RCB-1
SoftwareManualPreface
Thank you for buying our product.
Please read carefully to use this product safety and full functions.
We recommend to copy this manual harddisks on your PC or to print out to refer, if you need.

Contents
This manual describes RCB-1 as robot control board, and HeartToHeart as control software.
Please read hardware manual before this manual if you have robot kit KHR-1.
The information and speciﬁcations in this manual are subject to change without notice.

http://www/kondo-robot.com

Special attributions
OTher company, product, or service names may be trademarks or service marks of others.

Legal Notice
Copyright Kondo Kagaku Co.Ltd., 2004, All rights reserved.
Software, manuals, firmware on the hardware may contain other proprietary notices andcopyright information which should be observed.
You may not reproduce, republish, post, transmit or distribute any Materials without permission.
First of all, you should read hardware manual if you want to use this manual for KHR-1 (robot
kit).

2

Table of Contents
P r e f a c e
C o n t e n t s
S p e c i a l A t t r i b u t i o n s
L e g a l N o t i c e
T a b l e o f c o n t e n t s
A b o u t P r o d u c t
D e s c r i p t i o n s
I n t r o d u c t i o n
Software install
Software initialize
Names and Functions

S o f t w a r e

R e f e r e n c e

Main Window (1)Main Window (2)Main Window (3)Main Window (4)Motion Editor Icons
Scenario Editor Icons

H a r d w a r e

I n i t i a l i z e R C B - 1
H o w t o c o n n e c t t o
T r i m F u n c t i o n

R C B - 1

A p p l i c a t i o n s

How to set home position?
How to make new home position?
Setting home position from ﬁleData input -from position to motionTeaching -from position to motionEdit Scenario
Setting of optional controller
Auto demonstration
How to use graph window?
How to tile setting windows?
Label property and DESKTOP (1)Label property and DESKTOP (2)Label property and DESKTOP (3)S a m p l e

m o t i o n
H o w

t o

u s e

s a m p l e

3

m o t i o n

2
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24-25
26-27
28-29
30-31
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40

About Product
RCB-1
RCB-1 is the servo motor control board.
A RCB-1 can control 12 servo motors. And also, two boards can be linked to control
24 servo motors.
The board supports all functions of Red version of our servo motor.
You can make advanced robot with our products.

HeartToHeart Version 1.1
HeartToHeart version 1.1 is motion editor for RCB-1. This software supports allfunctions of RCB-1. Add to say, you can use teaching function if you attached Red
version servo motor on your robot. It makes possible to easy edition of motions.

Descriptions
This manual describes procedure of editing motion using robot control board RCB-1.
RCB-1 and software works together. Please read this manual carefully.

4Introduction

Installation of software to your PC.

5

Software Install
First of all, software is copied from CD-ROM to hard disk on your PC.

1 Insert CD-ROM to CD-ROM drive
2 Open CD-ROM drive from "my computer"Open "software" folder in CD-ROM folder.

"HeartToHeart" file in "software" folder to hard disk on
3 Copyyour PC.
Please make new folder for this software in hard disk.

easy to open "HeartToHeart" if you make short cut icon on
4 Ittheis desktop.

In order to use software, it is necessary to look at the upper
procedure and to copy a ﬁle in a hard disk.
Keep in mind that it does not get used to use normally when
the ﬁle in CD-ROM is performed.

In the case of uninstall the software. Delete all files
concerned with this software including folder.

6Software Initialize
RS232C Port
HeartToHeart uses RS232C to access RCB-1.
Default setting of RS232C is "OFF". You must set the
number of COM port on your PC at ﬁrst.
Please pay attention to the number of COM port if you
use USB-RS232C adapter.

How to conﬁrm RS232C port number

In this manual, we use Windows XP as example. Please refer towindows manual if you have any other version.

1
Click right button on "my computer" icon on the desktop.

2
Property window is displayed. Click "hardware" tab inthis window.

3"hardware" tab is displayed. Click "device manager" in thiswindow.

4"device manager" is displayed. Click "+" on the line "Port(COM and LPT)".
Ports are shown by this operation.

In this case, we can see COM1 and COM2 as serial port.
Please set the number of the cable which attached to the PC and RCB-1.

This information will show no COM ports if PC conﬁrmed any serial cables or
USB-RS232C adapter.

7

Names and Functions
Continuous perfor mance is made from a set of positions.
We use words "position", "motion" and "scenario" to makeperformance.

Position and Motion"position" is a set of position data of each servo motor in shape of robot at presence.
Software can set data to each servo motor using teaching function or slide bar.
"motion" is a set of position.
Change of position to position is set by speed. Depending on the set value, performance between
positions is compensated automatically.
RCB-1 can save 100 positions for a motion. And also, RCB-1 can save 40 motions.

Scenario
We use scenario to make performance of robot. Of course we can set performance to describe eachmotion. RCB-1 can save 4 scenario. We call "bank" as the place to save a scenario.
A scenario can keep 200 motion data. (It means that scenario can use motions repeatedly. Because
motion can save only 40 data.)

Scenario in Bank 0
Scenarios are saved to bank from #0 to #3. Bank #0 is the special record.
Bank #0 has auto demonstration mode if you turn on the start switch on
RCB-1.
Of course Bank #0 can be used for nomal scenario mode.
This function supports auto demonstration of the robot.
Start Switch

Home Position

Home position is the most important position to the robot.
Because it is the basement position of the robot.
Usually, we call home position as "standing position". However, home position will be taken for longtime in various positions. We should keep the shape of robot which has less load.
In the case of KHR-1, please set home position referring to hardware manual.
All data in the software refers to home position as the basement position. You can replay almost same
position in the sample data if you set the same home position.

8

Software Reference

Software consists of●Main window,●Motion editor,●Scenario editor, and●Graph window.
Each name or function is described in thisreference.

9

Main window (1)Icons on the upper window

Main window is the ﬁrst window if
you start the software.
It is the main software to set value
to the servo motor with slide bar
and to support various functions.

Scenario Editor
This icon opens scenario editor.
Refer to "Edit scenario" for details.

Home Position
This icon opens home position window.
This window save each value on the displayed window ashome position to RCB-1.

Option controller setting

Option SettingThis icon opens optional controller.
Optional controller will be on sale in the future.

This icon opens option setting window. Optionmeans ID setting to RCB-1 and Trim setting(read/
write).

Label property
This icon opens label setting window.
This window can set name to each channel, color, and display mode ON/OFF.

Close

Information
This icon exit software.

This icon shows version information.

Serial port number settingThis function set the number of serial port on your PC.
Default setting is "OFF". You must set the number of the serial port before access to RCB-1. Pleaserefer to "How to conﬁrm RS232C port number" for details.

Desktop

You can change location of each channel from ch1 to ch24 by drug and drop on the window.
And also, you can keep 10 locations using this desktop function.

10

Main window (2)Setting Items
Positon name

This function gives a name to data (position) in presence.
It is used to show to make motion.
This function sets syncronization between this software and RCB-1. RCB-1
works according to the slide bar movement in realtime if the setting is ON.
In the case of OFF, RCB-1 doesn't work in realtime.

Syncronization

This function sets motion speed. 0 is the fastest speed. 7 is the latest speed.

Speed

Servo Control
Tracking check

It can increase or decrease data simulteneously using "tracking" button if
this check box is ON.

Slide bar
This bar sets data to each servo motor according
to the channel number.
Slide bar changes data by user operation. You cansee syncronized movement of servo motor andslide bar movement if "sync" is ON.
The setting value is absolute value from 0 to 180.
You can set "relative" to home position if you set
ON to "RELATIVE" setting.

Label
Each channel is shown with number from CH1. You can give a label to the channel if the name is double clicked toopen a window to revise.
For example, you can give a name to CH1 on KHR-1.

Mode settingThis function sets signal mode to channel output.

PWM : Default setting. Position control mode. Value is set from 0 to 180 by slide bar.
FERR : Servo motor is free.
SET1~3 : 3 values are changed. 3 values are set by ICS function.
-L: output TTL low level-H: output TTL high level
FREE and SET1-3 can be available if you use Red version servo motor. Don't use these modes if you have no red version servo
motor. It is danger. Because normal servo motor for radio control car doesn't have this function.
Please set FREE to channel which is not attached servo motor.
Don't set -L- or -H- to channel which is attached servo motor. It is danger. Because servo motor has no function to support -L- or -Hmode.

11

Main window (3)Icons on the lower window

TRACKING
This function increase/decrease setting value simulteneously to each channel if the channel tracking check box is ON.

RELATIVE
Each channel data is displayed by absolute value. It shows relative value if the radio button is "ON". It is relative to home position.
You must read home position from RCB-1 before use this ction.

Shot Button

This button opens window for teaching function.

Data Transmit

This button sends data to RCB-1. It is used in the case of "OFF" mode of "SYNC".

Read Data

This button reads RCB-1 data at presence. (The data is only position. Motion and scenario
are not included.)Home position

This button sets home position which is set in RCB-1. Frist click set to free all servo. Second
click to set home position after check dialog box.

Sleep

This button sets sleep mode to RCB-1.Each servo is set free. But RCB-1 and PC can be accesseach other.To keep battery, it is better to use when you save motion or scenario data to RCB-1.

Default

This icon turns on RCB-1 from sleep mode.

Edit motion
dataThis icon opens/closes motion editor window.

Graph Window

This icon opens/closes graph window.

Add data

This icon adds data in the window at presence to motion.
Data is added to the last of the motion.

Override data

This icon override selected data in the motion editor with data on the main window.
Pay attention: original data will be deleted by this operation.

12

Main window (4)Information

The bottom on the window shows status.
●Default/Sleep: icons set RCB-1 mode Active / Sleep. Default setting is "Default".
●Access status: This software accesses to 2 boards. It shows status of access. Normal display is"success" for each access.

In the case of failure to access, please conﬁrm COM port setting.
Especially, USB-RS232C adapter changes the port number if you remove/attach USB-RS232C
adapter during operation.

NOTICE

About Data Save

●You can't save only position which set on the main window. You must save "motion"
which includes the position.
●Data which is used to change DESKTOP is location of servo control. Display/No Display
mode and color are displayed the same setting after save to system in the label property
setting.
●Each label name which is set in the label property is saved in "SYSTEM".
However, label names are deleted when the data is send to RCB-1. Add to say, readdata from RCB-1 is set as the label name which is the setting name in the presence on
the main window.

13

Motion Editor Icons
This window is opend by click "Motion Editor" icon.
This function makes motion using a set of positions.

Read

New data
It makes new data. It clear all information on thewindow.

This icon read data from RCB-1. The number of motion
can be selected using "Selection of Data number".

DeleteFile OpenThis icon deletes data on RCB-1 which is selectedusing "Selection of Data number".

This icon opens window to open ﬁle.

Play data

Save
This icon saves data to ﬁle.

This icon play RCB-1 data which is selected using"Selection of Data number".
It plays saved data on RCB-1.

Undo
This icon undo width of display data.

Copy

Selection of Data numberThis function sets motion data number on
RCB-1.

This icon copy selected data.

Edit
This icon copies selected data in data window to main
window.

Cut
This icon cuts selected data.

InsertPaste

This icon inserts new positon data.

This icon pastes copied / cut data.

Delete data
Write

This icon deletes selected data.
This icon writes editing data to RCB-1 with selected
number.

Menu is shown by click right button in the data window. You
can operate using this menu.

You can edit only speed in the data
window. Click edit button or double clickon the data to revise data using main
window. After edit, please override thedata.

Display data
Position data is displayed.

You can change to display motion
editor and main window.

14

Scenario Editor Icons
Scenario plays motions continously. This window can be opend by click "Scenario Editor"
icon.

Read All Motion Data

Bring Data to lower column

It shows all motion data after reading motion data in thememory of RCB-1.

New
It makes new data. It clear all information on the window.

File Open

Bring Data to upper column
This icon moves selected data to upper line.

This icon opens window to open ﬁle.

Delete data

This icon saves data to ﬁle.

Write data

Selected motion data is deleted fromscenario.

Save

Editing scenario data is written to the number
which is set by "Selection of data number".

Undo

Read data

This icon undo width of display data which is changed.

Copy

This icon moves selected data to lower line.

This icon reads scenario data from RCB-1. It can
set by "Selection of data number".

Delete data

This icon copy selected data.

This icon deletes motion from selectedscenario data.

Cut

Play data

This icon cuts selected data.

This icon plays data in RCB-1 which is set by"Selection of data number".

Paste

Selection of data numberThis icon pastes copied / cut data.

All motion data

It sets data number in RCB-1. Scenario canuse number from S0 to S3.

Scenario data

It displays all motion after

Data can be added motion data byclick "Read All Motion

drug and drop from All motion data.

Data" icon.
Menu
You can edit if you click rightbutton.

15

Main window and Motion window
can not be edit if scenario window is
opened.

Hardware must be set before access using
software.

H a r d w a r e

16

Initialize RCB-1
ID setting

KHR-1 uses 2 RCB-1 boards. To distinguish each board, a board musthave ID number. Both boards are set ID0 when they are shipped. Oneof the boards must be changed ID1 from ID0.

Boards connection is shown in right side ﬁgure.
*Attention: Keep boards awayfrom an electric conductor to
avoid short circuit.

ICS-PC interface 2

Connect NiCd
battery

It connects toserial por t ofPC.

IFC-PC Interface
2 is attached toright lower side ofboard referring toﬁgure.

Swicth to turn on/off
Start software in PC then switch on the board turns on.
Main window
Set ID number using software.
Click option setting icon
to open setting window.

Option setting window*A board which attached IFC-PC
interface 2 cable is the target board tochange ID number. In the software, it
describes PC and a board should be
attached to change ID.
You can ignore it.

Write Value ID=1
Change ValueAt last, click "Write" button to set ID number toboard.

After setting, close software then switch on the board turns off.

17

RCB-1 cable assignment
Attention

Expand cable andbatter y attached tothis connector.

Connect with link cable.

Direction and location of each connector
must be attached right connector.
It may occur ﬁre or serious damage if
it failed.
Please conﬁrm direction and location
before power on.
3 cables attached to connector areblack, r ed and w hite. Black ca ble
should be put on the outside of board.
Please pay attention position of black
cable to be contrar y position on theright side or the left side of board. Bothsides has black cables.
*This switch and connector will be atteched optional
controller.

BRW

BRW

WRB

WRB

WRB

It has already connected eachother.
Don't remove it.

They are linked with a connector which
has gray connector on the both ends.

IFC-PC interface 2 attached to here.
It uses to access to PC.

ID 0Connection Servo motor and board

ID 1

B R W CH1
CH2
CH3
CH4
CH5
CH6

CH is number of channel.

CH7
WRB
CH8
CH9
CH10
CH11
CH12

B R W CH13
CH14
CH15
CH16
CH17
CH18

CH19 W R B
CH20
CH21
CH22
CH23
CH24

Pay attention to direction of connector to
attach to the board pins and CH number.

Access to KHR-1
CH6

CH9

CH8

CH7

CH19

CH1

CH13

CH20

CH14

CH21

CH15

CH22

CH16

CH23

CH17

CH2

CH3

RCB-1 has channel assignment like left side ﬁgure to attach to KHR-1.
It is assumed that KHR-1 is used as application of this software after here.

18Trim function
What is trim function?
Servo motor axis is ﬁxed by a servo hone using RCB-1 function to getneutral position. In this step, little gap of degree may occur.
Espcially, it causes large gap by difference degree of servo motors on
the groin. Therefore, RCB-1 and software on PC can adjest little gap.
This function is called "trim".

Operation of trim

Start software and connect to RCB-1. Then RCB-1 are turned on.

1

Open "Ootion setting"
Click this icon to open "Option setting"2

Click "get" button to get trim value from
RCB-1 if they are set before. Each value
can be controlled to each servo motor aixs
on the channel.

"get" operation must be operated at once.
Trim value must be less value (within from -10 to 10.)
If greater value must be input here, you must take the robot apart andassemble again.
"Initialize" button set all channels to be initialized value "0".

3

After adjustment, close option setting window.
All trim values are sent to RCB-1 at window closing.

Problem of trim

At ﬁrst glance,trim function seems to be useful. However, it has effectto limit degree of rotation of servo motor axis if large value was set.
Refer to left ﬁgure. The range of servo motor axis rotates 180
degree.The range shows each 90 degree from center position.
Trim value is minus from this degree which is adjusted.
Therefore, maximum degree is limited if bigger value is set to
trim.

19

20

Settings are described after here.
And also, operation is described with sample
data.

A p p l i c a t i o n

21How to set Home position?

In the right ﬁgure, KHR-1 is set in home position.
In the lower ﬁgure, we can see difference between initialized position andhome position. In initialized position, center of gravity is set in backward.
On the other hand, the center of gravity comes almost center of bodyin home position. It makes less current and less load for servo motor inhome position.
In CD-ROM, sample home position is included. You can use this sample
home position for your robot if your robot has no fault to assemble.

*In this manual, we have various sample motion. They are assumed thatyour robot has almost same home position which is described here.

Home position

Initial position

22

How to make new home position?
In this case, your robot spreads its arms and stands with two straight legs
like cross. From this posture, we shall make new home position.

Make the new home position.

Original condition

current position.
1 Readclick (1) button in lower window. Current positions are read from
RCB-1 to window. All values must be 90.

Set "SYNC" setting to "ON". This setting makes robot and slide

2 bar working together in realtime.

*Transmitting data increases in SYNC mode. Please makeit
"OFF" if your computer is down or to be slow in this mode.

CH1,2 and CH7,8 are for arms. CH13-17 and CH19-23 are

3 for legs. They should be moved for home position.

In the lower case, CH1=0, CH2=5, CH7=0, CH8=5 are set forarms to be dropped position.
CH14,15,16 and CH19,20,21 are set each servo hone to be

Example of home positionin line.

*click (3) button to realize the motor value if you use"SYNC" off mode.

4 Following dialog will be opened.

Click (4) button to set home position after setting.

Click button in secondline then click "OK"button.
In this case, current home position will be recorded.
Save to RCB-1 is completed.

5 First of all, move any slide bar to set other position from home position.(click (3) button if you use "SYNC" off mode.)
After setting, please conﬁrm home position which is saved.

Click (5) button to return to home position. At ﬁrst click, all servo motors are set free.
Second click makes robot to be home position after dialog conﬁrmed.

Watch robot movement in home position recovery operation.
It is danger that robot moves rapidly.

23Setting home position from ﬁleIn this description, we introduce to set home position from ﬁle.
Set home position from sample data.

1 icon to open dialog.

In main window, click "home position""OK" button after selection of
2 click"open ﬁle" in the window.

Next operation is selection of ﬁle. In thiscase, we select "Sample_HOME".

Note:This Display is Japanese Operateing system.A display changes with languages of use.

3 According to "SYNC" mode, different procedure should be done.
Selected data is displayed in the main window.

Case "ON":Robot forms the same posture according to
the data in window.

Case "OFF":
Click "Data Transmit" icon to send data to
robot.

24

4 Save current position as home position.

In this procedure we can see same position between robot and main window data.
But it is not home position in presence.

Click "home position" icon to open dialog.
Click "save current position as home position" insecond line.

5 Conﬁrm saved home position.
Move slide bar in main window andmake different position.
SYNC mode is "ON": robot realizes
same position in main window.
"OFF": click data transmit icon to set
robot position to be the same as main
window.
Click "home position" icon to return to home position.
Please conﬁrm position which is set in upper procedure.

25

From position to motion (1) Data input
In this procedure, we set motion with positions.

1

t ﬁrst, open main window. Then access to robot.
Robot stands at home position.

2

Read data from RCB-1 to show data in main window.

Read Data

3

Click button to read data from RCB-1. Window displays home
position data.

Save home position as 1st position data.
In this sample, CH1 (left shoulder) is moved.

To recognize position, we can give name to position.
We put "home position" as name to the position.
And set speed 7 as latest movement.

4

Edit motion
data

click motion data icon to open window.

5

Add data

click "Add data" icon to add new data.

See added new data in motion data editing
window.

6

Change CH1 data from 0 to 180
Servo motor is worked together if "SYNC" is on.

Change data name to "raiseleft hand" and set speed 7.
click "add data" icon.

78

Add data

Click "Add data" icon to add new data.

Data was added. Two data in the window.

26

Motion is added by procedure from 1 to 8.
This is only operation on the software. Therefore, the data must betransmitted to robot to realize motion.

9

Conﬁrm robot movement before tranmission.
Set "SYNC" to "ON".
Double click position in the motion editing window.
Robot makes the same position in the main window.

After conﬁrmation, let's transmit data to robot.

10

Set number to "Selection motion data number".
In this case, "M0" is set.

11

Click "Write" icon to save the data.

12

Click "play data" icon to conﬁrm the transmitted data.
*In this case, home position is the ﬁrst position. You feel nothing occur at ﬁrst.
But you can see "raise left arm" after home position.

We recommend to save motion data to ﬁle.
*positon names are not saved in RCB-1 (robot). But saved filerecords all data including name.
*Saved data can be used as basement position when you makenew position.

Click "Save ﬁle" icon to open dialog.
You can set ﬁlename. Default setting of ﬁle name is"date+motion".

Click "open ﬁle" to read saved data from ﬁle.

27

From position to motion (2) Teaching
Teaching function is realized using RCB-1 and Red version servo motor.

W h a ti s

" T e a c h i n g " ?

Mechanism of "servo" is set signal to go speciﬁed position.
Sensor reads position data to know position. Send signal tomotor if speciﬁed position is not satisﬁed. These procedure isrepeated to set speciﬁed position. Traditional servo motor has
signal sending function only. But Red version servo motor has
signal sending/receiving function.

1

We call this function "position capture function". And also, Redversion servo motor has "free" mode accoding to setting signal.
Using this "free" mode, teaching function realizes movementof servo motor to know position of specified channel to set
position.

Do procedure 1-5 in data input description to set home position.
Give a name to position. "raise left hand" is given
here.

2

This name is saved only in PC. "name" data can't set torobot.

3
4"Shot" icon.

It opens "teaching window".

Te a ch i n g w i n d ow
it displays same data on
main window.

Free setting check box

servo motor set "free" if it is checked.

Label:The same label namein main window is shown.

Speed

It is the same function in main
window.
It set motion speed.

Shot icon

It returns servo motor position fromFREE mode if the channel has
checked box.
And also, it revises data in main
window at once.
Displayed data is added to

Add data motion editing window.

Home position First click makes all servo

motors to be free.
Second click requires click in dialog box,
then robot forms home position.

28

5

O p e r a t i o n i n Te a c h i n g w i n d o w.

When teaching window open, other windows can't be operated.
Close teaching window if you want to operate value in other editing window.

Check Free setting check box to get data using teaching
function. You can check plural channels at the same time.
Pay attention: It is difficult to stand if you set almost servo
motors to be free.

Servo motor is set free when you check the box. Then you
put servo motor on the robot to speciﬁed position which you want.

We have two method to read speciﬁed position of chennel.

1●remove check from check box. Software ﬁxes the data at
the position.

2●lick shot icon. All checked channels are read at once.
Then all data is clear. Signals are ﬁxed at the position.
*Servo motor is set free in the position if you set free tocheck box.

In the case to add position data to motion, click data add
icon.
In the case to set home position as basement position to
make new position, click home position icon.
*The first click of home position icon, all servo will be free. Second clickshows dialog to confirm to return home position, then robot forms home
position. Please watch your robot not to injury when robot moves speed at 0.

Main window can be operated when teaching window is closed.
Main window data inherited data in teaching window. Servo motor
will be free if you set any servo motor to be free and close teachingwindow.

Here after, it is the same operation from 10 to last in data
input (previous description). Please confirm robot motion
using motion editing window after data transmission to RCB-1.

29

Edit Scenario
Scenario data can be edited after motion data transmission
to RCB-1.Scenario can't be edited if RCB-1 doesn't have any
motion data.

1

click "Read all motion
data" to get motion data
in RCB-1.

Data name is required to read motion. Dialog isdisplayed to give a name.

During communication, RCB-1 set sleep mode to
output OFF to servo motors.
Conﬁrmation box will be shown to return to ordinarymode at the end of communication.

In this case, saved motion
is only one like right side
ﬁgure.
INDEXDATA NAME
COUNT

:M0
:TEST0:2

INDEX: M0
motion number
DATA NAME: TEST0
speciﬁed name + number
COUNT: 2
number of positions whicharesaved in the motion.

30

2

Dr ug and dr op motion fr om
all motion data to scenario
window.

In this case, motion data saves "raise left
hand".

3

Transmit data to RCB-1
to save scenario to robot.

Click "write" icon to transmit
scenario.

*During transmission, robot will be set "sleep"
mode.After transmission, dialog opens to conﬁrm
to return ordinary mode.

Yo u c a n c h o o s e d a t anumber for scenario tosave. In this case, we choose "S0".

Click "play" icon to conﬁrm scenario.

Click "save ﬁle" to open dialog box to speciﬁed ﬁle name to save.
Default setting of ﬁlename is "date+SINARIO".

click "open ﬁle" to read saved ﬁle.

31

Optional controller
Robot can perform with transmitted data. Optional controller makes it easy to play with robot.
Optional controller will be in sale in the future. It can control two methods.
●Wired control: Optional controller and RCB-1 are connected with cable.
●Wireless control: Optional controller sends signals using tranmitter to receiver on the robot.
Both cases, the same format of data is used.
RCB-1 performs according to scenario or motion which is set by optional controller.

Click "optional controller" in main window to open the setting
window.

D e s c r i p t i o n o f s e t t i n g w i n d o w.
Open file: read data insaved ﬁle.
Save: save data to ﬁle.

Initialize width: It
returns initialized width fromrevised display width.
Write: Set data to
RCB-1.
Re a d : R e a d d a t a f r o m
RCB-1.
Initialize: It initializes
from current settings.
Delete: It deletes selected
settings.

Control assignment
In control assignment, motion or scenario can be assigned with key. key consists of 8 command keys and 4 shift keys.
Shift key makes conbination motion with command key. In assignment window, column shows combination with shift key (nothing, 1, 2, 3,
4). It can spcify 32 combination in each column. It can set 32x5 = 160 performance (motion or scenario).

Read motion and scenario data from RCB-1 using "Read" icon.
1
2 Drug and drop motion or scenario to set to assignment window.

3 It changes color when it is assigned. You can set plural keys at the same.
double click setting assignement to open window like right ﬁgure.

Electorical characteristics and signal settings aredescribed in technical manual in the case of control
from outside.

32

Auto demonstration
RCB-1 has auto demonstration mode. It plays saved data in scenario bank 0.

1 Save scenario or motion to play auto demonstration mode referring to procedure.

start button on a board turns on to start even if you use 2 boards.
2 APushstart button red LED off then turn on red LED.
It takes about 2 seconds.

Start Switch

plays scenario 0.
3 Robot
It plays one time (not repeat).

NOTICE

Wrong case

Scenario data consists of enumerate motion data in control board.
There is wrong case that robot performs unspeciﬁed motion.

●After tranmission of scenario and motion to robot, only motion data isrenewal and transmitted. Or motion data is deleted.
Override or deleted motion in scenario, latest motion will play.
In this case, scenario must be revised using latest motion.

Home position must be same in the case to use motion data in PC.
It is the reason that data is relative to home position.
It is required to save home position data to RCB-1 and software.

●At least one time, home position data should be read from robot before
save/read data to/from PC.

33

How to use Graph window?
Movement of servo motor of motion data can be conﬁrmed usinggraph window. Graph window can be opened by click "graphwindow" icon.
At begining, less positions are saved to motion. Increasing position data, positons makes gap or wrong revision.
In this case, graph can show what is problem in the positions.

Graph window

Graph window shows data of each servo motor in motion editing window.
There is no data at initialization because of no active channels.

Each numer shows channel. Click channel number to activate to show data in
speciﬁed color. Click active number not to display.

Color is set using setting which is specifiedlabel property in the main window.

In the left case, CH1 is yellow.
Motion shows each position with .
Position and name are displayed when34

How to tile setting windows?

Three windows besides of scenario window, they can be tiled.
Their location are saved at once. The same location is set from next start.

35

Label property and DESKTOP (1)"Label property" and "DESKTOP" set settings of display of servo control.

S e t t i n g s o f D E S K TO P
It can move by drug and drop at region of label or space in the window.
Originally, servo control is tiled in order to channel number.
You can set the same assignment to robot and channels such as view from front or view from back.

Change selection "default" to another if you want to change control position.
You can give a name to click right button on the DESKTOP combo box.

ChangeInput name using right button click to open the window to input.
In the following case, CH6 is moved using drug.

●Setting is saved automatically. Next start is same window setting.
●Assignment can't set if "standard" is selected.
●10 assignment can be saved.

36

Label property and DESKTOP (2)How to open label pr oper ty?
There are two methods to open label property.

1
Click "label property" icon in the main window to open label
property window.

2
Double click at region label of servo control or space to open label property window.

Setting of label proper ty

Channel name
Color setting will be opened if double clicked here.
It sets background color.
Speciﬁed color is used for main window and graph window.

Note:This display is Japanese version.A display changes with languages of use.

It is not displayed on the main window if this check box
is removed.

37

Input name to show channel label. The name isshown in main window and motion window.

Label property and DESKTOP (3)Following window display is the sample of setting label
property. Each channel has different name and color settingsfrom standard.

38

Sample motion is introduced.

S a m p l e

m o t i o n39Sample motion
Sample motion is saved in CD-ROM.

There is no guarantee of this sample motion.
It is required to revise positions because sample motion is set using factory robot.
Depending on the home position of your robot, please ajust positions.
In this procedure, sample motion transmission to robot and operation are described.

PC and RCB-1 (robot) are connected each other using IFC-PC interface 2.
Battery is mounted to the robot. PC starts software.

1

Home position is important to use sample motion. Sample motion can't works well if home position iswrong. Please ﬁx home position of your robot if sample motion can't performs well.

All servo motor position is 90 in main window at ﬁrst.
Home position is made from this basement position.
Please refer to following sample data to set each channel.

2

CH1

5

CH7

175

CH2

0

CH8

180

CH3

90

CH9

90

CH6

90

CH13

88

CH19

92

CH14

115

CH20

65

CH15

115

CH21

65

CH16

90

CH22

90

CH17

92

CH23

88

These valus are referencedata.

After confrimation of home position, open the motion editing window from main window.
Open sample motion using "Open ﬁle". "Sample_FWD" is used for sample.
This ﬁle includes "walk forward".

Open motion editing window.

40

3 Open ﬁle to read sample data.

"Sample_FWD" fr om
4 Select
SampleMotion folder in CDROM.

5 Sample data is displayed.
Position can be revised by double click ateach position or click right button to selectedit. Robot can work together with datarevision if "SYNC" is on.

6 Send motion data to robot.
Click "Write" icon after specified motion
number to save.
During transmission, each servo motors will
be set free. Please pay attention to robot to be down. After transmission, dialog
box conﬁrms to return to ordinary mode of robot.

Set the motion number

motion plays by click
7 Saved"play" icon.
The motion plays according to specified
motion number.
Please confirm the number if the robot
performs different motion.

*All motions are played at once. It can't stop in the middle of motion.
*Please robot works on the wide open space. Robot may occur injury or damage by down or
wrong performance.

Please transmit to other motion to other motion number as the sameprocedure. You can make continuous motions using scenario and auto
demonstration.

41

©2004 KONDOUS Ver1.0