2 1. Robot Controller MR-C3024FX charge input(adapter)DIO port 18-23motor (G6D)battary source inputDIO port 12-17motor (G6C)power switchDIO port 0-5motor 0-5 (G6A)A/D, xirorf/RC receiverDIO port 6-11motor 6-11 (G6B)PC interface download for robobasicLCD/PWM outputRX/TX (serial port)
3 2. Link to Metal-Fighter motor 12-14 G6C (right arm) motor 6-8 G6B (left arm)motor 18-22G6D (right leg)motor 0-4G6A (left leg)
4 3. ROBOT to PC Interface Signal port setting ② set controller information③ view controller informationMR-C3024 FX series circuit
5 4. Interface Error Must be make sure accurately power condition ? - check battary link, battary charge conditionMust be make sure accurately interface cable ?- check enclosed serial interface cable (serial port at PC , port at Robot)Check make sure accurately telecomunication port ?- Please check the port between real telecomunication with robobasicon programed portPlease make sure accurately controller?- Metal-Fighter must be make sure “MR-C3024FX serial port”Before robot programming,Please check an error and controller signal display
6 5. Program Download ② Combine Operation ③ download ① Template no.1 sheet open④ action⑤ if push the remocon “1”key, the robot bow
7 6. Program Basis I Basic Header ‘PTP function set (robot simultaneous controlling)PTP SETONPTP ALLON‘Motor direction setting (for Metal-Fighter)DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0‘Motor motion begin location setting (prevent extreme motor action)GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0‘Basic motor speed settingSPEED 5‘All motor actionMOTOR G24
8 PTP (Point To Point; robot simultaneous controlling ) 7. Control Basis LanguagePTP (Point To Point; robot simultaneous controlling )Multi-linked robots needed many linkage simultaneous action for one motion.And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwise late completed .Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneous completed.Zero PointTo assembling multi-linked robots very difficult accuracy. during setup come to error by little by little, if the errors are accumulated it shoud be big error end of assembling, and then action program come to some trouble. so that after end of assembling robot , needed state revision step. This point we define “Zero Setting”
9 8. Program Basis II The Example Program “ Sit down to Stand-up” 1. Describe basic header at edit window2. Click the manu “motor control”3. Display current motor state4. Current motor state “insert”=> Stand-up pose5. R_Leg, L_Leg remove the check“at group use button”6. User can set motion down pose by Manually7. R_Leg, L_Leg click at “group use button”8. Current motor state “insert”=> Sit down pose9. “Close”10. User can modify at edit window themselves.11. Down load12. Metal-Fighter play motion.