eLab Peers eBOT ARM User Manual

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User Manual

V1.0

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Summary of Contents for eLab Peers eBOT ARM

Page 1 User Manual V1.0...
Page 3 Part I Servo Calibration Take a servo. Pick a servo horn. Place it to output spline of the servo. Turn the servo horn anti-clockwise until it gets stuck. Take out the horn and place it to output spline again horizontally. www.
Page 4 Turn the horn again clockwise until the horn is in vertical direction. The output spline is 90 degree approximately. We can also calibrate the servos with Einsboard/Arduino compatible board. Connect brown wire to GND on Einsboard, red to 5V and orange to digital pin 10. Download Code for Servo Calibration from http://www.elabpeers.com/ebot-arm.html and upload it to Einsboard.
Page 5 Part II Assembly A. Base Please read through the instruction before start. Tear off the paper layer on all acrylic parts. Prepare a base, 3 x 30mm metal standoff and 3 x M3 truss head 5mm screws. www. Labpeers.com Page 5...
Page 6 Fix the metal standoff with the screws as follow. Take the round part as follow and fix a servo to it with 2 small truss head screws and nuts. Take 3 x M3 pan head 8mm screws and fix the part to the base. www.
Page 7 Fix another round part with 2 x M3 pan head 12mm screws and nuts as follow. Take a round part, 4 small screws with sharp point and a plastic servo horn. Fix the horn to the round part as follow. Another view.
Page 8 Fix this round part with a 7mm pan head screw to the servo on the base as follow. www. Labpeers.com Page 8...
Page 9 B. Body Take the part as follow and fix a servo to it with 2 small truss head screws and nuts. Take the part as follow and fix a servo to it with 2 small truss head screws and nuts. Take the part as follow.
Page 10 Fix 2 x 17mm metal standoff to the part. Another view. For C, take the parts, a M3 truss head 15mm screw and seal nut as follow. Please note that the holes circled below should be in round shape. Fix these parts together with the following order.
Page 11 For B, take the parts as follow. Please note that the hole circled below should be in zigzag shape. Fix the part to the servo. (Note the direction) For A, take the parts as follow. Please note that the hole circled below should be in zigzag shape.
Page 12 Take 2 x M3 truss head 6mm screws. Fix together as follow. Curve of the parts for upper arm should be in the same direction. Take 2 x M3 truss head 6mm screws. Fix it with together as follow. Put another part between the circled holes shown and fix it with M3 truss head 15mm screw and seal nut as follow.
Page 13 Another view. Fix the part for lower arm with M3 truss head 10mm screw and seal nut as follow. Do not fix the nut too tight or too loose. Make sure the part can be moved freely. (Note the position) Bottom Move the parts so that two circled holes are align.
Page 14 Another view. Flip it. Fix the part with M3 truss head 10mm screw and seal nut as follow. Do not fix the nut too tight or too loose. Make sure the part can be moved freely. (Note the position) Bottom Fix triangle part with 2 x M3 truss head 10mm screws and seal nuts as follow.
Page 15 Move the parts so that the circled holes are align. Fix them with M3 truss head 6mm screw to metal standoff as follow. (Note the position). Fix the part to the circled hole with M3 truss head 10mm screw and seal nut as follow.
Page 16 C. Claw Take the part as follow. Fix a servo to it with 2 small truss head screws and nuts. Take 4 small metal standoff and 4 small 5mm pan head screws. Fix the metals standoff to the part as follow. Fix the parts with M3 truss head 10mm screw and seal nut as follow.
Page 17 Fix two parts together with 4 small 5mm pan head screws as follow. Take another part of claw and small truss head screw. Fix the claw to the servo as follow. Lock the claw with two triangle parts. Put 11mm metal standoff between two circled holes.
Page 18 Another view. You may also choose to lock the claw with inverse position. Put 2 x 11mm metal standoff between two triangle parts. Hold them with 2 x M3 pan head 25mm screws. Do not fix with seal nuts at this stage. (Note the direction of screws) www.
Page 19 Another view. Fix the claw to the arm with seal nuts. Do not fix the nut too tight or too loose. Make sure the parts can be moved freely. www. Labpeers.com Page 19...
Page 20 D. Combine Place the arm to the base as follow. Take the parts shown below. These part can lock the arm to the base. Place one part to the gap between the base and the joints under the arm. www. Labpeers.com Page 20...
Page 21 Place another part to the gap between the base and the joints under the arm. Take 4 x M3 pan head 12mm screws and nuts. Fix the parts to the base as follow. Take 4 x M3 pan head 5mm screws and nut. Fix them to four corners of the base as follow.
Page 22 Take 4 rubber stand. Put them to four corners of the base. Assembly of eBOT ARM is finished. www. Labpeers.com Page 22...
Page 23 Part III 8-Servo Controller Take 4 5mm metal standoff and M3 pan head x 5mm screws. Fix them to 8-Servo Controller. Take 4 M3 pan head x 5mm screws. Fix 8-Servo Controller to the base as follow. Take extension wire. Connect it to the servo cable of the claw. www.
Page 24 Connect the servo on the claw to S1, servo on the left body to S2, servo on the right to S3 and servo on the claw to S4. Make sure brown/black wire > -, red > +, orange/white > S. Take power switch with JST connector.
Page 25 Knob Offline Driver Normal Test, control, edit and download action groups with the Software. You can also control eBOT ARM with Bluetooth Module and Einsboard or other Arduino compatible boards. Knob Control eBOT ARM with Knob Controller. Offline Offline Mode: Run action group 0 when pressing button S1.
Page 26 Make sure it is in Normal Mode (all switches are OFF). Connect 8-Servo Controller to your computer with USB cable. There should be beep sound x 1. Now you can do testing with the software of 8-Servo Controller. The computer detects a new hardware. You may encounter a problem after connecting 8-Servo Controller to your computer like this.
Page 27 You can see this interface. Select language in the second option on top left corner. Then select the correct COM port and baud rate (default baud rate is 9600). After that, click “Open”. There is a bar from S1 to S24. Deselect S5 to S24. Only S1 to S4 left. www.
Page 28 You can arrange their position by dragging them. Test each servo by dragging the slider. The left number is the relative position of each servo ranged -100 – 100. The right number is the absolute position of each servo ranged 500 PMW (0 degree) – 2500 PMW (180 degree). The default number is 1500 PMW (90 degree).
Page 29 Description of icons is as follow: Initialize Initialize PC software, begin to write 64 action groups from the start. Each action groups can save up to 256 actions. This would not change the actions that has been saved to the board. Reset Reset all servos to 1500.
Page 30 Add one action. Delete Delete one action. Insert Insert one action. Clear Clear all actions. Update Modify and replace the previous action. You can also save your layout, actions group and offset data to the computer. www.eLabpeers.com Page 30...
Page 31 Part IV Knob Controller Take Knob Controller and Dupont wire (female to female). Connect Knob Controller to 8-Servo Controller as follow. Take 3 M3 pan head x 5mm screws. Fix Knob Controller to the base. Fix Knob Controller to the base as follow. www.
Page 32 Another view. Make sure 8-Servo Controller is in Knob Mode (Switch 1 is ON and Switch 2 is OFF). Connect Li-Po battery (not included in the set, 7.4V 25c with JST connector recommended) to 8-Servo Controller. Now you can do testing with Knob Controller by rotating each knob one by one.
Page 33 Part V Bluetooth Take Bluetooth module and Dupont wires (male to female). Connect Bluetooth Module to 8-Servo Controller: GND > -, VCC > +, TXD > R, RXD > T. Make sure 8-Servo Controller is in Normal Mode (all switches are OFF). www.
Page 34 Connect Li-Po battery (not included in the set, 7.4V 25c with JST connector recommended) to 8-Servo Controller. Find a computer that supports Bluetooth for controlling. Please make sure it has Bluetooth hardware and it works properly. Here we use Windows as an example. Open Control Panel and select "Devices and Printers".
Page 35 It will search devices nearby automatically. When it shows a new device, click on Enter the password of it. The password of this Bluetooth Module is either "0000" or "1234". www. Labpeers.com Page 35...
Page 36 Then wait for a while. The new device appears in the window after installation. Click on this device. www. Labpeers.com Page 36...
Page 37 Select the tab "Services". Here you can check the COM port of this device. This one is COM6. Switch to another tab "Hardware". Select the COM port and press "Properties". www. Labpeers.com Page 37...
Page 38 Click the tab "Port Settings" and remember the setting. Bits per second is the baud rate of this device. We can close this window then. Now you can open the Software of 8-Servo Controller, select the correct COM port and start testing. www.
Page 39 Part VI Einsboard Take Einsboard and Dupont wires (male to male). *not included in this set Connect Einsboard to 8-Servo Controller: GND > -, VCC > +, Pin 1 > R, Pin 0 > T. Make sure 8-Servo Controller is in Normal Mode (all switches are OFF). www.
Page 40 Connect Li-Po battery (not included in the set, 7.4V 25c with JST connector recommended) to 8-Servo Controller. Arduino Integrated Development Environment (IDE) is a software which allows users to write and edit the code. It verifies the code, compiles the code to the form that Arduino board can read, and uploads it to Arduino board.
Page 41 Scroll down to Arduino 1.8.4 and select your operation system. The version "Windows (Zip file)" does not require any installation, all you need to do is unzip the file to a place where you feel convenient and open arduino.exe. Here we use Windows Installer as an example. Select "Windows Installer"...
Page 42 Choose "Next". You can install it in different folder that you feel convenient. Here we use the default path and click "Install. www. Labpeers.com Page 42...
Page 43 It starts installing Arduino IDE. A window will pop up asking for installing the driver. Select "Install". Wait for a while and finish. Choose "Close". An icon is created on desktop. www. Labpeers.com Page 43...
Page 44 Connect your Einsboard to the computer with a USB cable. At the first time of connecting Einsboard, a notice will appear at the bottom right corner of the screen. Click on it and you will see the status. When the installation finished, the status will be changed to "Ready to use". www.
Page 45 You may encounter a problem after connecting Einsboard to your computer like this: Click Control Panel and select Device Manager. And it show a status in Device Manager as follow: www. Labpeers.com Page 45...
Page 46 That means your computer does not have FTDI VCP driver and this can be solved easily. Go to http://www.ftdichip.com/Drivers/VCP.htm, select the correct operating system and download the driver. After that, "Run" the file. www. Labpeers.com Page 46...
Page 47 Select "Extract". Choose "Next". www. Labpeers.com Page 47...
Page 48 Accept the agreement and click "Next". Finish the installation. www. Labpeers.com Page 48...
Page 49 Connect Einsboard to the computer again and a new port appears in Device Manager. You have installed it successfully! Close the window and select Arduino icon on desktop. www. Labpeers.com Page 49...
Page 50 This is Arduino IDE. All code can be written and edited in this screen. The functions on the toolbar are as follow: Verify: Check the code if there is any mistake Upload: Compile the code and transmit it to the Arduino board (The code will be checked automatically before upload by default) New: Create a new blank sketch www.
Page 51 Open: Open a saved sketch Save: Save a sketch Serial Monitor: Open an interface and communicate with Arduino board via USB During the first time using Arduino IDE, check the setting and make sure all options are selected correctly. Go to Tools > Board and select "Arduino UNO". www.eLabpeers.com Page 51...
Page 52 Then go to Tools > Port. Select the COM port that was shown after installing the driver. If you have forgot the COM port, you may also check it in Control Panel. Click Control Panel and select Device Manager. Extend the device "Ports (COM & LPT) and it shows your Board is in COM5.
Page 53 Download demo code from our website: http://www.elabpeers.com/ebot-arm.html. Open the code and upload to Einboard. You can control eBOT ARM by changing different parameter. Open Serial Monitor. Select Autoscroll, Newline and 9600 baud. You will see the claw opens and closes.