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RoboBuilder DIY Robot kit User Manual

With motion file shared on the internet
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Innovative DIY Robot kit
with Motion File Shared on the Internet
USER'S GUIDE
RoboBuilder Co., Ltd.
Age 14 and up

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Summary of Contents for RoboBuilder DIY Robot kit

  • Page 1 Innovative DIY Robot kit with Motion File Shared on the Internet USER’S GUIDE RoboBuilder Co., Ltd. Age 14 and up...

  • Page 3: Safety Instructions

    Safety Instructions Be cautious when assembling and using ROBOBUILDER kit for safety reasons. This is especially important as ROBOBUILDER is a DIY assembly kit which users will frequently build and disassemble, some of these components cause harm to the user.
  • Page 4 Safety Instructions Handling RoboBuilder Kit ·Do not assemble the product when you are tired or in a bad physical condition, particularly whilst intoxicated. Warning ·Do not place your face too close to the robot. ·Do not use dangerous tools such as a knife or a drill but only recommended tool.

  • Page 5: Table Of Contents

    Installing the Software Introduction to RoboBuilder Software Components Product Features MotionBuilder RBC Upgrade Tool Robot File Sharing on Internet Connecting RoboBuilder with PC KIT Part List Checking PC serial port Standard Robot Platforms Checking Robot Platform HUNO Operating Control Box...

  • Page 6: Introduction To Robobuilder

    Chapter 1. Introduction to RoboBuilder RoboBuilder is a DIY robot with multiple axes and multiple functions, which is built by joining various parts such as wCK robotic module, controller, joints, and other body parts. Users can build three standard robot platforms (HUNO, DINO, and DOGY) for which building instructions are provided with the kit.

  • Page 7: Product Features

    You can easily connect signal line and power line by using two built-in connectors installed on the wCK module. Attractive Design RoboBuilder has an attractive design with curved body lines. The user can customize their unique robots with various optional accessories. Creative Robot Building You can make any desired robot with your own ideas and designs as well as three standard robot platforms.

  • Page 8: Robot File Sharing On Internet

    ㆍ Motion files created by a user with MotionBuilder can be shared online as well as offline. However, any motion files that are modified after being downloaded must but uploaded back to the RoboBuilder homepage if the user wishes to share these with other users.

  • Page 9: Kit Part List

    KIT Part List The Parts included in a RoboBuilder kit are as follows: Body Frame ×1 Chest Cover ×1 Control Box ×1 Foot Part ×2 Shoe Plate ×2 Leg Cover ×2 Head Part ×1 wCK module ×16 Hand Part ×2 wCK module Cable ×20...

  • Page 10: Standard Robot Platforms

    Approx. 10 - 30 minutes HUNO is a humanoid walking robot designed to resemble a human being. This robot is one of the best robots that can be built with RoboBuilder kit. A simple remote control can be used to Introduction initiate basic motions such as walking, running, kicking, and a hand stand.

  • Page 11: Dino

    DINO Item Specifications Size (mm) Approx. 285 (H) x 170 (W) x 180 (D) Weight (kg) 1.25 Degree of freedom Battery: 8.4V Ni-MH Power Power adapter: 12V Controller Atmega 128 External case Engineering plastic Battery operating time Approx. 10 - 30 minutes DINO is a three-legged robot designed to resemble a dinosaur This robot can perform fun motions using its tail.

  • Page 12: Dogy

    Chapter 1. Introduction to RoboBuilder DOGY Item Specifications Size (mm) Approx. 260 (H) x 170 (W) x 215 (D) Weight (kg) Degree of freedom Battery: 8.4V Ni-MH Power Power adapter: 12V Controller Atmega 128 External case Engineering plastic Battery operating time Approx.

  • Page 13: Play Guide

    Play Guide KIT Models Below are the RoboBuilder kit models available for order : wCK Module Sound Degree of Actuator Distance LED on Model Speaker Color Recognition Freedom Torque Sensor Actuator CREATOR 8kg·cm-12 EA Black 5710K 11kg·cm-4 EA CREATOR 8kg·cm-12 EA...

  • Page 14: Assembling Robobuilder

    Chapter 2. Assembling RoboBuilder This Chapter provides the user with the required procedures and skills needed to assemble the three different standard robot platforms(HUNO, DINO, and DOGY). The user can apply the same information and- knowledge to create their own robots using the-...

  • Page 15: Before Assembly

    A beginner should first watch the video version of building instructions, this can be found in CD or at RoboBuilder’s homepage(www.RoboBuilder.net). The user is responsible for any damage to the robot and its components that are the result of the user not following the instructions, any such dam- age will not be repaired as a warranty claim.
  • Page 16 Chapter 2. Assembling RoboBuilder In the process of building a robot the user may encounter a situation where the rotating axis of a wCK module is stiff and won’t move smoothly. This is not a product fault but a situation caused by the tight arrangement of the internal gears.
  • Page 17 Adjusting the rotating axis of wCK module When assembling wCK modules, there are cases where it is required to adjust the rotating axis of the wCK module. In this case, rotate the axis using the joint part as shown in figure below: Putting wCK module and joint together When putting a wCK module and a joint together, be careful to set the direction of the rotating axis of the wCK module as shown in below:...
  • Page 18 Chapter 2. Assembling RoboBuilder How to read the building instructions Each step of the building instructions contains the assembly sequence, parts to be used, cautions, etc. The following is an example STEP from the building instructions. STEP 01 ① ③...

  • Page 19: Transformation Of Robobuilder

    Transformation of RoboBuilder The RoboBuilder kit has been designed for users to easily transform a robot to another standard platform robot. For example, by reassembling some parts of a HUNO the user can transform it into a DOGY in approximately 30 minutes. When the robot transformed from the HUNO to DOGY, the PF LED on the control box must be set to change the platform type - then the DOGY is ready for action and can be controlled by the remote control.
  • Page 20 Chapter 2. Assembling RoboBuilder HUNO DINO...

  • Page 21: Huno

    HUNO HUNO’s name comes from Humanoid as it resembles the appearence of a human being. The assembly of HUNO consists of total 20 steps. The required parts for each step and the related assembly instructions are provided here. Completed HUNO...
  • Page 22 Chapter 2. Assembling RoboBuilder HUNO Part List Chest Cover ×1 Control Box ×1 Body Frame ×1 Foot Part ×2 Shoe Plate ×2 Leg Cover ×2 Head Part ×1 wCK module ×16 Hand Part ×2 wCK module Cable ×16 (Sensor Module) Nut ×56...
  • Page 23 Assembly Sequence All building instructions for HUNO are exactly the same as the ones for DINO except for the arms and the tail. STEP 01, 02, 03, 04 STEP 05, 06 STEP 07, 08 STEP 09, 10 STEP 11, 12 STEP 13 STEP 14 STEP 15, 16...
  • Page 24 Chapter 2. Assembling RoboBuilder STEP 17 STEP 18, 19, 20 ID MAP The ID map of the wCK robot modules for HUNO are as follows: Front View Rear View...
  • Page 25 STEP 01 Left ①②③④ : B40, ⑤ : B8 ⓐ : J2 40mm Bolt 8mm Bolt Joint 2 ID 10 Connect both wCK cables first before attaching it to body frame. ⓐ The adjustment of the connecting angle is critically important.
  • Page 26 Chapter 2. Assembling RoboBuilder STEP 03 Left ①②③④ : B40, ⑤ : B8 ⓐ : J2 ID 00 Connect both wCK cables first before attaching it to body ① ② frame. ③ ④ The adjustment of the ⑤ connecting angle is ID 00 critically important.
  • Page 27 STEP 05 ⓐ Left ①②③④⑤⑥ : B16, ⑦ : B12 ⓐ : J6, ⓑ : J4 ⑦ ID 12 ID 11 ③ ④ ⑤ ⑥ ① ② ⓐ ⓑ ⑦ ID 12 STEP 06 ⓐ Right ①②③④⑤⑥ : B16, ⑦ : B12 ⓐ...
  • Page 28 Chapter 2. Assembling RoboBuilder STEP 07 Left ①② : B16, ③④⑤⑥⑦⑧⑨⑩ : B40, ⑪ : B12 ID 02 ⓐ : J6 ID 01 ID 03 Connect wCK cables as ⑪ above before attaching leg ① ⓐ cover. ② ID 02 ※The pentagon-shaped rotation axes of...
  • Page 29 STEP 09 Left ①②③④ : B5, ⑤⑥⑦⑧ : B40 ⑤ ⑥ ③ ④ ⑦ ⑧ ① ID 04 ② ※ Make sure that the front side of the shoe plate has a narrower width of its folded surface than rear side. STEP 10 Right ①②③④...
  • Page 30 Chapter 2. Assembling RoboBuilder STEP 11 Left ① : B8, ② : B12 The adjustment of the connecting ⓐ : J2 angle is critically important. ID 01 ID 02 ID 02 ⓐ ② ⓐ ① ID 04 ID 03 ID 03 STEP 12 ①...
  • Page 31 STEP 13 ①②③④ : B6 ID 10 ID 13 ID 13 ID 10 ③ ④ ① ② STEP 14 Left, Right ID 14 ID 13 ①② : B12 ID 10 ID 15 ① ② ID 05 ID 05 ID 00 ID 00 ID 06 ID 06...
  • Page 32 Chapter 2. Assembling RoboBuilder STEP 15 Left ① : B12 ID 10 ID 13 ID 11 ID 10 ① ID 10 ID 11 ID 11 ID 06 STEP 16 ① : B12 Right ID 13 ID 10 ID 14 ID 13 ①...
  • Page 33 STEP 17 ①②③ : B6 Right Arm Head Left Arm ② ① ID 14 ID 11 Left Leg Right ③ ID 12 STEP 18 Right Arm Head Left Arm Right Leg ID 11 Left Leg...
  • Page 34 Chapter 2. Assembling RoboBuilder STEP 19 With the control box half slid down, insert the cables from both legs to the connectors on the control box before the con- trol box is fully pushed down Head and secured. All cables, other...

  • Page 35: Upgrade Huno

    Upgrade HUNO Upgraded HUNO is a modified platform of HUNO enhanced by adding two more degrees of freedom(2 more wCK module). With its waist twisting freely, the various motions that can be programmed are much more natural and human like.
  • Page 36 Chapter 2. Assembling RoboBuilder...

  • Page 37: Dino

    DINO DINO’s name comes from the Dinosaur as it resembles a dinosaur with a tail. The as- sembly of DINO consists of 20 steps. The required parts for each step and the related assembly instructions are provided here. Completed DINO...
  • Page 38 Chapter 2. Assembling RoboBuilder DINO Part List Chest Cover ×1 Control Box ×1 Body Frame ×1 Foot Part ×2 Shoe Plate ×2 Leg Cover ×2 wCK module ×16 Hand Part ×2 wCK module Cable ×16 Head Part ×1 (Sensor Module) Nut ×56...
  • Page 39 Assembly sequence All building instructions for DINO are exactly the same as the ones for HUNO except for the arms and the tail. STEP 01, 02, 03, 04 STEP 05 STEP 06, 07, 08, 09, 10, 11 STEP 12 STEP 13 STEP 14 STEP 15 STEP 16...
  • Page 40 Chapter 2. Assembling RoboBuilder STEP 17 STEP 18, 19, 20 ID MAP The ID map of the wCK robot modules for DINO are as follows: Front View Rear View...
  • Page 41 STEP 01 Left ①②③④ : B40, ⑤ : B8 ⓐ : J3 40mm Bolt 8mm Bolt Joint 3 ID 10 Connect one wCK cable first as above before attaching it to body frame. ⓐ The adjustment of the connecting angle is critically ⑤...
  • Page 42 Chapter 2. Assembling RoboBuilder STEP 03 Left ①②③④ : B40, ⑤ : B8 ⓐ : J2 ID 10 ID 00 ID 13 Connect both wCK cables first before attaching it to body ① ② frame. ③ ④ The adjustment of the ⑤...
  • Page 43 STEP 05 Left Right ①② : B16 ①② : B16 ⓐ : J7, ⓑ : J4 ⓐ : J7, ⓑ : J4 ③ ⓐ ③ ⓑ ⓐ ⓑ ② ① ① ② STEP 06 Left ①② : B16, ③④⑤⑥⑦⑧⑨⑩ : B40, ⑪ : B12 ID 02 ⓐ...
  • Page 44 Chapter 2. Assembling RoboBuilder STEP 07 Right ①② : B16, ③④⑤⑥⑦⑧⑨⑩ : B40, ⑪ : B12 ID 07 ⓐ : J6 ID 06 ID 08 Connect wCK cables as above before attaching leg ⑪ cover. ① ⓐ ② ID 07 ※...
  • Page 45 STEP 09 Right ①②③④ : B5, ⑤⑥⑦⑧ : B40 ※ Make sure that the front side of the shoe plate has a narrower width of its folded surface than rear side. ⑤ ⑥ ③ ④ ⑦ ⑧ ① ID 09 ②...
  • Page 46 Chapter 2. Assembling RoboBuilder STEP 11 Right ① : B8, ② : B12 The adjustment of the connecting ⓐ : J2 angle is critically important. ID 06 ID 07 ID 07 ⓐ ② ① ID 09 ID 08 ID 08 STEP 12 ⓑ...
  • Page 47 STEP 13 ①②③④ : B6 ID 10 ID 13 ID 13 ID 10 ③ ④ ① ② STEP 14 Left, Right ID 13 ①② : B12 ID 10 ① ② ID 05 ID 05 ID 00 ID 00 ID 06 ID 06 ID 01 ID 01...
  • Page 48 Chapter 2. Assembling RoboBuilder STEP 15 ID 10 ID 13 STEP 16 ①②③ : B6 Right Front Leg Head Left Front Leg ② ① Left Rear Leg Right Rear Leg ③...
  • Page 49 STEP 17 ①②③④ : B40 ID 11 ③ ① ④ ID 06 ② ID 01 ID 12 ID 07 ID 02 STEP 18...
  • Page 50 Chapter 2. Assembling RoboBuilder STEP 19 Head Left Front Leg Left Rear Leg Tail With the control box half slid down, insert the cables from both legs to the connectors on Left Right the control box before the con- Rear Leg...

  • Page 51: Dogy

    DOGY DOGY’s appearance resembles that of a dog. The assembly of DOGY consists of 18 steps. The required parts for each step and the related assembly instructions are provided here. Completed DOGY...
  • Page 52 Chapter 2. Assembling RoboBuilder DOGY Part List Control Box ×1 Body Frame ×1 wCK module Cable ×16 Sensor Module ×1 wCK module ×16 Nut ×32 B6 ×2 B8 ×9 B12 ×11 B16 ×18 B40 ×16 B Gold ×5 J2 ×4 J6 ×5...
  • Page 53 Assembly Sequence STEP 01, 02, 03, 04 STEP 05, 06 STEP 07 STEP 08 STEP 09, 10 STEP 11, 12 STEP 13 STEP 14...
  • Page 54 Chapter 2. Assembling RoboBuilder STEP 15 STEP 16, 17, 18 ID MAP The ID map of the wCK robot modules for DOGY are as follows: Bottom View Back View...
  • Page 55 STEP 01 Left ①②③ : B40, ④ : B8 ⓐ : J2 40mm Bolt 8mm Bolt Joint 2 ID 05 Connect both wCK cables first before attaching it to body frame. ① The adjustment of ② the connecting angle is critically important.
  • Page 56 Chapter 2. Assembling RoboBuilder STEP 03 Left ①②③ : B40, ④ : B8 ⓐ : J2 Connect both wCK cables first before attaching it to body frame. ID 13 ① ④ The adjustment of ID 13 the connecting angle is ③...
  • Page 57 STEP 05 Right Left ①②③④ : B16, ⑤ : B12 ①②③④ : B16, ⑤ : B12 ⓐ : J6, ⓑ : J11 ⓐ : J6, ⓑ : J11 ID 01 ID 06 ① ① ② ② ⓐ ⓐ ⑤ ⑤ ID 04 ID 09 ③...
  • Page 58 Chapter 2. Assembling RoboBuilder STEP 07 The adjustment of the con- ②④ : B12 necting angle is critically ⓐ : J10 important. ② ID 03 ⓐ ④ ① ID 02 For easy assembly, insert two nuts into ③ the nut holes of J10 using a screwdriver.
  • Page 59 STEP 09 Left ① : B12 ① The adjustment of the connect- ID 05 ing angle is critically important. ID 06 STEP 10 ① : B12 Right ① The adjustment of the connect- ID 00 ing angle is critically important. ID 01...
  • Page 60 Chapter 2. Assembling RoboBuilder STEP 11 Left ① : B12 ① The adjustment of the connect- ing angle is critically important. ID 13 ID 14 ID 15 STEP 12 ① : B12 Right ① The adjustment of the connecting angle is critically important.
  • Page 61 STEP 13 Right Front Leg With the control box half slid down, insert the Left Front Leg cables from both legs to the connectors on the control box before the control box fully ③ pushed down and secured. ② ① ID 05 ID 11 ID 13...
  • Page 62 Chapter 2. Assembling RoboBuilder STEP 15 ①②③④ : B40 ② ④ ① ③ ID 03 Right Front Leg Head ID 02 After the head part is fixed to the body frame, release the control box half way to Left Front Foot...
  • Page 63 STEP 17 Sensor Left Front Leg Tail Head Right Front Leg Right Rear Leg Left Rear Leg All cables, other than the sensor cable from the head, can be plugged into any of the connectors STEP 18 ③ : Check the basic posture ( ①...

  • Page 64: Operating Robobuilder

    Chapter 3. Operating RoboBuilder This chapter explains how to install the software, connect RoboBuilder with your PC, create and modify motion program files, and operate the fully assembled RoboBuilder.

  • Page 65: Installing The Software

    Installing the Software Before programming and operating your assembled robot you will need to install the software from the installation CD provided with product package. Insert the CD into CD-ROM and run Setup.exe. Click [Next] when Installation Wizard window pops up. Click [Install] to start the program installation.
  • Page 66 Chapter 3. Operating RoboBuilder When the Installation Wizard Complete window appears, click [Finish] to end the installation procedure. The shortcut icons of the software programs are registered on Desktop and Start Menu. [Desktop] [Start]...

  • Page 67: Software Components

    The RoboBuilder software consists of MotionBuilder and the RBC Upgrade tool. MotionBuilder is used to create and modify robot files, transfer robot files to RoboBuilder, and adjust the home posture. RBC Upgrade tool is used to upgrade the firmware of the main control board inside the control box.
  • Page 68 ㆍSave As: saves the running project file as a different name. ㆍConfig: configures and sets the wCK module. ㆍDownload: transfers robot files to control box. ㆍComPort: sets the port on PC to connect RoboBuilder with. PC Port ② ㆍBaudRate: sets the data communication speed. (default: 115,200kbps) connection ㆍOpenPort: opens the set PC port to connect RoboBuilder with.

  • Page 69: Rbc Upgrade Tool

    The screen layout of the RBC Upgrade Tool is as below. Area Name Descriptions ① Connection It selects the port connected between PC and RoboBuilder and the transfer speed It selects the firmware file to upgrade. ② File Selection Click [Click here and Push Button] for upgrade.

  • Page 70: Connecting Robobuilder With Pc

    Chapter 3. Operating RoboBuilder Connecting RoboBuilder with PC RoboBuilder robot connects to a PC via an RS232 serial cable. First check the PC’s com port number assignment and connect the RS232 cable to the RoboBuilder. The appropriate platform type(HUNO, DINO, DOGY) should be set on the control box (use PF1 or PF2 button) as instructed on page 72.

  • Page 71: Checking Robot Platform

    Appropriate platform type(HUNO, DINO, DOGY) should be set on the control box before connecting RoboBuilder with a PC. For example, it your robot is a HUNO but control box is set as DOGY platform, the robot won’t operate properly. Robobuilder will think the robot is in the form of the configured platform.

  • Page 72: Operating Control Box

    Chapter 3. Operating RoboBuilder Operating Control Box By manipulating the control box, you can turn on the robot, select the platform type as well as change to different modes such as PC control mode, battery recharge mode, firmware upgrade mode.

  • Page 73: Using Remote Control

    Using Remote Control The best way to use the remote control is to have remote controller point to the top of robot’s head. Because the IR sensor unit is installed inside the top cover of head. Whenever a robot is turned on, press red button in the middle to have your robot take basic posture before playing with other buttons.

  • Page 74: Programming

    A motion file is what defines the RoboBuilder’s movements(file extension is .rbm). If RoboBuilder can display a motion, then this motion file is played in the control box. A project file includes more than one motion file and is used to manage multiple motion files efficiently. A motion file consists of more than one scene.

  • Page 75: Creating New Robot File

    Set ComPort and BaudRate, and click OpenPort( ). If the connection between PC and RoboBuilder is normal, the button changed to ClosePort( Select [New] on the menu bar. In the [New Project] window, assign project name, select the location to save the project file, and robot platform type. Then click [OK].
  • Page 76 Chapter 3. Operating RoboBuilder Select [New Motion] to add a new motion file into the project. Select the motion file name and save path etc, and click [OK] Register the first scene in the created motion file. Set the name of the scene, the number of frames, and Tr.Time, and click [OK].
  • Page 77 Name Description ① It displays the ID number of the wCK module. ② S.Pos It displays the start position of the wCK module as in control angle. ③ D.Pos It displays the destination position of the wCK module as in control angle. ④...
  • Page 78 Chapter 3. Operating RoboBuilder When the desired posture with required destination positions are set, click [Return]. The changed settings are saved in the scene and the [Return] button is changed back to [Test]. If a scene is clicked, the robot moves to start position of the corresponding scene.
  • Page 79 Click [New Scene] to add another scene. Give the new scene a name, the required number of frames, and the Tr.time. Then click [OK]. A new scene is added. Select added scene, click [Test] (it is changed to [Return] button), and adjust the posture for the destination position.

  • Page 80: Modifying Robot File

    Set ComPort and BaudRate, and click OpenPort( ). If the connection between PC and RoboBuilder is normal, the button changed to ClosePort( Select [Open] on the menu bar. Select the desired project in the [Open Project] window and click [Open]. (e.g. HunoBasic.prj)
  • Page 81 Open [Motion List] menu. Choose a motion file to modify and click [Open to Edit]. The selected file opens. When the scene to modify is selected, the robot moves to the start position of the corresponding scene and the wCK module angle appears in the [Robot Configuration] window. Detailed control information is shown on the [wCK Module Control Detail] area in the middle of the screen.
  • Page 82 Chapter 3. Operating RoboBuilder To change a scene, select the scene and click [Test]. The robot moves to destination position and stops. Use the jog buttons of wCK modules in the [Robot Configuration] area to adjust the angles of required wCK modules. When the angle adjustment is completed, click [Return] to save the change.

  • Page 83: Quick & Easy Motion-Teaching Programming Method

    Quick & Easy Motion-Teaching Programming Method What is the Motion-Teaching Programming Method? The motion-Teaching Programming Method is a quick & easy way of creating robot’s motions. When editing a scene, click the [Get Pos] button in the middle of screen and use your hands to adjust the angles of desired wCK modules freely.
  • Page 84 Chapter 3. Operating RoboBuilder Check the desired IDs of wCK modules to be adjusted and click [Close]. If you touch and handle the wCK modules with your hands, you can feel the selected modules are now free of Torque and freely movable.

  • Page 85: Modifying Downloaded Robot File

    Set ComPort and BaudRate, and click OpenPort( ). If the connection between PC and RoboBuilder is normal, the button changed to ClosePort( Select [Open] on the menu bar. Select the desired project in the [Open Project] window and click [Open]. (e.g. HunoBasic.prj)
  • Page 86 Chapter 3. Operating RoboBuilder Choose [Motion List] menu and click [Add to Project] to select the file that you downloaded from Internet and saved in your hard disk. Click [Open to Edit] button to open the motion file. Follow the steps of 05~08 of [Modifying Existing Robot File] section in page 82~83.

  • Page 87: Transferring Robot File To Control Box

    Set ComPort and BaudRate, and click OpenPort( ). If the connection between PC and RoboBuilder is normal, the button changed to ClosePort( Click [Download] on the menu bar. Select the robot file to transfer to control box, and click [Open].
  • Page 88 Chapter 3. Operating RoboBuilder The selected [motion file] is transferred to control box. When download completed, success message appears. Click [OK] to finish. Repeat step 02 and step 03 until you transfer all required files. · Once file transfer starts, all robot files already existing in control box are deleted and new files saved from the beginning.

  • Page 89: Playing With Robot

    Playing with Robot When building and programming are completed, you can play the RoboBuilder and have it play the motions saved in control box by using remote control. Turn on the control box and press the basic posture button ( ) on the remote control.

  • Page 90: Recharging Battery

    Chapter 3. Operating RoboBuilder Recharging Battery To charge the battery enclosed in the control box, connect the adapter to the control box as shown in below picture and turn on the power to prepare for charging. The battery charging takes one and a half hour and automatically stops when finished.

  • Page 91: Replacing Battery

    Replacing Battery The battery replacement procedure is as follows: Remove the four bolts from the cover of control box. Replace the batteries after disconnecting the connector.(Battery Type: 8.4V Ni-MH) Close the cover of the control box and screw in the four bolts.

  • Page 92: Setting Home Posture

    Chapter 3. Operating RoboBuilder Setting Home Posture In case of HUNO, if RoboBuilder’s motion is unstable or abnormal, you can choose to adjust the Home Posture. For example, if robot’s movement is different from what it is supposed to be and it doesn’t move as the way the robot file defines, you can correct the problem by adjusting the Home...
  • Page 93 Lay down HUNO into the tray as shown in the picture. Turn on the control box as in PC Control Mode. Click [Open] on the menu bar to open a HUNO project. Any HUNO project will work. Click [ZeroCaptureReady] and use hands to make sure that HUNO is correctly inserted into the tray.
  • Page 94 Chapter 3. Operating RoboBuilder Make sure that HUNO is laid down tightly into the tray by pressing some points of robot’s back side. Follow the sequence as shown below. ① Press position 1( ) vertically together by using thumbs and index fingers of two hands.
  • Page 95 Pull out HUNO from tray and release wCK modules. Follow step 05 and 06 to complete the required 5 of posture captures. When the adjustment is completed, a pop-up window appears saying “Complete!”. Click [OK]. Click [Save Zero & Set to RBC] to save the home posture and apply it to control box. click [OK].

  • Page 96: Adjusting Home Posture Manually

    Adjusting Home Posture Manually Without using the tray, you can also adjust robot’s home posture manually. Run MotionBuilder software and connect RoboBuilder with PC using PC cable. Set Com port and BaudRate and click OpenPort( ). If the connection between PC and RoboBuilder is normal, the button will change to ClosePort( When connection is ready, select the [ZERO Setting] tab.
  • Page 97 When you click [ZeroControlReady], the screen is changed to a mode where you can manually adjust the home posture. Adjust the home posture by using the jog buttons of wCK modules in the [Robot Configuration] area.
  • Page 98 Chapter 3. Operating RoboBuilder When adjustment is completed, click [StopZeroControl]. Click [Save Zero & Set to RBC] to save the home posture and apply it to control box.

  • Page 99: Manipulating Home Posture File

    Manipulating Home Posture File This button fetches the zero point file saved in control box. This button applies the changed home posture values to control box. This button saves a copy the home posture file as a different name. This button makes the robot take the corresponding home posture.

  • Page 100: Upgrading Firmware

    Chapter 3. Operating RoboBuilder Upgrading Firmware The procedure to upgrade control box with up-to-date firmware is as follows. Run “RBC Upgrade Tool” software and turn on the control box. Connect control box with PC using RS-232 cable. Set Com Port and Baud Rate.
  • Page 101 Press the Reset button by using a pointed pen or a pin. Reset button Selected firmware file is transferred to control box. When upgrade is completed, control box is automatically reset. Then a complete message appears. Click [OK]. The firmware upgrade procedure is finished. Click [Exit] to terminate the program. After upgrading firmware, be sure to perform the following three steps.

  • Page 102: Chapter 4. Troubleshooting

    Chapter 4. Troubleshooting This chapter explains how to solve problems that you may encounter in the process of building a robot, programming a robot file, or operating a robot platform.
  • Page 103 When wCK module’s rotation axis doesn’t move smoothly [Cause] In some cases, the wCK module’s rotation axis may get stiff and won’t rotate smoothly when you try to move it with your hands. This is not a product failure but a situation caused by the tight arrangement of the internal gears.
  • Page 104 Chapter 4. Troubleshooting When Robot doesn’t take correct Basic Posture. [Cause] The Basic Postures of the three standard robot platforms are as shown in below pictures. If a robot doesn’t show the exact Basic Posture when you push the red button( ) on the remote controller, the robot doesn’t move properly or the red Error lamp is turned on, then the robot may not be built correctly or may have another problem.
  • Page 105 ID map. If IDs are incorrectly used, the robot may not work properly. [Troubleshooting] Refer to chapter 2 [Assembling RoboBuilder] (page25 for HUNO, page41 for DINO, page55 for DOGY) to double check if wCK modules are all the correct ID numbers.
  • Page 106 Chapter 4. Troubleshooting STEP 05 Are joints inserted with correct direction? In some body parts, if joint part is not inserted with the correct direction, the robot may not operate properly. The following building steps are where users frequently make mistakes. HUNO Leg Part(STEP07,08) DINO...
  • Page 107 ·Always press the red button of remote control to have robot to take Basic Posture before playing other motons. Otherwise buttons may not work. Caution Contact your local Customer Center for technical support. Contact information of our customer centers are available at www.RoboBuilder.net. Or you can call 82-2-3141-5101 headquarters in Seoul, Republic of Korea.
  • Page 108 Chapter 4. Troubleshooting M EM O...
  • Page 109 MEM O...
  • Page 110 Customer Support ▒▒▒ Homepage: www.RoboBuilder.net ◆ E-mail: customer.service@robobuilder.net ◆ Tel: 82-2-3141-5101~5106 ◆ Fax: 82-2-3141-5107 ◆ RBDS-UG-BB085V120-EN...

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