Safety Instructions Warning : If user does not follow the instructions in this book properly, a serious injury, harm, or death may occur to user. Caution : If user does not follow the instructions in this book properly, an injury to user or physical damage to the product may be occurred. Electric Power - Do not use any damaged power cord, plug, and loose outlet. It may cause an electric shock or fire.
Usage - Do not assemble the product when you are tired or physically in a bad condition particularly while intoxicated. - Do not place your face too close to the robot. - Do not use dangerous tools such as a knife or a drill but only recommended tool. - Keep the remote control that contains batteries away from children’s reach. - When your kid swallowed a battery, consult with a doctor immediately. - Do not keep or operate the robot in a place of high temperature or humidity.
- Do not leave the product with power on. Battery damage may cause a product failure. - Do not give excessive force while a torque is applied to the robot. This could cause the gear damage of robot module and product failure. - When robot gets twisted by running wrong motions while programming, turn the power off quickly to prevent excessive torque from being transmitted to the robot.
[ Notice for Assembly and Operation ] · All users should follow the instructions in this user manual. · The basic posture of standard platform (HUNO) robot is as shown in the below. If robot does not take the posture as the below after you press the center ( ) button of IR remote controller, it means that robot was assembled in wrong way. Do not operate robot by force when robot was assembled in wrong way Otherwise, robot could be damaged and it gets out of order.
< Table of Contents > 1. Basic Instruction ................................................................................................................. 6 1.1 Product Introduction ................................................................................................................................... 6 1.2 Product Usage .............................................................................................................................................. 7 1.3 Rivet Tool ...............
1. Basic Instruction 1.1 Product Introduction RQ HUNO Kit is a new robotic DIY kit designed to provide robot enthusiasts with the value of Education and Entertainment. Design and build various robots simply by plugging together block-type robotic actuator modules. Without programming, users can download robotic motion files from the internet and play them on the RoboBuilder RQ platforms. FEATURES Quick & Simple Assembly : It can be assembled within one hour.
1.2 Product Usage Operating Smart Controller By manipulating the smart controller, you can select proper robot platform, and play motions. Also, you can change into various mode (such as PC direct control mode or firmware upgrade mode). 버 Button P : Power (ON/OFF) button / Run button In smart controller, ‘1’, ‘2’, ‘3’ numbers are written. Below in each number, there are “button 1, button 2 and button 3”. Above in each number, there are “LED 1, LED 2, LED 3”.
IR remote controller registration ① Power-off the smart controller. ② Press button 2 then, press button P concurrently. → You can see LED2 - Green, Blue and Red lights together. Button P Button 2 2 ③ Make the IR remote controller close to smart controller towards . ④ Press "stop" button in IR remote controller, then LED 2 "Green, Blue and Red" light will be blinking three times. Now IR remote controller is registered.
IR Remote Controller The best way to use the remote control is to have remote controller point to the center of smart controller. Press STOP ( posture. ) button whenever power on RQ smart controller first to take the basic Otherwise, IR remote controller button would not work on robot. Button Motion Button Motion Button Melody 1 Run Motion 1. #+1 Run Action 1. *+1 Ten little Indians 2 Run Motion 2. #+2 Run Action 2. *+2 Greeting 3 Run Motion 3. #+3 Run Action 3.
W Cable and Smart Controller connection Smart controller has four port to connect for smart servo by using “W cable”. You can connect any port regardless smart servo IDs. * NOTE Rear side of COM port is for connection with PC or Bluetooth chip.
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2. RQ-HUNO Assembly Guide 2.1 Check Part List Place all the parts as the below for RQ-HUNO assembly.
2.2 Smart servo connection and set basic posture position Set up the RQ-HUNO initial position value in advance before you assembly. This prevents confusion of smart servo position when you connect joint frame with smart servo. 1. Place all smart servos and other parts as the below. 2. Connect smart servo with the other smart servo by using “w Cable”, then also connect to smart controller at the end as the below.
3. After power-on smart controller (it is “stop” state), press STOP button of IR remote controller. If IR remote controller is not working, check whether IR remote controller is registered. (See the page 8 - IR remote controller registration) Button P STOP button 4. Press button 1 in IR remote controller. Button 1 Each smart servo set initial position after the above procedures.
2.3 Right LEG Assembly Smart Servo * 4 Foot Frame W Cable * 1 (ID 06, 07, 08, 09) Knee Frame * 1 Joint Frame * 2 Front Horn * 1 ‘U’ Frame * 1 Screw (P6) * 1, Bolt (B12) * 1 Bolt(B27)*4, Bolt (B35) *5, NUT * 10 3s rivet * 2 2s rivet * 8 STEP1. Insert front horn to smart servo ID09, then fix it with screw (P6). Before insert front horn to smart servo, check the chase mark as the below.
STEP2. Insert “2s rivet” to the “Joint Frame” to connect with “Front Horn”. STEP3. Connect W Cable into smart servo “ID09” first, then connect foot frame by using Bolt and Nut. (Left) Foot Frame and (Right) Foot Frame is same.
STEP4. Connect W Cable (that is already connected with ID09) with smart servo ID08 and ID07. STEP5. Connect ID09 and ID08 by using “3s rivet”. Rotate W Cable one time and fix it.
STEP6. Use the Bolt (B35) and Nut to connect “ID08” and “ID07” with “Knee Frame”. STEP7. Twist cable 3~4 times between “ID08” and “ID07” and put into empty space.
STEP8. Connect ID06 and ‘U’ frame by using Bolt (B27) and Nut. Then use the “2s rivet” to fix with “Joint Frame”. NUT Be careful JOINT frame direction STEP9. Connect ID07 with “Joint Frame” by using “3s rivet”. Rotate W cable two times and connect to ID06.
2.4 LEFT LEG Assembly Foot Frame Smart Servo * 4 W Cable * 1 (ID 01, 02, 03, 04) Knee Frame * 1 Front Horn * 1 Joint Frame * 2 ‘U’ Frame * 1 Screw (P6) * 1, Bolt (B12) * 1 Bolt(B27)*4, Bolt (B35) *5, NUT * 10 3s rivet * 2 2s rivet * 8 STEP1. Connect Front Horn to smart servo “ID04” by using screw (P6).
STEP2. Connect Front Horn and Joint Frame by using 2s rivets. Be careful with Joint Frame direction. STEP3. Insert “W Cable” with ID04, then connect Foot Frame by using Bolt(B12, B27) and Nut.
STEP4. Connect W Cable with ID03 and ID02. STEP5. Connect “Joint Frame” with ID03 by using 3s rivet. Then, rotate W Cable1~2 times and fix it.
STEP6. Connect ID03 and ID02 with “Knee Frame” by using Bolt (B35) and Nut. Then, rotate the W Cable 3~4 times and put into empty space. STEP7. Connect ID01 and ‘U’ frame by using Bolt (B27). Then use the 2s rivet to fix with “Joint Frame”.
STEP8. Connect ID02 and “Joint Frame” by using “3s rivet”. Then, rotate “W Cable” two times and connect with ID01.
2.5 RIGHT ARM Assembly 3*6 L type Frameⅹ2 Joint Frameⅹ1 Smart Servoⅹ2(ID14, ID15) 3s rivetⅹ1 ‘U’ Frame x 2 2s rivetⅹ12 Bolt (B27) x 4, NUT x 4 STEP1. Make “Hand” part by using the two “3*6 L type Frame” and “2s rivets” as shown in the below. Becareful with “3*6 L type Frame” part direction because the both sides are not same.
STEP2. Connect ID15 and ‘U’ Frame by using Bolt (B27) and Nut, then connect with “Hand” part by using 2s rivets. STEP3. Connect ID14 and ‘U’ Frame by using Bolt (B27) and Nut, then, connect with Joint Frame. Be careful of Joint Frame direction when you connect with smart servo.
STEP4. Connect “Joint Frame” that connected with ID14 and ID15 by using 3s rivet.
2.6 LEFT ARM Assembly 3*6 L type Frameⅹ2 Joint Frameⅹ1 Smart Servoⅹ2(ID11, ID12) 3s rivetⅹ1 ‘U’ Frame x 2 2s rivetⅹ12 Bolt (B27) x 4, NUT x 4 STEP1. Make “Hand” part by using the two 3*6 L type Frame and “2s rivets” as shown in the below. Becareful with 3*6 L type Frame part direction because the both sides are not same.
STEP2. Connect ID12 and ‘U’ Frame by using Bolt (B27) and Nut, then connect with “Hand” part by using 2s rivets. STEP3. Connect ID11 and ‘U’ Frame by using Bolt (B27) and Nut, then, connect with Joint Frame. Be careful of Joint Frame direction when you connect with smart servo.
STEP4. Connect Joint Frame that connected with ID14 and ID15 by using 3s rivet.
2.7 BODY Assembly Body Frameⅹ1 3*6 L type Frameⅹ2 3*3 Frameⅹ1 Smart Controllerⅹ1 Smart Servoⅹ4(ID00, ID05, ID10, ID13) Front Hornⅹ4 3s rivetⅹ8 W Cable x 2 Joint Frameⅹ4 2s rivetⅹ20 Li-Poly Batteryⅹ1 U Frameⅹ2 double rivetⅹ10 Charging Board*1 Screw(P6)ⅹ4, Bolt (B6)ⅹ2, Bolt (B27)ⅹ4, Bolt (B30)ⅹ4, Nutⅹ10 STEP1. Connect Front Horn to ID05 by using screw (P6).
STEP2. Connect “Front Horn” and “Joint Frame” by using “2s rivet” as the below. STEP3. Connect Front Horn and Joint Frame with ID00 same as the ID05 connection.
STEP4. Connect ID00 and ID05 with Body Frame by using Bolt (B27) and Nut. Check the ID05 and ID00 connect position well as shown in the below.
STEP5. Connect “Front Horn” with ID10. Check the “Front Horn” and ID00 mark position. - Smart servo mark position is 11 o’clock while Front Horn mark position is 12 o’clock as shown in the below. STEP6. Connect “Joint Frame” with “Front Horn” by using “2s rivets” as shown in the below.
STEP7. Connect Front Horn with ID13. Check the Front Horn and ID00 mark position. - Smart servo mark position is 1 o’clock while Front Horn mark position is 12 o’clock as shown in the below. STEP8. Connect Joint Frame with Front Horn by using 2s rivets as shown in the below.
STEP9. Connect ‘U’ Frame with ID10 as shown in the below and connect with Body Frame by using Bolt (B30). STEP10. Connect ‘U’ Frame with ID13 as shown in the above and finish the RQ HUNO shoulder.
STEP11. Assemble Head part. Connect 3*3 frame with Body Frame by using Bolt (B6) and Nut. 3*3 frame STEP12. Connect IR (Infrared Sensor) into 3*3 frame by using double rivets. .
STEP13. Connect 3*6 L type frame onto chest part. STEP14. Connect “ID00 with ID01” and “ID05 with ID06” by using “3s rivet”, respectively . Then, pull the Cable outside from inside as shown in the below.
STEP15. Connect “ID10 with ID11”, and “ID13 with ID14” by using “3s rivet”, respectively. STEP16. Put the first connector of W Cable into ID12, and rotate W Cable 1~2 times then put the second connector of W Cable into ID 11 as shown in the below.
STEP17. Then, put the third connector of W Cable into ID 10. Put the fourth connector of W Cable Inside, then connect with ID00. STEP18. Put the first connector of W Cable into ID15, and rotate W Cable 1~2 times then put the second connector of W Cable into ID 14 as shown in the below.
STEP19. Put the third connector of W Cable into ID13, and put the fourth connector of W Cable into ID05. STEP20. Arrange the “W Cabe” as shown in the below, and pull out the “W Cable” from the bottom side of “Body Frame” to upside.
STEP21. Insert four “3s rivets” to “Body frame” to fix Smart Controller as shown in the below. STEP22. Insert two “double rivets” to “Body frame” to fix “Battery” as shown in the below.
STEP23. Put “Battery” to “Body Frame” as shown in the below. STEP24. Connect “W Cable” and fix Smart Controller with “Body Frame” as shown in the below.
STEP25. Connect battery connector, then also connect “power cable of charing board” to the “Smart Controller power connector” as shown in the below. STEP26. Assembly completed.
2.8 Check Assembled Robot Let’s find out how Robot works after assembly. Firstly, power on (press button ‘P’) in smart controller. Then, press ‘stop’ button of IR remote controller towards IR remote controller receiver. IR remote controller receiver Then Robot will take the basic posture as shown in the below.
Robot will take the “Attention!” posture if you press “button 1” in IR remote controller. l Please check the assembly guide from the STEP1 again if robot posture is not the same as shown in the above.
3. Zero Position Adjustment Zero position is robot standard posture information in order to know the difference of each robot basic posture. Every robot basic posture would be different a little because every smart servo has own tolerance. For instance, ‘A’ robot motion would play a little bit different in ‘B’ robot because of smart servo tolerance. This difference can be reduced as you ajdust “zero position adjustment”.
vi) Press button 1 for selecting smart servo ID, then press button 2 or button 3 for smart servo rotating direction. Button 1 Button 2 Button 3 Every time you press button 1, smart servo is selected in order. “ID01, ID02, ID03…. ID15, ID00”. Smart servo moves counter clockwise direction. Smart servo moves clockwise direction. For example, smart servo ID01 blue LED lighs when ID01 zero position adjustment is started. ð Make sure that 01 adjustment line is matched with smart servo ID01.
4. Download Cable (UART) driver Installation You need to install the download cable driver in order to use robot programming software, such as MotionBuilder, ActionBuilder, Diagnostic Tool and Firmware Upgrade Tool. 1) Download “USB Download Cable Driver” from www.RQWORLD.com and click to start installation. 2) Click “I accept the terms of license agreement”, then click “Next”.
3) Click “Next” and finish the installation as shown in the below..
5. Download Tool 5.1 Introduction Download Tool is used for downloading a number of Motion files (*.rbm) or Action files (*.rba) at one time. Users can designate the download positions in remote controller. Layout description PC Port Connection Part . COM Port : Designate available COM port for connection of RoboBuilder. . BaudRate : It shows data transferring speed. . OpenPort : Open PC COM port in order to connect a RoboBuilder. . ScanPort : Find available COM port and opens it automatically.
5.2 Download File In RoboBuilder Download Tool, it shows the folders and downloaded (made) motion files. Click “Delete All” in order to delete the previous downloaded files in the list. In order to insert into Download File List section, select the file then, click ‘>’ button. ※ Users can use Drag & Drop function.
If you click a file in the Download File List, it shows file name, file size, robot platform, scene number, performance time. ※ If registered files are more than one in the ‘Download File List’, users can change the downloading sequence by clicking “Up” or “Down” button. ※ Users can do this function by using Keyboard. ‘Up’ button = ‘+’ Key ‘Down’ button = ‘-‘ Key ‘Delete’ button = ‘Delete’ Key Connect RQ-HUNO and Download (UART) Cable as shown in the below.
Click ‘ScanPort’ button in order to find available COM Port. RBC serial code and Firmware Version will be shown if connected properly. And “ClosePort” button will be shown as well. Click ‘Download” button, in order to all files in the “Download File List”. Then it starts downloading into RBC Box. Following message box will shown after downloaded completely.
6. MotionBuilder 6.1 Introduction This document explains how to use MotionBuilder the motion building tool for RQ-HUNO. What are project file, motion file, scene, frame, transition time? Project file(*.prj) : A project file contains the information such as the robot’s type and more. It is used to manage multiple motion files of a robot efficiently. Therefore, one project file includes one or more motion files. Motion file(*.rbm) : A motion file contains the complete data to execute its movement.
Screen Layout This is the screen layout of the MotionBuilder.
6.2 Motion Programming #1 Let’s try one simple motion programming for RQ-HUNO. 1) Run “MotionBuilder” and click “New”. Input “greeting” in Project Name, then select Robot Platform “RQ-HUNO”. 2) Click “OK”, then it shows as below.
3) Connect RQ-HUNO with PC by using “Down Cable (UART)” then, power on smart controller (Button P) 4) Click “Scan Port” to search correct COM Port, or you can click “Open Port” if you know the COM Port No. 5) Click “New Motion”. Then input “hi” in Motion Name. If you want to use smart servo LED, check the “Enable External Port”, then, click “OK”.
6) If you see the New Scene window, click “OK”. You can adjust “Frames”, and “Motion Run Time (ms)”. - Frames : If you increase the Frames, robot moves smoothly. -Motion Run Time : Each frame run time range is 20~1000msec. TIP. It is recommended that first scene and last scene is for robot basic posture for stable motion movement Therefore, do not revise the Frames and Run Time value of Scene0 7) In order to move up and shake the arm, add the second scene.
9) Move the Jog Dial of “ID11”. 10) For the next movement, add the third scene. 11) Move the Jog Dial of ID12.
12) Then, let’s make the arm shaking motion like “saying Hi”. Copy the Scene 1 and Scene 2. 13) Paste the Scene 1 and Scene 2 to the next empty scene space, and do the paste again. Lastly, copy the “Scene 0” and paste to the last scene.
14) Save the Motion file, Click “select All” and then click “Test” button. 15) Completed “Hi.rbm” motion movement is as follows. .
6.3 Change Motion Speed Let’s find out about frame and motion run time. We have applied basic frame and motion run time (30 frames, 1000 msec) in the previous motion 1) If you look at the scene part, you can see all the frame value is 30 and time value is 1000. you can change the frames and time as you double-click related scene. 2) Minimum motion run time is 20msec for each frame. Therefore, time value should be at least 600 msec if frames are 30.
6.4 Motion Programming #2 In this section, we will make a deep bow HUNO motion. 1) Click “New Motion”, then input motion name as a “deep_bow”.
2) Click “New Scene” to add new scene. 3) Click “Get Pose”, you can see “Motor Enable” window, then check “Check All”.
4) Then, you can make the RQ-HUNO posture by using your hand (Not by Jog Dial) as shown in the below. 5) Then, click “Capture” to complete the above scene.
6) Click “New Scene” to add new scene. 7) Click “Get Pose”, you can see “Motor Enable” window, then check “Check All”.
8) Then, you can make the RQ-HUNO posture by using your hand (Not by Jog Dial) as shown in the below. 9) Then, click “Capture” to complete the above scene. 10) Now, Copy the “Scene_1” to ready get up.
11) Mouse right click, then paste-insert to the next empty scene space after Scene_2. 12) Copy the “Scene_0” to take a basic posture.
14) Now, click “Select All” and then click “Test”. 15) Click “Save” to save a “deep_bow.rbm” file. 16) “deep_bow.rbm” motion is downloaded successfully.
17) Click “Close Port” to control RQ-HUNO by IR remote controller ’ 18) Press button 1 of IR remote controller, “deep_bow.rbm” motion is played. 19) Completed “Hi.rbm” motion movement is as follows.
7. ActionBuilder 7.1 Introduction ActionBuilder is the robot action programming software that uses various sensors of robot. Layout . ① Menu Bar - New File : Create new action file. - Open : Load existed action file. - Save : Save action file. - Save As : Save action file with new name. - Config : Revise action file information. - Download : Download action file to RQ smart controller ② PC COM Port - COM Port : Choose correct COM Port. - Baudrate : Display data communication speed.
④ Action list - Index : Display action line index. - St. Name : Display statement name. - Condition : Display condition data. - Execution : Display execution data. - Description : Display description of statement. ⑤ Action Information - Statement Name : Display statement name and user can revise it. - Description : Display description of statement. - Add : Add action statement from list - Delete : Delete action statement from list. - Update : Update action statement from list.
7.2 Action Programming #1 (Continuous Motions) - Robot Action : Basic Posture => Go => Back => Left => Right. 1) Click “New” to create new action file, then input “Action Name, File Name” and select “RQ-HUNO” platform as the below. 2) Connect RQ-HUNO with PC by using “Down Cable (UART)” then, power on smart controller. 3) Click “Open Port”.
4) Click as the below procedures (1,2,3,4,5) by number to add robot basic posture motion.. 5) Click as the below procedures (1,2,3,4,5) by number to add robot “go” motion.
6) Click as the below procedures (1,2,3,4,5) by number to add robot “back” motion. 7) For “Left” and “Right” motion, it is same procedures except “Motion Play” section. 8) Click below procedures (1,2,3) to save action file and download to RO smart controller.
9) Press “#” + “1” of IR remote controller, then robot moves “Basic Posture => Go forward=> Backwards => Move Left => Move Right) 81
7.
1) Click “New” to create new action file, then input “Action Name, File Name” and select “RQ-HUNO” platform as the below. 2) Click as the below procedures (1,2,3,4,5) to add “basic posture” motion.
3) Click as the below procedures (1,2,3,4,5) to detect applause sound and add “go forward” motion. 4) Click as the below procedures (1, 2, 3, 4, 5) to be in “infinite loop” state.
5) Click below procedures (1, 2, 3) to save action file and download to RO smart controller. 6) Press “#” + “2” of IR remote controller, then clap near RQ smart controller.
8. Appendix 8.1 Auto power-saving mode If there is no input or movement during certain time, RQ-HUNO goes into power-saving mode automatically. You can set the entry time as below. 1) Power-off the smart controller. 2) Press button 3 and then, press button P concurrently. → LED3 "Green, Blue and Red" light up. 3) You can adjust the power-saving entry time as shown in the below. 4) Press “Button P” to save current setting after selecting power-saving entry time.
8.2 How to Change Smart Servo ID Number 1) Connect single smart servo cable as shown in the below. 2) Make sure that Smart Controller power is “OFF” state.
3) Press “Button P” as “Button 1” and “Button 3” are pressed together. You can see “LED 1” is BLUE light. LED2 and LED3 indicates current Smart Servo ID. Yo You can change Smart Servo ID by pressing “Button 1” or “Button 3”. - Button 1 is to increase Smart Servo ID number. - Button 2 is to cancel Smart Servo ID changes. - Button 3 is to decrease Smart Servo ID number. 4) Press “Button P” to save current Smart Servo ID after change ID number.
8.3 How to charge 1 2 In first, You need to plug in Charger. Please connect charging cable on charging board. Then Green light on and you can charge. (If Green light off, you need to check electricity.
8.4 How to Upgrade Firmware 1. Run “RQC Firmware Upgrade Tool”. 2. Click the Scan button, then you can search the COM Port as above. 3. Click the Browse button and select the “Firmware File (*.
4. Connect the USB U-ART cable to “COM Port” of RQ Controller . 5. Take out “Power Connector” from RQ Controller first. 6.
7. Click START button to start upgrading firmware. 8. Please click the OK button when firmware upgrade completed as below.
8.5 How to Use Diagnostic Tool 1. Please run the “RoboBuilder Diagnostic Tool” 2. Click the “ 2.Check wCk(SAM)” button an upper. 3. Click the ScanPort button, then you can search automatically your ComPort. If it don’t work, please confirm your comport.
4. Please click the “Check wCK(SAM) Connections” after Green light on.
