Control Board

RCB-3J Hardware Manual

for RCB-3J

board management software

HeartToHeart3J Instruction manual©2006 KONDO KAGAKU CO.,LTD2006.10 Ver1.0

INTORODUCTION
RCB-3J is the 3rd generation control board for robot.
Many functions are added as a standard board of KHR-2HV attachment, and it is moreuser-friendly than the type before.
This manual explains the way to use new control software “HeartToHeart3J” and how toconnect RCB-3J. Please read carefully together with other manuals.
Furthermore, if you use with KHR-2HV, since the assembly instruction manual explains
the procedure for KHR-2HV, Please read that first.
This instruction manual might not be the same procedure for KHR-2HV.

Orders of Manual
Explanation of RCB-3J Hardware
Here the things about hardware would be explained, such as connection method of RCB-3J.
Options, or peripheral devices which you can connect, would be also explained.
When you use RCB-3J for the first time, please read from here correctly without failure.

Explanation of HeartToHeart3J software operation
SoftwareEach function of the software is explained in detail. Please read it when you search the name ofparts and the basic way to handle the software.
PrimerBasic items are explained, such as basic operation of software or simple motion compilation.
HeartToHeart3J is the software for RCB-3J, but even the beginners who use it for the first time canoperate it intuitively and GUI interface is adopted extensively, which is better than the procedure ofmaking motions from enumeration of the data.Act that the enrollment compilation is read, please
understand basic operation method.
With this primer, you can understand basic operations.
Guide for the intermediate
Book for middle class, in addition to the operations explained in the primer, we explain how to
playback motions with the gyro sensor or the radio.
You can do almost all operations which were done with the former control board, when you
understand this guide for the intermediate level.

Further high-level usage is introduced on our company web sight.
Sample motion and further high-level sample will be carried, and so please check it.
In addition, please read the support page concerning this manual and the update information.

http://www.kondo-robot.com
NOTICE● We might update the contents of this book without any notice for revise of the goods. We might also
update the software without an advance announcement.

● We put the software included in the product on view to public as free ware, provided the software is usedwith our products. However, Kondo Kagaku Corporation has copyright and all legal rights. The reverse
engineering behavior like distribution, release and disassemble is prohibited.

● The company name and trade name inside this book are registered trademarks of the respective
company.

● This product is designated to be used in Japan. To bring it abroad, the approval or the notification basedon related laws might be necessary.

● The software included in this leaflet can be used with Windows2000 or XP of Microsoft corporations.
This does not include the operation under the emulator environment by the hypothetical software.

● RCB-3J is to be used for KHR-2HV. Our servo-motor for the robot is also usable, but sometimes there is

restriction on some functions.
* ICS2.0 is specified to KRS-4014HV and 4013H, but it has not yet corresponded to RCB-3J, you cannot
set ICS on the board with RCB-3J.

● Company service section is in charge of the after-sales service of this product just as KHR-2HV. In
addition, in the same way, we accept your inquires through telephone or E-mail.
(support@kondo-robot.com)
Notice: In case of inquiry through e-mail, it might take time to answer.

CONTENTS

SOFTWARE

Introduction
Orders of Manuals
NoticeContents
Characteristics of RCB-3J
Name of each parts of RCB-3J
Feature of connection terminal of RCB-3J
Power sources
Sample motions
Installation
Set upMain menu
Tool menu
Communications setting
Parts menu
Command menu

SOFTWARE

Message/Data dialogue/Objects on data sheet

HARDWARE
HARDWARE
HARDWARE
HARDWARE
SOFTWARE
SOFTWARE
SOFTWARE
SOFTWARE
SOFTWARE
SOFTWARE
SOFTWARE

Setting the origin
PRIMER
Making home position
PRIMER
Making start up motion
PRIMER
Making motions and execution
PRIMER
Customizing position window
PRIMER
Example of customized position window(1)INTERMEDIATE Setting radio control
INTERMEDIATE Use of gyro sensor
INTERMEDIATE More practicable gyro action
INTERMEDIATE United control of ICS settings
INTERMEDIATE Making scenario
INTERMEDIATE Use of teaching function
PRIMER



2
2
3
4
5
5
5
6
6
7
8
9
10-11
11
12-13
14
15
16-17
18-19
20-23
24-25
26-27
28
30-31
32
33
34
35-37
37-39

HARDWARE
Characteristics of RCB-3J
RCB-3J was developed as a control board for the third generation robot.

● M16C manufactured by Renesas Technology Corp. is adopted in the CPU. High-speed execution oforder is realized.
● A 24 ports are equipped as output ports. It can be also set up as PMW signals or as IO ports which can
output H/L. They cope with the various ways of using.
● It corresponds to the control by the communication form of these 2: the high-speed serial port which
can communicate with 115200bps, and the low speed serial port which KONDO-made wireless control
unit receiver can connect.
● 3 ports are equipped as analog input ports. It is possible to do mixing by analog input signal fromoutside, and to execute motions by the conditional branching.

Name of each part
Power supply terminal

Output13
Output12
Output11
Output10Output9

Output17
Output18
Output19
Output20
Output21
Output22
Output23
Output24

Dimension : 35 × 45 (mm)Maximum height 14.5mm

Weight: 12g

Interface (input and output)
Output terminal 24* PWM output, H/L output and ICS Control canbe set up.
Output8
Output7
Output6
Output5
Output4
Output3
Output2
Output1

A low speed serial terminal

A setup of a power supply

A high-speed serial terminal

AD input 3
AD input 2
AD input 1

LED1 (Red)
LED2 (Green)

The external switch
connection terminal

Specifications

Output15 Output14

Output16

Input terminal

A high-speed serial terminal
A low-speed serial terminal
AD Input terminal1
Capacity

1
1
3

Maximum number of motions
Maximum motion base number

80
255(*)*It may be different a little according to the contents
to make.

The number of scenarios
5
Scenario capacity
200 (motion regenerated times)

Operating voltage
9-12
It corresponds to a 6V power supply by using
booster 3.

Switch1

The specifications of the connection terminal
Output terminal

Output 17-24
SIGNAL5V power supply stabilized on the board is being output tothe VDD terminal of the AD input terminal. It is possible tosupply about 50mA together with 3 terminals.

VCC

SIGNAL

GND

V C C

3

GND

2

GND

Output 9-16

VCC

-

GND

Output terminal is directed to be negative in outside of the board.
VCC is connected the positive (+) terminal of the power.
Signals of CPU (PWM, serial, H/L etc.) are 0-5 V.

A low speed serial terminal

A low speed serial terminal is possible to beconnected to KRT-1 and KRI-1.

3

The high-speed serial terminal ispossible to connect the ICS-PC interface
2 attached to old model of RCB-1, in
addition to attached Serial-USB adapter.
Before using, please confirm the COM
port number recognized by the personal
computer.As for the high-speed serial
terminal, the black line is connected
to GND, and other two lines are signallines.

2

A high-speed serial terminal

1

VDD

SIGNALAD Input terminal+

Output 1-8

SIGNALThe polarity of the power supply terminal isshown in the figure. Please pay attention
to the polarity when you use something
additional connectors.

1

Power supply terminal(KRT-1 is a receiver of radio control units;
KRI-1 is connected to KRR-2 attached to
KRT-2)The black code of the low speed serial
terminal is GND, and the red one is The
power supplying code from RCB-3J to thereceiver connected, and thewhite one is signal lines.

1

2

3

HARDWARE
How to turn on
RCB-3J does not have the power switch on the board or in the terminal.
ON/OFF of the power supply could be done by setting and removing power source to theconnector. The cable with the switch for the power supply connection is attached and it isused for KHR-2HV.
Please refer to a KHR-2HV assembling manual for this connection.

Sample motions
The CD-ROM of the HR-2HV accessory has the 22 sample motions.
Each motion is designed to conform when it is assembled under the state of standard of
KHR-2HV. However, please keep in mind that you might need to modify some motions undersome condition of assembling as it is an assembling kit.



SOFTWARE
Install
Installation of the serial USB adapter
Before installing software, you must make your PC recognize a serial USB adapter.
Please see the manual of the serial USB adapter, and do installation.

The installation of software
Install the software with the following process.
You just copy a required file as it does not have an installer.

1 can see the folder as the figure to the right. Please
When an attached CD-ROM folder is opened, youopen 'KHR-2HV' from this folder.

another 3 folders can be seen and please
2 Thenopen the "Software" folder.

in this folder is the file of software.
3 "HTHJ.EXE"
Copy this file to the hard disk of the personal
computer.

SOFTWARE
The start of software
Main menu

Command menu

Communication configuration

Parts menu
Tool menu

Message
Data sheet
Data list

Data

stage

Status indication

When you start software, the window like above is indicated. Please check the name of each part ofsoftware from the figure above. An icon to use for operation is divided into 4 groups, which are possible
to use as a floating window by operating drag and drop, except for the main menu.

This is the example of the case whichshows all tools as a floating window.

SOFTWARE
Main menu
Please use this when saved data
are loaded, clicking it, a dialog box
Loading opens, and you can select the files.

SavingSave present data. You can give a filename to the data when you save.

Configuration

Set up moving environment

Area: The size of the data sheet can be changed by modifying
this numerical value.
The interval of the grid : The minimum interval with which an
object is arranged to the data is specified.
By putting a check in "Set up the file icon of RCB", a data file isindicated with a special icon for the preservation of the file andreading.
Indication: The checked menu icon group is indicated.
When you push a "renewal" button, the setup is effective.

Information

Ending button

It indicates the version information of software.
It closes when you click on "x" button of theupper right, or click on the main window.

Software is finished by clicking on this icon. When it
is finished, the dialog box for confirmation would beindicated.

SOFTWARE
Tool menu
If RCB-3J isn't actually connected, a tool menu doesn't work. Please use this function after youconnect RCB-3J first.
A setup of a trim adjustment option
It adjusts a home position of each servo
correspond with the 24 output terminals.

Set up of options
It designs the various
setups to use RCB-3J.

Analog configuration
There are 3 systems of analog input in RCB-3J. This
program sets up a movement from the output of thesensor connected to this terminal.
There are 2 kinds of movements by analog input:
1. real time mixing
2. motion interruption
1. Real time mixing
It is the way to add the specified magnification of the input
signal to the output terminal. It is used, for example, when
you use gyro sensor.
2. Motion interruption
It distinguishes the value of the signal and to executethe motions set up. For example, it could be used in thesituation that automatic picking the body up is composedof using the acceleration sensor.

ICS setting

It is possible with RCB-3J to set up of characters by ICS all
at once, while it was done directly one by one of the servo
individually so far.
It is an ICS setup window that does this setup.
When you push ICS button and open the window, pleasedo again after the power supply of RCB-3J is cut off once.
Each servo would be a communicate mode by ICS when
the power is turned on.
Settings can be read with an upper reading button of thewindow. When you double-click on each channel, a setup
window opens, and you can change the setup conditions ofeach servo.
You can return each servo to the initial setup conditions inbulk by pushing an initialization button.
If you finish setup, an ICS window will be closed and it
returned to the usual mode by turning on RCB-3J again.
Take notice on that, though a servo is a servo for red
version, the servo using ICS2.0 is an exception.
10

SOFTWARE
Receiver button
In this window you can monitor a signal from thereceiver when a transmitter was used.
Though, in case of using a usual button-type(command) transmitter, the 2 byte signal wasfunctioned as a command, in RCB-3J, it isexpanded more, and all analog quantities can beallotted to 1 byte signal.

Data table indication
The list of the motion or the scenario in the internal
memory of RCB-3J can be displayed by executing
reading (using an icon in screen) the data table atpresent.
RCB-3J does not only have data but also the name ofdata, date of last update etc.

Communication configuration
A communication port choice

Synchronization Switch
The position of the servo operated on software
can effect on RCB-3J in real time. In case of
the switch 'Off' (When a checkbox is empty),
the change could be sent to RCB-3J if you
push transmission button after the modification.
* It is the only information such as a position of
the present active servo that is effective. The
contents of the motion won't be changed.

11

Then please choose the communication port.
A serial USB adapter is recognized as a virtual serial
port on the personal computer. Please choose theserial port number of this case.
It can't communicate with RCB-3J if you choose wrong
number.

SOFTWARE
Parts menu
The parts menu is used when you change the choice of the parts to arrange onto the data sheet.

Grid

Choice tool
It is the icon to use a choice of parts or moving
tool.

Indication of a starting point

This is the check box to use a grid.
When a check is in, a grid becomes effective, andeach part would be arranged onto the grid.

Position

You can specify the start point (what is carriedout as the first of all) in each part such as the
position (POS) arranged onto the data sheet.
When more than one motions exist on the data
sheet, it is only the motions having "a starting
point start" that is actually executed, which is
mentioned this later.

Please use this to arrange the position (the positional
information of each servo) on the data sheet, The
window for editing would open when you click thesearranged partsIt is possible to arrange 30 positionsindividually onto one data sheet.

following window opens when you doubleSetup value arrangement (SET object) The
click the arranged object.
It uses when settings values are arranged onto the data sheet. You can set up the change of themixing setup, counter (the number of repetitions) of the case of the loop (the execution of the club).

What you have chosen, when it close, would be active in this window.
When you use
analog input,
The setup possible to instruct in the former
branching would beposition Arrange (FREE and SET1, 2, 3), and it
would be the setting values of the present servo. done according to the change of that input and the(It serves as a starting point to the next position.) standard value of sensor would be proofread.

It is combined with CMP (compare), which I will
mention later. This would set the initial value ofcounter to do a loop (repetition processing).
This is also
used by beingcombined with
CMP. This set the standard value for branchingby using the value of the sensor.
12

When wireless control isused, signal input fromthe receiver could be ignored temporarily (OFF), or
could be returned to effective (on).

This would change the state of motion
start by sensor value for analog input,
to be effective or to be invalid. The first
sentences of OFF changes depending
on settings of an analog input.

SOFTWARE
In the tab of mixing in setup
window, mixing motion by analog
input within analog window
could be re-defined or be madeinvalid. For example, the mode ofgyro can be modified during the
motion.

Compare tool

Please use this when you arrange a setup of branching.
A setup of branching is the setup to choose a position
to carry out next by the value of sensors (analog input).

The setup of branching is done.
All the setups are indicated as "if ***, jump".
Value is established with a SET object, and a loop
counter is subtracted with CMP.
A comparative register is the value set up with a SET
object, too.
Button input is command input value from a receiver touse with wireless control.
(It would be the same value as the input of control specified by every motion.)
It jumps if the setup condition is satisfied. Branching connection wiring below would be used for thisjump.

* As for the use of CMP and SET, these settings are advanced one. For that reason, using
examples will be provided as additional support on the web page of an advanced edition.

Branching connection wiring

Connection wiring

It would be used to connect the position arranged Though this is a wiring tool, too, a starting point
onto the data sheet, a set point, and a setup ofwould always be a branching setup (CMP), whichbranching.You can make continuous motion by
is different from the ordinary wiring.
connecting the position arranged separately.
When a condition is satisfied, the point united bybranching connection wiring would be executed.

Compilation tool
The motion data would be sent as numerical value when it is sent to RCB-3J, though a motion iscomposed of each part arranged onto the data sheet.
When you click on the compilation tool, present data would be compiled, and would be indicated in
the data list.
* Normally, it is done automatically when it is written in the board.

HeartToHeart3J makes a position to compose a motion (the movement of the robot) by putting
POS on the data sheet.
SET and CMP are used to set conditions of branching and movement.
A motion is completed by connecting the object of these 3 with a wiring tool.

13

SOFTWARE
Command Menu
Home position
The condition of RCB-3J is returned in the home position set up at present.
The servo connected would work when you click this icon.

Writing
Write the contents of data to arrange to the present
data sheet in RCB-3J.
Please specify the number of motion or scenario
when the dialog box of "data writing" opens.
Writing would be done by clicking on OK button of
the dialog box.

Reading
This reads and indicates the motion of RCB-3J orthe contents of the scenario.
As the dialog box of "data reading" is indicated likethe case of writing, specify the number of motion
or scenario to be read and then push OK button,
and reading is done.

DeleteThis deletes (or eliminates) the motion or a
scenario written in RCB-3J.
When a data deletion dialog is indicated, please
select the motion or a scenario to be deleted andthen push OK button, and deletion is done.

Stop

This stops a motion or a scenario being regenerated.

Pause

This stops a motion or a scenario being regenerated.
Push a start button again to stop the pausing.

Start
When you click, the dialog box of the regenerated
number designation opens.
Specify the number and push OK button, and the
motion of the number specified or a dialog box is playbacked.
14

SOFTWARE
Message

A message for the operated contents is indicated with time.

Data stage
For a motion and a scenario are made, a data stage has a function like canvas.
Please edit actual data when an editing window opens by double-clicking on
the arranged parts. The tab above the sheet is used to switch date sheet to list.
It is the data (numerical value) of arranged parts which is compiled.
The name of the item being edited is indicated in the tab of the data sheet.

Data dialog

A data dialog opens when you double-click on the data sheet.

You can use data dialog for setting adata name or the control input (receiver
input), and the designation of the using
channel.
A data name is indicated in the tab ofthe data sheet, and this name is used forwriting the data in the board.
Input of control shows a signal from a
receiver to use wireless control.
Contents can be set up by operating a receiving button under the condition that a transmitter side is being
operated.
Though the contents to set up with this dialog overlap with the dialog opening on the data table, there isdifferent point: while the latter is memorized to a board at once, the setting on data sheet is the setup only on
the software side.

Object on Data Sheet
Menu would be indicated when you right-click the each parts arranged ondata sheet.You can set up the name or the color of item arranged by selecting
property and so on.
Lifting selection: Lift the item selection at present
Copy: make a copy
Reproduction: paste the copy of item
Color: change the color of item
Property: the dialog as the right would be indicated and you
can set the name etc. on this box.
Delete: delete the item selected
15

PRIMERIn the primer, we would explain how to make easy motions.
On one hand RCB-3J is multi-functional control board, and, on the other hand,
you do not need any complicated setting to make simple motions.
Connect the servo, move it, and decide the initial position (setup of the starting point)

1

If you use this for the first time, please install serial USB adaptor and set up the software. Especiallymake sure the communication port number which you use after installation of serial USB adaptor, since
if you use the wrong number, you cannot use the software.

2

Connect 1 servo to RCB-3J and connect the serial USB connector. Then turn on.
When you turn it on, the green LED would be light for about 2 seconds.

3

Start the software.

4

If you use it for the first time, the specific message
would be shown such as '19:31:35>COM8 set'
The first numbers show time, which reflects thetime of your personal computer.
This message means COM8 on serials port isready to be used now.

Select the number of using communication port.
For example, if you choose COM8, the message would indicate thecompletion of setup.

If you select the false communication port or the port which isreally used in other applications, please select the right one again.

When you couldn't know the port number, please read the manual of the serial USB
adopter and confirm it.

5

Please put a check on synchronized switch (SYNC)
on communication setting, because the operations,such as setting of servo position proceeded on thesoftware, would be effective directly.

16

PRIMER
6

To move servo, put temporary positions on
the data sheet.
First, please select 'position' in parts menu
and click on data sheet.
Then POS (position) would be made.

7

If you double-click the POS arranged, the POS
window will open.
All port output of RCB-3J are 0V (L) on theinitial conditions.
To activate them, show the menu by rightclick on the port panel connected to servo, andchange the output to SERVO.
* If you click the false place on application while
using POS window, the POS window closes
automatically.
When the POS window closes by mistake, pleasedouble-click POS and re-open the window, please.

When you set the output to 'SERVO' and move slide bar, the servo connected would be activated.
Be sure that the servo will move with the slide bar of the panel.
Lastly, put the part output axis to the initial place with slide bar and then take off the servo.

* Servo will be activating immediately when you change the output port to SERVO.
Pay attention in case that you attach horn or other parts to servo output axis.

8

Now the move of the servo is confirmed.
You can specify the movement confirmation of all the servos and the position of the output shaft of theservo under the initial state by changing a servo and repeating it the process above.
Here, please use only one output, re-connect a servo, and do work here.

What is mentioned here is explained as a method of initial setup pointby the assembling manual of KHR-2HV.
As for concrete contents of a setup, see an assembling manual in KHR-2HV.
17

PRIMER
Making home position
Home position means the basic posture for making motions.This would be erect posture for usual
2-legs robot.
In the case of putting parts to assemble body to servo's output axis, you need to fix the place ofservo output axis as was mentioned before.
Its position depends on its body.
By putting the output place 0, the place can be the center of motion angle of servo.Then you can
fix considering the total balance.

1 Before working
In the preceding clause, all initial conditions are explained. The following section presumes that all
servos are connected to the board.

2 Change the output to SERVO
Please change to SERVO the panel of channel
connected to the servo of the POS window,
one by one.
Pay attention to the servo which is attached tothe changed channel, as it began to move.

*the servo won't work if there is no check on
the synchronization switch "SYNC" of themain window. Check it again when it doesn'twork.

In the left figure, all the servos to use areestablished in 0.
Please close this window when you finish
setup.

18

PRIMER
3 Setting the home position
Click the trim modification button from the tool to open the window.
The home position of
the robot is set up by
adjusting the slide bar of
the applicable servo in thiswindow.
The number would be
different depending on
bodies.

There is a limit in the range that it can be set up in the setup window of the home position.
And, even if it is within that numerical value, there may be a limitation of operating range to make an
actual motion in the position window.
Servo display number

Servo actual work number

4 Registration of home position
Right-click on the mouse on POS window, opens amenu, and chooses "default position".
Then the present position is registered in the default
position.
The registered position can be used at once when
you click the main window and default position
button of POS window.
In addition, the position registered for the default
position becomes a standard for all the motions.

19PRIMER
Making start up motion
The startup motion is the setup that makes the body composed of RCB-3J to be in the home position when
the power is turned on.
Though RCB-3J does not send a signal at the start, automatic regeneration is possible to make an easy
motion and set it up.
This making process of startup motion premise the completion of making the default position explained theformer section.(Moreover, we presume that the servo of the specifications of the RED version manufactured
by our company is being used.)This motion is contained in the attached CD as sample motion. Assembling manual also
explains by way of using sample motion.

1 Dispose POS1
Select POS on the main window and clock it on thedata sheet to arrange 'POS1'.
*The choice of the tool is canceled when parts such as POS,
SET and CMP are arranged.
You must choose a tool every time to arrange more than one
part in succession.

2 Edit POS1
Double-click on arranged POS1, and a POS window is
opened. Make POS All servos free in the window.

3 Setting up Speed
Set the speed 1 in the POS window.

Setup window is closed automatically when you
proceed to next operation.

4 Dispose SET1

Choose SET1 in the main window, and clicks on thedata sheet to arrange SET1.

20PRIMER
5 Edit SET1

A setup window opens by doubleclicking on arranged SET1.
Select "The value measured in the
instruction is set on the parameter."of the setup window.

6 Dispose POS2
Choose POS in the main window, and clicks on the data
sheet to arrange POS2.

7 Edit POS2
Double-click on arranged POS2 to edit it.
Data to use would be the data on thedefault position set in advance.
It can be set up with a default position
button of the setup window.
Though the speed setting is optional, we
recommend you to start with slow
speed (about 100), to avoid the danger.

8 Wiring
The 2 position arranged by this and 1 SET areconnected by using the wiring tool.
A wiring tool will not be canceled until other tools
are chosen with choosing it once.
Please click on the first object of wiring first.
As a red line is indicated when a mouse is
moved, please click with the object which you
want to connect next.
Repeat this, and connect these 3 objects.

9 Specify the start position
The motion need to be specified its start position.
A start flag tool is used to specify a position of astart.
A start flag tool isn't canceled until other tools arechosen when choosing it once, either.
A start flag can be put by clicking on the object on
the data sheet.
A start flag can be put only one in one motion.

21

PRIMER
10 Name the data
If you double-click where there is nothing,
the dialog designated to the right will open.
Here you can name the data.
Let's see how to name the data 'start up
motion'.
After naming the date, the name would be
displayed on the tub over the data sheet.

11 Save the data
You can save the data as a file.

The saving dialog will appear
and you can save the data.

12 Certify the forwarding address
Let's examine present data before
writing the data.
First, select "the data table" from thedata table window of main window.
Click on the reading button when thedata table opens.
Present contents of data would beindicated.
Once a data display on the datatable is done, the name of data will
be displayed automatically future, inreading or writing the data.

* Data table could be displayed at the sametime with other windows.

22PRIMER
13 Forward the data
Data indicated at present can be transferred
to RCB-3J by clicking on the writing button.
When writing the data, the servo control of
RCB-3J will be the temporary 'sleep' state.

14 Register the motion as 'a start-up motion'

Then, register the motion so that the transferred motion
can be executed automatically.
Open 'setup of an option' in the main window.
After opening the setup of an option, specify the startup
motion registering before in the “A motion, scenario isplay backed at the time of the power supply injection".
Close an optional setup window when you finish
specifying it.
The contents set in RCB-3J will be written when an
optional setup window was closed.

Please turn off the power supply on the board,and then try to turn on the power again when the
setup is done.
If the RCB-3J works in the default position which
was set up automatically, then the registration
has completed.
The startup motion established here is effective only to RED version servo of our company.
hough it is an ideal to move each servo slowly on control board from the home position originallyestablished in starting, there is no standard position where it should move slowly when you start up it, as
the position of each servo isn't fixed at the that time.
The startup motion established here is effective to RED version servo manufactured by our company.
A control board doesn't have the standard position for moving slowly because the position of each servo
isn't fixed on starting point, though ideally it is better to move each servo slowly.
The start-up motion we make this time is the one as follows: given that the connected servo is the servoof red version, firstly it executes position capture, and then moves slowly from the standard position to
the home position.
Moreover, if you carry out this process when you turn on the machine, you can change the positions tohome position easily.
23

PRIMER
Building the motion and execution
If you have already made start-up motion, then you can easily make other motions, too.
Here, we briefly explain about the building and execution of motions.

Make connection and put in the power supply
1 Put
the power supply while the RCB-3J and a servo are connected.

If the startup motion is set, each servo shall move slowly to the initial position.

2 Start up the software

Start the software, HearToHeart3J. If it starts, please go to the following steps.
● Set up the communication port so that it fit to the number of theinterface port. Confirm it by the message indicated.
● Put a check in the synchronization switch. The result of changing thecondition of each servo is reflected soon.

3 Making motion
With this software, you can makemotions by arranging each object
on the data stage.
As for basic movements, it would
be arranged by clicking on POS(position), and then clicking again in
the data sheet.
The orders can be specified byconnecting each position withconnecting wire.
The opening between positions ofeach data stage is complemented
automatically on the software, anddata will be made.

Data StagePut the mark of the starting point
which will be carried out firstly in thearranged position.

The Motion Capacity

You can set the position or SET for one motion up to 30.However, actually more than 30
motions could be put.Still, you need to take care when you write in the board the motion
which has over 30 arrangements.Two memory domains are needed when more than 30
sets are arranged for one motion.
For example, you must leave M2 empty when you put more than 30 positions in M1.
24

PRIMER
4 Edit the motion
It is necessary to make data on the arranged position since the position arrangement
is not enough to make itwork.
A position window opens
by double-clicking on thearranged position.
Then decide the position of
movement of each servo inthe position window.

5 Forward the data

The motion can be play backed by sending(writing) it to PCB-3.
Moreover, you can replace and use the motion
beyond the capacity of RCB-3J by saving a
motion as a file.

6 Play motions

Click the Play button to play the motion.
Specify the number of the motion to play.
You can stop by putting the stop button, if you want to.
25

PRIMER
Customize the position window
The making process of the startup motion was explained in previous sections.
If you make start-up motion, then now you know the basic process to make a motion.
When you make motions, you need to use POS object and position window, which is opened by double-clickof POS object, to make each servo work.
You can make it more useable by changing the various settings on position window.

A POS window opens by doubleclicking on arranged POS.

A menu like the left one will open if you click the right button on the empty
part of the POS window.
Operating the contents of the menu enables various customizations.
The ones with check mark in the indication menu are indicated.
You can eliminate the one you do not want to indicate, by removing thecheck.
If you remove the check to 'the fixation of the panel' on the bottom of
the menu, you can move a panel.
Please look below: this is one example in which only a necessary panel
is indicated, and is moved to fit the body.
In this example, we use the 21 servo and make it shown in according to
the servo position of arms and legs.

26

PRIMERYou can choose the color from the menu, and put it as a background color.
You can also indicate background image by putting a check on backgroundindication.
If you click the right button of a mouse, you can see the menu and you
can change the indications of the control panel of each servo.
Example of changing panel color
Window for name changing

Settings of the indication rate
Though each moving position in the panel is indicated by numerical values, thesenumbers are not the ones which directly show a movement angle. It is difficult to know
present position by this number since this numerical value just tell the inside setting
point.
To solve this problem, it is possible to change the settings of indication so that numericalvalue will indicate the approximate value of the actual moving position (angle).
Ex) the servo of PWM 180 degrees movement, such as KRS-2350HV --- 0.346
Ex) the servo of PWM 270 degrees movement, such as KRS-4014HV --- 0.52
Ex) the servo of PWM 260 degrees movement, such as KRS-4024HV --- 0.5

27PRIMER
Example of customizing the position window (1)The example below specified the picture taken as a background of the position
window from the rear of KHR-2HV.
The panel of each servo is moved to the position where each channel shows.

28

PRIMERThe basic operation was explained in the primer.Even with the functions
explained above, you can move KHR-2HV with the sample motion.
Still it cannot be said that you make use of RCB-3J with these basic
operations.
Let's learn how to use the more advanced operations such as wirelesscontrol in the next intermediate section.

29

INTERMEDIATE
Setting of wireless control
RCB-3J offers you 2 ways for wireless control.
One is using the KRC-1 wireless control set or conventional type of sender, which connects KRT-1,
KRT-2 or personal computer to KRT-1 or KRT-3.
The other is expanding the command of conventional wireless control.
Here, the former way would be explained first.

1 The figure below illustrates how to connect KRT-1 as an example.
Connect receiver to RCB-3J.

Here KRC-1 is used as a sender.

1

2

3

2 upDatafor ofthis.receiver would be missed in the initial setting of RCB-3J, and you need to validate it, so let's set
First of all, please open the option window on software.

After opening the option window, put
checks on 'Activate playing the motion
scenario with the sender' 'Control throughKRC-1'.
Then close the window.

*Here KRC-1 is used as sender but the procedureis the same even in the case of using RCB
Commander (software) or KRT-2.

30

INTERMEDIATE
3 Open the data table from the menu.

Then let's decide which motion to play when you push the button of sender.

You need to read the data table beforehand;
otherwise, your data will not be showed.
Click the input button so that all the data will be
put in.
When the list appears, please double-click the
motion which you want to control with KRC-1.
Then the data dialog will appear.
While data dialog is indicated, turn on the
KRC-1 to keep discharging the radio wave andgo on push the button to be allocated.
Under this state, click the 'receive' button of datadialog.If the number of control input changes,
setting is completed.
Now you can release the button of sender.
Setting is written completely to RCB-3J whendata dialogue is closed.

While the data is read in on the data sheet, it is possible to open the data dialog by double-clicking theempty part of the data sheet.
Still please take note that the data on data sheet will not become validated unless you write into RCB-3J
after editing.

Receiver setting on the data table directly affects the operations of the internal data of RCB-3J.
On the other hand, the dialogue setting on the data sheet manipulates the data on PC.
That is why; the value set on data table will be overwritten when the motion data is written in.
In order not to take different data by mistake, it would be better to save the data on the file in the
PC after reading the motion in the board, when you set it on the data table.
You can do the same thing with RCB-1 and so forth, as is already explained in the previous sessions.
Still, with RCB-3J, you can go for further advanced-level of use.
For example, you can temporarily
invalidate or validate the signal fromreceiver, with setting of SET object which
can be arranged in each motion.
Moreover, you can not only play motions
using command, but also control at themore advanced level, by using the multibite analog control, which is another way
of wireless control.

31

INTERMEDIATEUse of gyro sensor
Gyro sensor is used to detect a change in posture of the body and to control the change.
In using gyro unit, the common way has been putting it between the servomotors, which requires gyro
effect, and control board, but in this way, the servo affects only on one servo, per one gyro or one systemof gyro.
On the other hand, this RCB-3J can use as many as 3 analog outputs, and you can put the gyro effect at
any gain on any servo control channel.
Furthermore, you can change the setup with SET object of the motion
during the motion play.

Connection of KRG-3
AD input 3
AD input 2
AD input 1

When you connect gyro sensor KRG-3, be sure to connect
it to analog input (AD1, 2, 3).
KRG-3

Confirmation of Basic gyro motions
You can confirm the movement of gyro most easily byusing an analog window of the command menu.
If the preparation of the startup motion has been
completed, the body with RCB-3J would move slowly to thehome position after putting power supply.
Click on the analog button, and open an analog window
under this condition.
Then set the value of CH1 of Real time mixing to "x 5" on
the tab of the input 1 [AD1].
If you have completed the former process and connection
without any error, the servo connected to CH1 should begin
to work.

Here we set up in CH1 as an example, and more than one servo can put to gyro.
Moreover, gain of the gyro can be changed by the set point, and if you set the minus numerical value,
the gyro would move to reverse direction.
The contents set in this analog window will be saved in the memory of RCB-3J, and will be played when
the power supply is injected.
If the servo position is different when you do not move gyro and under the condition that there is no gyro
effect, please do basic setup again on the upper part of the window.
Standard value is set up by clicking the buttonof "AUTO" under the condition that gyro is fixed.
Then the standard value of the gyro is overwritten
properly.
32

INTERMEDIATE
More practical gyro movement

As for the gyro movement explained in the former page, the effect of gyro is at the same level from themoment of turning on to turning off.It can't cope with the drift of gyro caused by the change of time andtemperature, neither.
Moreover, as the gyro effect is the same for all motions, there sometimes might be problems.
This is why RCB-3J has the option to use more dynamical way of manipulating gyro to the setup of
analog window.

Settings of gyro with an SET object

You can do various setups by inserting the SET object used by thestartup motion of the primer while playing the motion.
First, make a new motion.
If there is any motion which has not be saved in the data sheet,please save or send them to RCB-3J.
Be sure to erase all the objects in screen when you make a new
motion.
First, click the right button on empty place of data sheet, and select'choose all' from menu.
After all objects are chosen, then select 'delete' after click the rightbutton or push DEL key on the key board, to complete the deletion.
When you delete all data, arrange the SET
objects and double-click to open the window.
If the window opens, select the mixing tab. not the tab of'others' which is used for start up motion.
The left side of each channel indicates kinds of the mixing,
and the right side indicates gain.
Select the R of the AD channel connected to gyro in theleft.R stands for Real-time mixing.

The set of gain can use with both plus andminus.The direction of gyro mixing willchange according to the plus and the minus.
You can also put effects on several
channels with different gains in setting ofgyro on SET object, just as analog window.
Moreover, you can change the gain freely
during the motion, by injecting SET object
to any place you want.
The way to use depends on the body andmotion to use.It would be better to decide
the way after trying several types.
In the case of using the gyro, please re-write thestandard values of analog input with different SET
object when the body posture is stable.
If standard value is not correct, the home position
deviates every time turning on.
In addition, when you use it for a long time, it
might be a good way to make revised motion andexecute it if needed.

33

INTERMEDIATEManaging the ICS setting
Though it was possible to change the setup of each servo(*) of RED Version by ICS, that setup has to bedone with another software and it has to be removed from control board.
Our new RCB-3J can control the setting of RED Version servo connected.
*KRS-4014 HV and 4013HV work with an ICS2.0 standard.Reading is impossible with this window.

the option to specify the channel
1 Openfor setup by ICS.

Put a check in the channel where setup by ICS is done.
Due to this process, there would cause no problem even if there issome models which is not for this type.

2 Open the ICS window to set it up.
Turn on RCB-3J again first if the ICS
window opens.
It starts in the ICS mode by turning on
the power again.
Click the "reading" button to read data.

A setup can be changed here as a setup
window opens by clicking each channel.

When you close ICS window, the power supply of RCB-3J should be put
in again.
The ICS mode will change to usual servo control mode by the re-injectionof the power supply.

34

INTERMEDIATE
Writing scenario
You can play motions continuously by making a scenario and to carry it out.
Demonstration can be done in given time autonomously.

1 Clear the data sheet
Click the right button on the data sheet to open
menu, and you can select all of what is on thedata sheet.

During the all selecting, Choose the deletion by the right-button
click on object or by pushing the DEL key on key boards.

When you make the scenario, you will arrange the motions on the data sheet.
This work can't be done to the condition (A motion is being made.) that a position and so on isarranged onto the data sheet though a motion is arranged to the data sheet when a scenario is made.
So please erase the data sheet once.

2 Open the data table
When you click on the data table icon,
a data table window like the right figure
opens.
When data aren't indicated, click the reading
button of the upper left, and data will come tothe computer.

35

INTERMEDIATE
3 Compose the motion

Drag and drop the motion from the data table opened, andarrange them onto the data sheet.

An arranged motion can change indication with properties button.

Choose wiring tool.

Unless you select other tools, a wiring tool selection
isn't canceled.After click the first motion, pleaseclicks the tool for next motion.

* Wiring is canceled by the clicking right-button when the wiring
has already started (the condition that red line is indicated).
Add start flag on the data sheet.
Put the flags on the objects which you
want to play first from the tools.
* Until you choose other tools, a start flag tool
isn't canceled, either.

A data sheet could recognize it as a scenario when a motion was arranged to the data seat.
There are only a wiring tool and a start flag except for the motion that you can use for the scenario.
POS and SET and CMP can't be arranged.
36

INTERMEDIATE
4 Writing the scenario

Double-clicks on the white part of the data sheet toopen data dialog, and input a data name in before
writing the scenario.
It is possible to input the control if you use a wirelesscontrol unit.
You can write into the board by choosing
a writing tool.
The written scenario can be also played,
like the motions.

The contents and caution of scenario
The motions are for move the robot connected to RCB-3J, and the scenario has
no information for actual movement, such as the position of the servo.
Scenario just contains the information of the order to play motions.
In other words, the movement should be changed when the contents of the
motion specified by the scenario are changed.
So, you need to make sure that the motion and the content of it is correct, when
you make scenario.
There might be some problem about the movement if there is a mistake in the
motion.
And, when you made a mistake in repetition management (loop), which would be
mentioned in the advanced edition, there is a case which the motion won't
finish.Confirm the movement of each motion when you use the scenario.

37

INTERMEDIATE
Using instruction function
Usually when you make the motions of robot, you specify the moving place if each servo withnumbers or with slide bars, and connect them to make one motion.
On the other hand, if you use the instruction function, you let the servos of the robot free andtake in the posture of the robot into the servo.
Using a Red Version servo of our company is required to use this function.
(This cannot be used if your servo does not have instruction function)

1 Arrange one position on the data sheet.

on the arranged position to open the
2 Double-click
position window.

"The setup of the combination" from the LINK
3 Selectsetup.
At the same time of the selection, "the setup of thedesignated movement" window opens.

in the "the setup of the designated
4 function,
movement" window.
Set 'TCH' on the channel to use instruction
This TCH stands for teaching.

38

INTERMEDIATE
5 'TCH'.

Change all the channels which you want to use the function to
If the combination of the channel for specifying the instruction iscompleted, put the name of the combination in the column for
the name.
(Here we use a name of 'instruction' as an example.)
Then push OK, and close a window.

specified ('instruction' in this example) in the LINK
6 you
setting.

If you return to the position window, please select the name7 done with the following process.

When instruction is chosen with LINK, instruction can beOnce you click the shitter button, the servo
specifying TCH on LINK window become free, andyou can fix the posture.
When you click on the shutter button again, apresent position is taken in, and the channel of'TCH' changes from FREE to SERVO.

● As even the newly opened position can be chosen if you tried the LINK
selection once, the position using instruction function can be made quickly.
● If you make motions using instruction, you cannot teach more than the
movable limitation of the servo.

39

RCB-3J