MRAI-999HB

© 2003 AREXX - HOLLAND

EDUCATIONAL ROBOT HARDWARE & SOFTWARE

MANUAL

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Movit and Elekit are registered trade marks of EK Japan Co., Ltd. AREXX is a registered trade marks of AREXX Engineering, Zwolle, Holland

© English translation (October 2004): AREXX Engineering (NL).

This description is protected by the laws of copyright. Any partial or total reproduction of the contents is prohibited without prior written authorisation of the manufacturer: AREXX Engineering - Zwolle (NL).

The manufacturer and distributor cannot be held responsible for any damages occurred by mishandling, mounting mistakes or misuse due to a non-respect of the instructions contained in this manual.

Technical assistance during the construction of the robot:

www.arexx.com

© 2002 AREXX - The Netherlands

1. Product Description 3 2. MRAI-999 Installation 4 3. The electronic circuit 5 4. Software installation 6 4.1 Software Installation and configuration 6 4.2 General purpose program for SAM 7 5. MRAI Hobby setup 8 6. MOVIT or OWI Robot arm software 9 6.1. Software 10 7. Interactivity 18

Contents

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1. PRODUCT DESCRIPTION

Warning• No return is possible after having opened the bags of components and pieces• Prior to the assembly read the manual thoroughly.• Be careful when using tools.• Keep away from young children They might get hurt by the tools or swallow small components. • Observe the correct polarity of the power supply.

The MRAI is a serial port Input/Output controller, it can be controlled with the supplied Windows robot arm software or a terminal emulator (like. Windows Hyper Terminal or LINUX Minicom) and a Personal Computer. MRAI has 20 switch transistors to control the MOVIT or OWI robot arm motors. There is 1 optocoupler input so the robot arm can react on signals from the outside world. The MRAI controller is commanded with very simple instructions. With the Robot Arm software application you can control the MOVIT or OWI Robot Arm directly or you can make your own program in a Basic computer language. In this Basic program language you can use the IF/THEN and GOTO statements. Of course, the optical inputs can also be used. A few example programs and an educational mode will help you to learn the Basic programming step by step.

Specifikation:

Power : 3 pcs AA batteriesVoltage : 4,5 VoltCurrent : About. 100 mA Height : 40 mmLenght : 100 mmWidth : 70 mm

To control the MOVIT-OWI robot arm

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FeetDistance holder

Nut

1.

Assemble the 4 distance holders with 4 nuts to the MRAI PCB, Then screw the 4 feet with a screw to the distanceholders.

2.

Connect the 25-pin RS-232 cable with your PC and with the MRAI.

3.

Connect the flatcable with the MOVIT or OWI robot arm and with the MRAI.

4.

Insert the 3 pcs AA batteries.

5.

Start software installation

Screw

�. Installation of the MRAI

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The concept of this kit is simple and straight forward. The core of the system is the IC U1, a 16F628 PIC microcontroller.

We have selected this processor because of the available in- and outputs. The number of in- and outputs is convenient for our purpose and, in addition, it features a serial interface.

We have pre-programmed the IC in such a way that it can process all commands we send through the serial interface. Moreover, the proces-sor can drive the Transistor switches and monitor the optocoupler input.

When a robot arm motor is activated by a transistor a red or green LED will light up.

IC U1 (MAX232) handles the level change of the TTL and RS232 signals. The optocoupler IC U2 is required for galvanic seperation of the sensitive circuitry from the inputs.

You can also completely reset the system at any time via the reset switch.

When the kit receives data from the PC, the “Data” LED light up.

�. THE ELECTRONIC CIRCUIT

Please NOTICE:

There is a new Software VERSION available at:WWW.AREXX.COM --> Robotics -->

Movit robot arm --> Downloads

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4.1 Software installation and configuration

It is recommended to close all other running applications before starting the Installation!

When you insert the Software CD, your standard Web Browser will appear, showing a CD-Menu (This happens only if you have activated the CD-Autorun function of Windows). If this does not happen, you can start the CD-Menu manually with the Windows Explorer, too. (<CD-ROM> - “start.htm“)

You may start the Software Installation with the CD-Menu or directly from the Explorer. (Directory <CD-ROM> - “software\control\“, maybe you will have to copy all the installation files to a directory onto your hard drive first.)

The installation of the software will be automatically done by clicking on install. It is also possible to start the software installation with windows explorer, just click on SETUP.exe to start the installation.

The Interface program can be found in the START menu under PROGRAMS– INTERFACE.

Double click on the interface icon to start the program.

A popup screen will appear when the hardware is not connected.

Click [OK]

Now the Mainmenu will appear (see fig.4.1.).

Fig. �.1.Main menu

�. Software installation

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Only when the hardware is detected, you will see the hardware status in the title bar of the main menu, for example: “COM X – SAM”. The X shows the COM port on which SAM is detected. When you connect the hardware later.

(ATTENTION: ALWAYS SWITCH SAM or MRAI OFF BEFORE ATTACHING/DISCONNECTING IT TO/FROM A PC! OTHERWISE SAM or MRAI AND THE PC MAY BE DAMAGED!

Usually this does not cause any damage, but it is saver to handle it as described!), it is possible to detect it with a simple command. There is no need to restart the software for hardware detection, just click on the RED spot at the right side of the main menu bottom.

In the main menu the software language can also be selected.

�.� General purpose controlling program for SAMThe function of the SAM controller software is to switch the relay contacts after an event (status change).

Fig. �.�. Controlling program

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�. MRAI HOBBY SETUP

Instead of the SAM-01 controller you can also use the MRAI Hobby controller to operate the Robot Arm. This is a low cost controller which works with the SAME SOFTWARE.

The Movit Robot Arm Interface HOBBY is already assembled.

This stand alone controller fully operates on batteries. The robot arm is also battery operated. An external power supply is not possible. The MRAI Hobby is connected between the Robot Arm and a computer (instead of the standard switchbox).

The MRAI HOBBY operates with the standard interface Robot Arm software. See chapter �.

MRAI

Flat cable

RS��� cable

99

�. MOVIT or OWI Robot Arm software

MODEThe program distinguishes between two operating modes:

A button mode where you can control the robot directly with the operation buttons and the programming mode (simple or advanced), where you can enter commands as text lines with buttons or the keyboard.

Please start the Interface Program (link in the start menu) and choose your desired language!

After that, start the Robot Arm program module (click on the button).

The MOVIT Robot Arm software works with the following hardware;- SAM-01 Controller in combination with the interface IK10�- MRAI Hobby controller- NONE (DEMO MODE)

Please NOTICE:

There is a new Software VERSION available at:WWW.AREXX.COM --> Robotics -->

Movit robot arm --> Downloads

10

BUTTON MODEIn this mode, you can control the Robot Arm through the buttons:* BASE* SHOULDER* ELBOW* WRIST* CLAMP

Start positionAt the program start, all counters are set to zero.The starting position of the robot is now:• Base in the center position• Shoulder in the highest position• Elbow in the highest position• Wrist in the center position• Clamps closed

If needed, you might have to bring the robot manually into the start position.

With this method, you can easily test the way how the robot works and try out more complex movements before you actually program the com-mands.

The operating buttons clearly display which movement you are con-trolling.You control the Robot Arm with the left and right mouse but-ton. Please note that the arm moves in direction of the arrow that is displayed when the key is activated. If the arm moves in the opposite direction, the voltage polarity is wrong. In this case you have to reverse the positive and negative connections of the motor driving voltage.

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PROGRAMMING MODE

The programming mode is divided into 2 modes:* SIMPLE MODE* ADVANCED MODE

SIMPLEThis mode is a convenient method for beginners who do not have real programming experience. In this mode, you learn the basic commands. The program lines are generated according to a set pattern allowing you an error-free programming.

ADVANCEDIn this mode you edit the pro-gram lines directly. You write the text file in an external editor and copy it via the key board into the programming field.

Start positionThe counter displays the time in seconds. (Note: The counter does not count in seconds).At the counter stand of zero, the arm is in its start position. You can set the robot to another start position by proceeding as follows:

• Bring the robot arm in the required start position by the operating buttons.• Click on the OFFSET button• After a movement of the Robot Arm you can

bring it back into the start position by clicking on the RETURN button.

1 ACTION, BS(RGT=�), EL(UP=�)� ACTION, BS(LFT=�), EL(DN=�)� ACTION, SCH(UP=�), WR(LFT=�)� ACTION, CL(OPEN=9)

�.� PROGRAMMING:

1�

At first, we will describe the most important commands:

LINE NUMBERAll commands start with a line number. The numbers are increased by 1 at every new line. It is possible to insert lines afterwards.

ACTIONThis command indicates the start of a task.It is followed by a command or the element to be moved.

) The round bracket closes the task while ( opens the task. In other words: Tasks are put between round brackets (...).

IFAn IF command is always followed by a THEN command.These commands use sensor signals. A program line is built up as follows:

IF Sensor 1-4 is on or off THEN .....

After the IF-THEN command, you can continue with an ELSE command. This means that your program will continue with the ELSE task if the IF condition has not been fulfilled.

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FILEStore the program on the hard disk Import the program from the hard diskFinish the program

Example:1 IF SSR1=OFF THEN 2 ELSE 3

This condition is fulfilled if SSR1 (sensor 1) is not active. In this case, the program will go to line 2 or else line 3.

If you drop out the ELSE task and the condition is not fulfilled, the program will remain on this line until this condition is fulfilled.

GOTOThis command brings you to the beginning of a program line.

Example: GOTO 1 (Go to line 1).

NEW LINETo write a program line

ERASE LINETo remove a program line

ADD LINETo add a program line

START Start the program

SIMPLE MODE:

This chapter explains how you can write simple programs in the simple mode.

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The programming in the simple mode always starts with NEW LINE. After having pushed this button, you can choose between the following commands: ACTION, IF and GOTO.

Now we can choose which part should move, in which direction and how long this movement should last. You can give the dura-tion in 1/10th second behind the dot e.g. 3.2 secondes. Close the command line by a ). Then you can add the line by ADD LINE.

If we choose ACTION, the following screen is displayed:

EXAMPLE Programming in the simple mode:

NEW LINE ACTION ELBOW DOWN 2 ) ADD LINE

This input sequence generates the following programme line:1 ACTION, ELL(DN=�)When executing this programm i.e. START, the elbow will go down for 2 seconds.A new line adds another command line to the program

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In addition to the ACTION commands there are also the IF - THEN and GOTO commands. The IF-THEN command always processes input signals (of the sensors).In programming mode you can also process the input signals from the sen-sors. The input signal can be simulated by the red switches on the upper bar of the screen. This is very useful to test a program. Thick the small white box on the top right next to the four red, square fields. Four switches are displayed allowing to switch the input signals on and off.

We start a new line but instead of ACTION, we will choose the IF command:

The screen display changes into the following mode. You will notice now the new sensor fields 1 to 4. These sensors normally transmit input signals to the robot system. These input signals can also be simulated by switches.

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The advanced mode is the programming method for those who already have some knowledge about programming. You can write the program in a text editor and copy it into the program field.Of course, you can also input the lines directly into the field via the keyboard.

ADVANCED MODE

The abbreviations for the different language elements are:

A program line always starts with the number of the line.This is always followed by a command or a decision.

The commands and statements are summed up in the following table:

Activity Type

ACTION CommandIF THEN/ELSE DecisionGOTO Command

1 IF (SSR1=ON) THEN �� ACTION, BS(RGT=�), SCH(UP=�), EL(UP=�), WR(RGT=�), CL(OPEN=�)� IF (SSR1=ON) THEN �� ACTION, BS(LFT=�), SCH(DN=�), EL(DN=�), WR(LFT=�), CL(CLS=�)� GOTO 1

The programming possibilities of the ACTION command are:

Activity,(Abbrev.) Element Direction Time *

ACTION, ( ACTION) BASE (BS) LEFT/RIGHT, (CW/CCW) -*.*, *.* ACTION, ( ACTION) SHOULDER (SH) UP/DOWN, (UP/DN) -*.*, *.* ACTION, ( ACTION) ELBOW (EL) UP/DOWN, (UP/DN) -*.*, *.* ACTION, ( ACTION) WRIST (WR) LEFT/RIGHT, (LEFT/RIGHT) -*.*, *.* ACTION, ( ACTION) GIPPER (GR) OPEN/CLOSE, (OPEN/CLS) -*.*, *.*

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The programming possibilities of the decision IF-THEN are:

Decision Element (Abbrev.) Statement Line #.* Decision ** Line #.*

IF THEN SENSOR1, (SSR1) TRUE/FALSE **** ELSE ****

SENSOR2, (SSR2) TRUE/FALSE **** ELSE **** SENSOR3, (SSR3) TRUE/FALSE **** ELSE **** SENSOR4, (SSR4) TRUE/FALSE **** ELSE ****

The programming possibilities of the command GOTO are:

* The star (*) in this column is a figure 0 .. 9.** The ELSE (with line number) in the IF THEN-statement can be dropped

Activity Line #.*

GOTO ****

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IMPORTANT:

As only 8 relays are available to control the 5 motors of the Robot Arm via the controller, we used a trick. Normally we would have planned 5 relays to control the 5 motors and supply 4.5V positive or negative to the motors (All motors use a common ground).

As a consequence of this trick, the motors cannot turn all at the same time. Some relays control two motors at the same time and these motors can only turn in the same direction when they are addressed at the same time.

The software makes sure that the motors are driven in sequence during conflicts.

Within one program line you can pull together several actions and processes (see example)

1 ACTION, BS(CW=5), EL(UP=2)2 ACTION, BS(CCW=5), EL(DWN=2)3 ACTION, SH(UP=5), WRST(LEFT=2)4 ACTION, GR(OPEN=9)

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Use of the inputs

�. INTERACTIVITY

The software makes sure that the motors are driven in sequence during conflicts.

By the use of suitable sensors you can control the Robot Arm interactively in its environment.

The sensors are connected to the input of the controller. The inputs of the controller contain opto-couples that protect all following circuit parts.

The opto-couple and therefore also the inputs are only activated (1) by a certain voltage level of about 2 to 5V. If there is no voltage or a too low voltage present at the input, this input is not active (0).

1 IF (SSR1=TRUE) THEN 22 ACTION, BS(CW=5), SH(UP=5), EL(UP=5), WRST(RIGHT=5), GR(OPEN=4)3 IF (SSR1=TRUE) THEN 44 ACTION, BS(CCW=5), SH(DWN=5), EL(DWN=5), WRST(LEFT=5), GR(CLS=4)5 GOTO 1

EXAMPLE: ROBOT SYSTEM WITH SENSOR INPUT

SENSOR INPUT

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APENDIX

�1

A. MRAI diagram

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IMPORTANT:

1. MOVIT and ELEKIT are registered trademarks of EK Japan Co., Ltd.�. All rights reserved. Reprinting any of this instruction manual without our written permission is forbidden.�. The specifications, form and contents of this product are subject to change without prior notice. �. We do not accept any responsibility for disadvantage or damage caused by improper use or assembly.