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“METAL-FIGHTER”

EDUCATION COURSE

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power switch

battary source input

charge input(adapter)

• DIO port 0-5• motor 0-5 (G6A)

• DIO port 6-11• motor 6-11 (G6B)

• DIO port 18-23• motor 18-23 (G6D)

• DIO port 12-17• motor 12-17 (G6C)

• A/D, xiro• rf/RC receiver

• LCD/PWM output• RX/TX (serial port)

• PC interface download for robobasic

1. Robot Controller MR-C3024FX

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• motor 6-8• G6B (left arm)

• motor 0-4• G6A (left leg)

• motor 18-22• G6D (right leg)

• motor 12-14• G6C (right arm)

2. Link to Metal-Fighter

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3. ROBOT to PC Interface

① Signal port setting

MR-C3024 FX series circuit

② set controller information

③ view controller information

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Must be make sure accurately power condition ?

- check battary link, battary charge condition

Must be make sure accurately interface cable ?

- check enclosed serial interface cable (serial port at PC , port at Robot)

Check make sure accurately telecomunication port ?

- Please check the port between real telecomunication with robobasic

on programed port

Please make sure accurately controller?

- Metal-Fighter must be make sure “MR-C3024FX serial port”

Before robot programming, Please check an error and controller signal display

Before robot programming, Please check an error and controller signal display

4. Interface Error

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② Combine Operation

④ action⑤ if push the remocon “1”key, the robot bow

① Template no.1 sheet open

③ download

5. Program Download

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6. Program Basis I

Basic Header

‘PTP function set (robot simultaneous controlling)PTP SETON PTP ALLON

‘Motor direction setting (for Metal-Fighter)DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

‘Motor motion begin location setting (prevent extreme motor action)GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

‘Basic motor speed settingSPEED 5

‘All motor actionMOTOR G24

‘PTP function set (robot simultaneous controlling)PTP SETON PTP ALLON

‘Motor direction setting (for Metal-Fighter)DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

‘Motor motion begin location setting (prevent extreme motor action)GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

‘Basic motor speed settingSPEED 5

‘All motor actionMOTOR G24

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To assembling multi-linked robots very difficult accuracy. during setup come to error by little by little, if the errors are accumulated it shoud be big error end of assembling, and then action program come to some trouble. so that after end of assembling robot , needed state revision step. This point we define “Zero Setting”

To assembling multi-linked robots very difficult accuracy. during setup come to error by little by little, if the errors are accumulated it shoud be big error end of assembling, and then action program come to some trouble. so that after end of assembling robot , needed state revision step. This point we define “Zero Setting”

Multi-linked robots needed many linkage simultaneous action for one motion. And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwise late completed .Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneous completed.

Multi-linked robots needed many linkage simultaneous action for one motion. And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwise late completed .Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneous completed.

Zero Point

PTP (Point To Point; robot simultaneous controlling )

7. Control Basis Language

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1. Describe basic header at edit window 2. Click the manu “motor control” 3. Display current motor state4. Current motor state “insert” => Stand-up pose

5. R_Leg, L_Leg remove the check “at group use button” 6. User can set motion down pose by Manually 7. R_Leg, L_Leg click at “group use button”

8. Current motor state “insert” => Sit down pose9. “Close”10. User can modify at edit window themselves.11. Down load12. Metal-Fighter play motion.

The Example Program“ Sit down to Stand-up”

The Example Program“ Sit down to Stand-up”

8. Program Basis II

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DIM a AS BYTE

PTP SETON PTP ALLON

DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

MOTOR G24

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DIM a AS BYTE

PTP SETON PTP ALLON

DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

MOTOR G24

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DELAY 3000

'DownMOVE G6A, 101, 133, 24, 162, 100MOVE G6D, 105, 135, 23, 160, 94MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DELAY 3000

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DELAY 3000

'DownMOVE G6A, 101, 133, 24, 162, 100MOVE G6D, 105, 135, 23, 160, 94MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DELAY 3000

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

9. Programming

Above example robot sit down to stand-up poseafter 3 seconds.

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DIM a AS BYTE

PTP SETON PTP ALLON

DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

MOTOR G24

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

DIM a AS BYTE

PTP SETON PTP ALLON

DIR G6A,1,0,0,1,0,0DIR G6B,1,1,1,1,1,1DIR G6C,0,0,0,0,0,0DIR G6D,0,1,1,0,1,0

GETMOTORSET G6A,1,1,1,1,1,0GETMOTORSET G6B,1,1,1,0,0,0GETMOTORSET G6C,1,1,1,0,0,0GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

MOTOR G24

'StandMOVE G6A, 100, 76, 145, 93, 100MOVE G6D, 100, 76, 145, 93, 100MOVE G6B, 100, 30, 80MOVE G6C, 100, 30, 80

main:

a = REMOCON(1)IF a = 1 THEN 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80ELSEIF a = 2 THEN 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80ENDIF

GOTO main

main:

a = REMOCON(1)IF a = 1 THEN 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80ELSEIF a = 2 THEN 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80ENDIF

GOTO main

10. Setting IR Remocon

Push remocon “1” button key : sit downPush remocon “2” button key : stand-up pose

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Thanks you!

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