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Arexx MRAI-999HB Hardware Manual

Educational robot hardware & software
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EDUCATIONAL ROBOT HARDWARE & SOFTWARE
MRAI-999HB
MANUAL
©
2003 AREXX - HOLLAND

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Summary of Contents for Arexx MRAI-999HB

  • Page 1 EDUCATIONAL ROBOT HARDWARE & SOFTWARE MRAI-999HB MANUAL © 2003 AREXX - HOLLAND...

  • Page 2: Table Of Contents

    7. Interactivity Movit and Elekit are registered trade marks of EK Japan Co., Ltd. AREXX is a registered trade marks of AREXX Engineering, Zwolle, Holland © English translation (October 2004): AREXX Engineering (NL). This description is protected by the laws of copyright. Any partial or total reproduction of the contents is prohibited without prior written authorisation of the manufacturer: AREXX Engineering - Zwolle (NL).

  • Page 3: Product Description

    1. PRODUCT DESCRIPTION The MRAI is a serial port Input/Output controller, it can be controlled with the supplied Windows robot arm software or a terminal emulator (like. Windows Hyper Terminal or LINUX Minicom) and a Personal Computer. MRAI has 20 switch transistors to control the MOVIT or OWI robot arm motors.
  • Page 4 . Installation of the MRAI Assemble the 4 distance holders with 4 nuts to the MRAI PCB, Then screw the 4 feet with a screw to the distanceholders. Connect the 25-pin RS-232 cable with your PC and with the MRAI. Connect the flatcable with the MOVIT or OWI robot arm and with the MRAI.

  • Page 5: The Electronic Circuit

    You can also completely reset the system at any time via the reset switch. When the kit receives data from the PC, the “Data” LED light up. Please NOTICE: There is a new Software VERSION available at: WWW.AREXX.COM --> Robotics --> Movit robot arm --> Downloads...

  • Page 6: Software Installation

    . Software installation 4.1 Software installation and configuration It is recommended to close all other running applications before starting the Installation! When you insert the Software CD, your standard Web Browser will appear, showing a CD-Menu (This happens only if you have activated the CD-Autorun function of Windows).

  • Page 7: General Purpose Program For Sam

    Only when the hardware is detected, you will see the hardware status in the title bar of the main menu, for example: “COM X – SAM”. The X shows the COM port on which SAM is detected. When you connect the hardware later.

  • Page 8: Mrai Hobby Setup

    . MRAI HOBBY SETUP Instead of the SAM-01 controller you can also use the MRAI Hobby controller to operate the Robot Arm. This is a low cost controller which works with the SAME SOFTWARE. The Movit Robot Arm Interface HOBBY is already assembled. This stand alone controller fully operates on batteries.

  • Page 9: Movit Or Owi Robot Arm Software

    (simple or advanced), where you can enter commands as text lines with buttons or the keyboard. Please NOTICE: There is a new Software VERSION available at: WWW.AREXX.COM --> Robotics --> Movit robot arm --> Downloads...
  • Page 10 BUTTON MODE In this mode, you can control the Robot Arm through the buttons: * BASE * SHOULDER * ELBOW * WRIST * CLAMP With this method, you can easily test the way how the robot works and try out more complex movements before you actually program the com- mands.
  • Page 11 Start position The counter displays the time in seconds. (Note: The counter does not count in seconds). At the counter stand of zero, the arm is in its start position. You can set the robot to another start position by proceeding as follows: •...
  • Page 12 . PROGRAMMING: At first, we will describe the most important commands: LINE NUMBER All commands start with a line number. The numbers are increased by 1 at every new line. It is possible to insert lines afterwards. ACTION This command indicates the start of a task. It is followed by a command or the element to be moved.
  • Page 13 Example: 1 IF SSR1=OFF THEN 2 ELSE 3 This condition is fulfilled if SSR1 (sensor 1) is not active. In this case, the program will go to line 2 or else line 3. If you drop out the ELSE task and the condition is not fulfilled, the program will remain on this line until this condition is fulfilled.
  • Page 14 SIMPLE MODE: This chapter explains how you can write simple programs in the simple mode. The programming in the simple mode always starts with NEW LINE. After having pushed this button, you can choose between the following commands: ACTION, IF and GOTO. If we choose ACTION, the following screen is displayed: Now we can choose which part should move, in which direction and how long this movement should last.
  • Page 15 In addition to the ACTION commands there are also the IF - THEN and GOTO commands. The IF-THEN command always processes input signals (of the sensors). In programming mode you can also process the input signals from the sen- sors. The input signal can be simulated by the red switches on the upper bar of the screen.
  • Page 16 ADVANCED MODE The advanced mode is the programming method for those who already have some knowledge about programming. You can write the program in a text editor and copy it into the program field. Of course, you can also input the lines directly into the field via the keyboard.
  • Page 17 The programming possibilities of the ACTION command are: Activity,(Abbrev.) Element Direction Time * ACTION, ( ACTION) BASE (BS) LEFT/RIGHT, (CW/CCW) -*.*, *.* ACTION, ( ACTION) SHOULDER (SH) UP/DOWN, (UP/DN) -*.*, *.* ACTION, ( ACTION) ELBOW (EL) UP/DOWN, (UP/DN) -*.*, *.* ACTION, ( ACTION) WRIST (WR) LEFT/RIGHT, (LEFT/RIGHT)
  • Page 18 Within one program line you can pull together several actions and processes (see example) 1 ACTION, BS(CW=5), EL(UP=2) 2 ACTION, BS(CCW=5), EL(DWN=2) 3 ACTION, SH(UP=5), WRST(LEFT=2) 4 ACTION, GR(OPEN=9) IMPORTANT: As only 8 relays are available to control the 5 motors of the Robot Arm via the controller, we used a trick.

  • Page 19: Interactivity

    . INTERACTIVITY Use of the inputs The software makes sure that the motors are driven in sequence during conflicts. By the use of suitable sensors you can control the Robot Arm interactively in its environment. The sensors are connected to the input of the controller. The inputs of the controller contain opto-couples that protect all following circuit parts.
  • Page 20 APENDIX...
  • Page 21 A. MRAI diagram...
  • Page 22 Visiter notre Website www.arexx.nl www.arexx.com Bezoek onze Website www.arexx.nl www.arexx.com SEE ALSO OUR LATEST SOFTWARE VERSION! AREXX Engineering ZWOLLE THE NETHERLANDS For USA contact; WWW. MOJOROBO.COM IMPORTANT: 1. MOVIT and ELEKIT are registered trademarks of EK Japan Co., Ltd. . All rights reserved. Reprinting any of this instruction manual without our written permission is forbidden.