ID to prevent having two Servo motors with the same ID in your rero system.
  • Page 92 You can read the current moving path of the selected Servo by clicking ‘Read’ too. Please note that this facility is mainly for fine-tuning the existing moving path. It’s recommended to set new moving path using rero Controller’s on board function.
  • Page 93 Action Control Panel Motion Canvas & Action Control Panel in Position Mode Action Control Panel in Wheel Mode...
  • Page 94 3. Moving Angle -- This appears when an Action in Position mode is selected. It sets the Action’s destination in degree. You can edit the value in Destination box or directly click on the pie diagram to set the destination. When rero Controller and the servo with correct ID are connected, the servo will move simultaneously.
  • Page 95 8. Servo ID & Name -- This section is disabled in Action Control Panel. However, you can always edit the Servo ID and name in Servo Control Panel. Always connect rero Controller to your computer while using rero Animator to enjoy better experience while programming your robot’s motions.
  • Page 96 1 & 2. Select Upload Location -- Select the upload location based on where you want to play the Motion file. If you have an Android smartphone or tablet, you can download the free rero Remote App from Google Play.
  • Page 97 Motion file repeatedly when you press and hold the button on rero Remote (or click Play on rero Controller). You can stop the Motion by releasing the button on rero Remote (or click Stop on rero Controller).

  • Page 98: Rero Remote

    Installation of rero Remote App rero Remote App Icon To install rero Remote app, user can connect to internet and install it from Google Play Store (https://play.google.com/store/apps). Search for ‘rero’ keyword to find rero Remote. Click install to install rero...
  • Page 99 Bluetooth Connection Bluetooth Battery Status Status rero Remote main screen...
  • Page 100 Remote request for Bluetooth to be turned on. rero Remote will request user to turn on Bluetooth of the phone. Touch Allow to turn on bluetooth of phone...
  • Page 101 Remote Searching for previously connected rero controller You can press the back button of your phone to cancel searching previous rero if you do not want to connect to it. Press the bluetooth status icon to search for new rero controller that you want to connect.
  • Page 102 Bluetooth Connection Status: Searching, Connected, Disconnected Refresh button to search again Bluetooth Devices around again if first search failed Select ‘rero’ to connect...
  • Page 103 Select the rero controller, to connect. The bluetooth address of every rero controller is different. You can check the bluetooth address of your rero controller from the Bluetooth Menu of rero controller. When rero Remote is connected to rero controller, the bluetooth icon will change to show connected status, and battery icon will shows the battery level of rero controller.
  • Page 104 On rero Controller, user will need to go in the Remote Sub-Menu in order to enable bluetooth communication and control from rero Remote. Remote Sub-Menu on rero Controller...
  • Page 105 In order to play file by using rero remote, rero controller must be in ‘REMOTE’ menu. By default the 5 files saved in teach mode is assigned to the 5 Rectangle Buttons. 5 motion files by the teach mode can be directly played from rero Remote using the rectangle buttons.
  • Page 106 Swipe from edge of screen to reveal back phone navigation bar and status bar rero remote will apply immersive full screen for Android version KitKat (Android 4.4, API Level 19) and above. To exit the full screen, user will need to swipe from the screen edge to reveal the back button if the phone used has on screen navigation bar.

  • Page 107: Troubleshooting

    8.0 Troubleshooting 8.1 rero LED Blink Status rero controller rero RGB LED will turn on or blink on several conditions as shown in table below: System State/Error White LED blinks (1Hz) Insuffiecient memory to start RTOS White LED blinks (10Hz)
  • Page 108 For Cube Servo Overload Error condition, user will need to turn off the servo by removing the power to the servo or turn off rero controller to cut off the power in order to reset the cube servo to normal condition.
  • Page 109 Unplug all Cube Servo and sensor, plug only one G15 to rero controller and try again. Check if there is 2 servos with same ID. Check if the Cube Servo’s LED blink once when the rero controller is power on. If no, check if rero Battery Dean-T power connector is properly connected.
  • Page 110 This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications.
  • Page 111 IC warning statements: -English Warning Statement: “This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device." The digital apparatus complies with Canadian CAN ICES-3 (B)/NMB-3(B).

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