X2-RCU (Robot Control Unit) BE-5132 User Guide V1.0

Transcription

1 X2-RCU (Robot Control Unit) BE-5132 User Guide V1.0 Thank you for purchasing this JoinMax Digital product. To understand the remarkable features of X2-RCU and the correct operation method, you re recommended to read this guide carefully.

2 CONTENTS ⅠINTRODUCTION... 1 ⅡORGANS PROCESSOR ANALOG PORT DIGITAL PORT MOTOR CONTROL PORT SERVO CONTROL PORT SERVO CONTROL PORT BUS USB PORT DC POWER SOCKET LCD SCREEN FUNCTION BUTTON POWER SWITCH OTHER... 2 Ⅲ QUICK START GET READY INSTALL SOFTWARE PROGRAM DOWNLOAD RUN PROGRAM... 4 Ⅳ USAGE DETAILS X2-RCU System Application Built in Test Eeprom System Setting ROBOEXP SOFTWARE RoboExp Introduction Flow Control Display Sensor Ⅴ SYSTEM UPGRADE CARE AND MAINTENANCE Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

3 ⅠINTRODUCTION X2-RCU is JoinMax latest robot control unit, with high performance, low power comsumption, more ports. Embedded bluetooth module. Programs can be stored in it simultaneously, saving efforts of repeating program downloading. Useful testing programs for analog port, compass, motor are embedded, free you from computer during interest contest. Software Robot Express (RoboExp for short) supports icon-based graphical programming, easy for new user, and C language programming, preferred by certain advanced user. ⅡORGANS 1. Processor The processor is the newest Cortex-M3 of ST, with 120MHZ clock speed, 1M flash memory, and 1208K SRAM. 2. Analog Port There are sixteen 12-bit analog ports, with 1 µs A/D conversion speed. Port multiplexing, feature of JoinMax RCU, is maintained. Untaken analog port can connect analog, digital or I2C sensor, either input or output, not affecting each other. 3. Digital Port By default, there are twelve digital ports (D1-D6), which can connect digital or I2C sensor, either input or output. 4. Motor Control Port Two motor channels, for 4 common motors or 2 encoded motors. It gets power from RCU. 5. Servo Control Port There are 4 servo motor control ports (D5-D8), the available ports can connect digital sensors. 6. Servo Control Port There are 1 servo motor control port (AI-Servo) BUS 2 standard 485 Bus

4 8. USB Port Standard USB port, with SN65220 USB protection chip. 9. DC Power Socket CH2.5 square power socket 10. LCD Screen The built-in 2-inch 220*176 dot matrix character touch LCD can display English letter, number, Chinese character and figure. The backlight makes the screen visible in dark. 11. Function Button There are four function buttons. Except Rst button, the other three not only get original functions, but also are able to be user-defined. Rst button is to reset system. 12. Power Switch On for power on, off for power off. 13. Other (1) 1M memory with chip, and 2M expended. (2) Volume sensor (3) Voltage detect and alarm: power indicator turns red when voltage is lower than 6.5V. (4) Buzzer, 20Hz-20kHz frequency. (5) Gravity sensor (only the advanced X2 supports) (6) Bluetooth mode (only the advanced X2 supports) Ⅲ Quick Start 1. Get Ready Pls get the following items ready: (1) X2RCU 1. (2) USB download cable 1. (3) V power supply 8.4V Lithium battery is recommended). (4) Software Disk of RoboExp V3.X. (5) Computer 1, with OS: Windows 2000/XP/7. 2. Install Software Insert the RoboEXPress CD into your computer s CD or DVD drive. The disk installation application will automatically start. [If this application does not automatically startup, then navigate to your CD or DVD drive and double-click on the setup application.] 3. Program Run the RoboExp software. Start a new program, also called Project Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

5 Choose Display column, drag icon LCD back light and display word, and connect them. Click icon display word, and set ABCDE for Data, as the picture shows. Now the program is ready. Press Compile, and Download, then a dialog box pops out (as following picture), indicating that the program is waiting to be downloaded to the X2-RCU Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

6 4. Download Connect X2-RCU to computer via the USB download cable. Power on X2-RCU, and press Download button. 5. Run Program Reset X2 (press Rst button). Choose Select Program, and select the program (take JMAPP1 as example). Then it will return to previous page automatically and the program name will be shown after Run, as the following picture. Press RCU Run button or click Run JMAPP1 icon, now the program is run by displaying ABCDE on the screen. Now you have learned how to write and download programs Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

7 Ⅳ USAGE DETAILS Function of X2-RCU and software operation will be explained in this chapter. 1. X2-RCU Menu of X2-RCU Button Function Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

8 Rst: it reset system at all time. Download: for USB download Undefined: defined by user Run: run program 1.1 System Application Run X2 RCU stores multi-programswill be run. Program is limited to 128k Wireless Download This function needs relative wireless download modules Select Program Reset RCU, and press Run button or click Run icon, the loaded program Browse alll saved program, and load one to run Download Press Download button or click Download icon, Downloading will appear on screen. Connect USB download cable, a new removable device X2-RCU will automatically add in My Computer. Copy programs to this device as you copy common files. Usually a test program is around 7-8k, which means X2-RCU can stock tens of programs. The program format is *.bin (* is file name,.bin is extension). Attention: 1 Folder is NOT allowed in X2-RCU disk. 2 File name supports English and Arabic figure, complying with DOS8.3 naming rule. 3 Up to 31 programs can be stored Joinmax Digital Technology Co, Ltd No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

9 4 Do NOT put non-x2rcu file inside. 5 If fail to download program or open X2-RCU. X2-RCU disk, pleasee update firmware to initialize 1.2 Built-in Test ADC Test (Analog Port Test) Connect analog module to any analog port, from A1X ( x pin) to A8Y ( y pin), and value of the analog module will be shown. Click returns to previous level. to change test ports, click to exit the test and Motor Test Connect motor to Motor1/2-Motor3/4 port, it will run. There are auto and manual control modes. 0 means stop, positive value means forward, negative backward. Direction can be changed by click switch after each motor bar Compass Test Connect compass to D1D2 port and keep black wire to top. Choose Compasss Test and data of compass will be shown on screen, which is used to test whether compass is working fine Encoded Motor Test Connect encoded motor to Motor1/2-Motor3/4 port. Others similar to Motor Test Gravity Sensor It s RCU imbedded function for advanced RCU which gets gravity sensor. The output values are X, Y and Z values AI Servo Connect AI servo to AI-Servo port, and load the test program, then the servo will run forward and backward alternately. 1.3 Eeprom bit data can be stored. Left is data address, right is the corresponding value Joinmax Digital Technology Co, Ltd No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

10 Operation: (1) Choose the address: click the data bar and choose the address ( 1-100), then the chosen address and parameter will turn green, and icon will show. Click and to change address. (2) Change the value: Click and to change value by one. Click left and right of the bar to change by 100. Confirm the change by click black., and the changed address and value will turn 1.4 System Setting Language: to choose language, Chinese or English System version: the version of current system, for example V Reset Disk: RCU can be reset to factory settings when it gets problems like not accessed, read or written (download). Press Y to reset disk, and no to cancel. (Attention: loadedd program will disappear after reset disk.) 2. RoboExp Software This section has six parts: RoboExp introduction, flow control, sensor, music, and Bluetooth. Refer to Quick Start for software installation and create new project. Refer to Help of RoboExp software for more details. 2.1 RoboExp Introduction Main window of the icon-based program software is as below (difference exist between versions). Generally speaking, the whole process is like this: drag icons from module library (flow control, performer, light sensor, etc.) to the main program area; configure icon s property; and connect icons. Compile, and download the successfully compiled program to X2-RCU Joinmax Digital Technology Co, Ltd No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

11 2.2 Flow Control Click Flow Control and all icons will show. Frequently used icons are If (conditional branch), While (conditional loop), For (multiple loop), and Calculate (count). The first three are to control the flow, the last one to control variable. 2.3 Display Add icon display word to program area. Double click and its property pane pops out. X for column 0-219, Y for line It can display 297 (=27*11) 8*16-pixel English number. Color is color of letter, BG Color is background color. Example programs of the icons are imbedded in RoboExp. Name Icon Description LCD back light ctrl Display 1 char 3-number display 5-number display 8-number display Control the backlight of LCD screen Display one character, eg. A Display three characters Display five characters Display eight characters Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

12 Display word LCD clear Display one word, eg. apple Clear the LCD screen Take word display as example. Fill in 0 for X, 16 for Y, ABCD for data, yellow for color, black for BG Color. Compile, download and run the program. Now have a look at the screen: ABCD is displayed from the left (column 0) of 16th line with yellow letter and black background. 2.4 Sensor X2-RCU supports six kinds of modules: analog, digital and I2C sensors, motor, AI servo and 485 bus. Every sensor is connected to same kind of ports, except 3-wire digital can use analog ports too. Take Compound Eye as example to show detailed usage. Program as following picture. Then create a variable var0 ; click at compound eye icon to pop out property pane. Select var0 as its return variable, in this way the data of compound eye will be stored in variable var0. Hints of these property commands are shown in the bottom. Now let s find a position in RCU for compound eye. 1. Find a position. Click which, and choose drop-down menu Define hardware information, a window pops out as following right picture. Choose a position (eg. A1X in the picture), and name it (eg. _CompoundEye3_1_), then press ok. 2. Assign the above position to compound eye. Click compound eye icon, and choose _CompoundEye3_1_ from which menu. Now this icon represents the real module Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

13 Ⅴ System Upgrade The X2-RCU has system upgrade function. In other words, when there is new version, you can upgrade by downloading the web file, no need to send RCU back to factory. Upgrade Method: Download upgrade file; connect RCU to computer via USB cable; power on RCU while pressing up and down keys; then the screen will display words ready to upgrade. The driver JoinMax DFU Mode will be installed at first time using. Run the upgrade software, it will display words connect to X2-RCU successfully ; click update and the upgrading will be completed. Care and Maintenance The X2-RCU is a product of superior design and exact craftsmanship. Please read the read the following terms for safe and efficient use. 1. Keep it dry. Rain, humidity, liquid or moisture will corrode electronic circuits as they might contain minerals. If it gets wet, DO NOT power on to operate until it turns dry. 2. Keep it at room temperature (maximum: 0-60 ). DO NOT store in too hot or too cold area. High temperature will shorten the life of electronic device, warp or melt certain plastics; while in cold temperature, the working RCU gets warm and moisture forming inside will damage the electronic circuit board. 3. DO NOT drop or knock it, which will damage the internal circuits and fine mechanics. 4.DO NOT use harsh chemicals, cleaning solvents, or strong detergents to clean it. 5. DO NOT paint the RCU, for the paint debris might affect normal operation. If there is any other problems, please contact us or our local distributor for help. You can call us at , or to Teck@robotplayer.com Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel:

14 JoinMax Digital Technology Ltd Tel: , Fax: Web: Support: SC Joinmax Digital Technology Co, Ltd. - No.368, Northeast District, Sun Yat-sen University, Gz. Gd. P.R.China. Zipcode: Tel: