MiRobot Control System Manual V1_1 Mi Robot V1 1

User Manual:

Open the PDF directly: View PDF .
Page Count: 66

www.techedu.com.au

Control System Manual

V1.1.0

Five Axis Mini Industrial Robot

www.techedu.com.au

Table of Contents.

Content

This Manual .................................................................................................

Introduction ..................................................................................................

Supplied Components .................................................................................

Industrial Robot Axes ..................................................................................

MiRobot Axes ..............................................................................................

End Effectors ...............................................................................................

The MiRobot Gripper ...................................................................................

Handling Electronic Assemblies ..................................................................

The MiRobots Control System ....................................................................

Robot Programming Languages .................................................................

Installing the “MiRobot” Control / Simulation Software ...............................

Power, USB and Drivers...............................................................................

Connecting the MiRobot ..............................................................................

Connecting the RC Servo’s .........................................................................

The Servo Connection Shield ......................................................................

Robot Safety ................................................................................................

Using the MiRobot Program ........................................................................

Creating a MiRobot Program .......................................................................

Chaining MiRobot Programs........................................................................

Testing and Running a MiRobot Program ...................................................

Ground Plane Crash Warning .....................................................................

On Screen Indicators ...................................................................................

Servo Trims .................................................................................................

Warnings, limitations, reminders .................................................................

References

Reference 1 :

Reference 2 :

Reference 3 :

Reference 4 :

Reference 5 :

Reference 6 :

Reference 7 :

Reference 8 :

Reference 9 :

Reference 10 :

Reference 11 :

Reference 12 :

Reference 13 :

Reference 14

Reference 15

MiRobot Specifications ................................................................................

License ........................................................................................................

Arduino Uno Robot Pin Mapping ................................

Uno Pin Electrical Specifications ................................

Sourcing and Sinking Current .....................................

Arduino Uno Description .............................................

MiR File Format ..........................................................

Arduino Uno R3 Schematic .........................................

Remote Control ...........................................................

Video feed ...................................................................

Connections for Advanced Functions .........................

User Output .................................................................

Inter Device Handshaking ...........................................

: Servo Shield Assembly ( if required ) ..........................

: Useful Links ................................................................

How an RC Servomotor works ....................................

RC Servomotor control ...............................................

Page

www.techedu.com.au

This Manual will guide you through the connection and operation of the MIRobot

Five Axis Mini Industrial Robots Control System, and use of the supplied MiRobot

Software.

Some fundamental Robotic concepts and terms will also be explained.

An “Industrial Robot” as defined by the International Organization for

Standardization ( defined in ISO 8373 ) is “ An automatically controlled, re-

programmable, multipurpose manipulator, programmable in three or more axes,

which may be either fixed in place or mobile for use in industrial automation

applications.”

When complete your Robot fulfills ALL these requirements - but obviously on a very

small scale.

Differences from a commercial Industrial Robot.

Isn’t as accurate in positioning as a full size industrial Robot.

No bearings etc. and built with quite large tolerances.

Can’t lift weight.

Not all Robots are heavy duty, but as the weight to be manipulated increases,

the use of high strength materials also increases. Your Robot is mostly

plastic and so has a very limited lifting capacity.

Axes can only rotate a maximum of 180 Degrees with less on some axis.

Some Industrial Robot Axes are capable of continuous 360 rotation.

The Servos are commonly used for Radio Controlled devices.

Industrial Robots use powerful and complex Servo Motors and Controllers.

The Robot program is stored in a separate Computer.

Industrial Robots have powerful built in Computers and can be programmed

and usually operated completely “stand alone”.

Is far less dangerous.

Industrial Robots must be fitted with complex guards and safety systems to

prevent injury to people. They can move very quickly and with great force so

getting in their way is VERY dangerous. Your Robot operates at six Volts DC

and is therefore electrically safe.

But on the other hand your Robot can be built with relatively simple tools and

equipment, quite quickly and doesn’t cost tens or hundreds of thousands of Dollars.

We have attached some References for those interested in the underlying

technology and covering the more advanced functions of the MiRobot Control

System

You don’t have to use the References or get involved in the advanced functions to

construct or operate the MiRobot.

This Manual

www.techedu.com.au

Introduction

This Manual and the Mechanical Assembly Manual contain all the information

necessary to build the MiRobot ( Mini Industrial Robot ), install its control system

and operate it with the MiRobot Software.

To complete the MiRobot you will need to follow the instructions in both the

Mechanical Construction and Control System Manuals and of course manufacture

and assemble the individual components as described.

We suggest you start building the mechanical components of the MiRobot......

its impossible to fit the control system to a Robot that doesn’t exist.... so....

In general the construction steps are :

Read and understand the Manuals.

Check you have all the required components.

Install the MiRobot Software which will create the files

required for 3D printing.

Print the components.

Assemble the Mechanical Components including the Servo’s.

Complete the Control System installation.

Test and Calibrate the completed Robot.

Write some programs to try out the MiRobot.

During construction and assembly its VERY IMPORTANT to follow the instructions,

sometimes its necessary to assembly components in a specific order, or

components can be damaged by incorrect assembly.

If your not sure about something - re read the instructions or ask for help !

The MiRobot Software includes Advanced Functions that you may wish to try out,

these enable you to write your own user interface or remotely control the MiRobot

over a network or the Internet, you can also build groups of MiRobot’s and interface

them with other devices to perform complex operations.

These Advanced Functions require extra knowledge and skills ....... but will provide

extra challenges and learning opportunities.

We hope you enjoy building your robot and learn a lot along the way.

The Technology Team Education

www.techedu.com.au

Supplied Components

What Control System Components are supplied ?

Item 1. An Arduino Uno or Uno clone Microprocessor

Item 2. Six Servo’s ( two different sizes )

Item 3. Collection of Servo Flanges, Arms and Screws

Item 4. A Servo connection Shield ( Printed Circuit Board )

May be supplied unassembled by special order.

Item 5. A USB lead ( Type A to Type B )

Item 6. A Six Volt DC Plug Pack

Item 7. Five Servo extension cables

What you need to have......

A Computer running Microsoft Windows XP®, Microsoft Vista®,

Microsoft Windows 7®, Microsoft Windows 8 / 8.1® or Windows 10®

The Computer must have one free USB port

( USB Hub is acceptable ).

A two button Mouse

DirectX compatible Video card or system ( Standard nowadays... ).

A screen resolution of at least 1024 x 768 pixels.

1GB of RAM and 25MB of unused Hard Disk space for files.

Four 1.5V “D” batteries. We suggest Alkaline or Rechargeable.

What you will need to install.......

The MiRobot Control / Simulation Software available from Technology

Educations or otherwise supplied.

Tools.......

There are no tools required to connect / use the MiRobots Control System.

www.techedu.com.au

Industrial robots come in a wide range of Axes configurations.

The majority use rotary Axis motion but some use linear or combinations of rotary

and linear systems. These rotary and linear actions can and are assembled into a

large number of different configurations as required for specific tasks. A Web search

will show you just how many different styles of Industrial Robot there are.

Every Axis requires its own Servo and control system, and adds extra cost, so

getting the task done with the minimum number of Axes makes sense.

The more axes, also called degrees of freedom, the greater the robots

manoeuvrability and work flexibility. Many articulated robots, feature six axes, but of

course not all applications require as many to work effectively.

In the MiRobot, five axes are sufficient to provide a wide range of movement. It is

also important to remember that the End Effector ( a gripper or other device ) is not

considered an Axis.

Your Robot has five Axes, but uses six Servo’s.

Different Robot manufactures identify their Axes with different combinations of

letters, numbers or descriptions, there is no commonly used standard, so we are

free to create our own Axes titles.

Industrial Robot Axes

A six axis Articulated

Industrial Robot.

Commonly used for

larger / heavier

manipulation and assembly

A three axis SCARA

Industrial Robot.

Commonly used for

Pick and Place packing

and assembly

A three axis Cartesian

Industrial Robot.

Commonly used for

Palletising and materials

movement.

Some explanations from Wikipedia......

SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance

Articulated Robot Arm.

A Cartesian (also called linear robot) is a robot whose three principal axis of control are linear (i.e.

they move in a straight line rather than rotate) and are at right angles to each other.

An articulated robot is a robot with rotary joints.

www.techedu.com.au

MiRobot Axes and Gripper

Your Robot uses the following Axes and descriptions.

Axis - A ( Waist )

Rotary Action, 180 degree rotation, + 90 to - 90 Degrees

This axis, located at the robot base, allows the robot to rotate left to right. This

motion extends the work area to include the area on either side of the arm.

Axis - B ( Shoulder )

Rotary Action, 135 degree rotation, + 90 to - 45 Degrees

This axis allows the lower arm of the robot to extend forward and backward. It is the

axis powering the movement of the entire lower arm.

Axis - C ( Elbow )

Rotary Action, 180 degree rotation, + 90 to - 90 Degrees

The axis extends the robot's vertical reach. It allows the upper arm to raise and

lower.

Axis - D ( Wrist Pitch )

Rotary Action, 160 degree rotation, + 80 to - 80 Degrees

This axis allows the “wrist” of the robot arm to be rotated up and down.

Axis - E ( Wrist Roll )

Rotary Action, 160 degree rotation, + 80 to - 80 Degrees

This allows the “wrist” of the Robot to be rotated, both to position end effectors and

to manipulate parts.

Gripper - G ( Not an Axis )

Linear Action, 0 to 100% ( of possible opening )

And of course an “End Effector which is NOT classed as a Axis.

Olympus Technologies Ltd.

A commercial Six Axis

Articulated Industrial Robot This is the Axis

we have deleted

www.techedu.com.au

A+

E+

E-

G+

G-

D-

D+

B+

A-

Axis - A ( Waist )

180 degree rotation, + 90 to - 90 Degrees

Axis - B ( Shoulder )

180 degree rotation, + 90 to - 90 Degrees

Axis - C ( Elbow )

180 degree rotation, + 90 to - 90 Degrees

Axis - D ( Wrist Pitch )

160 degree rotation, + 80 to - 80 Degrees

Axis - E ( Wrist Roll )

160 degree rotation, +80 to - 80 Degrees

Gripper - G ( Not an Axis )

Linear Action, 0 to 100%

B-

C-

C+

MiRobot Axes and Gripper

www.techedu.com.au

End Effectors

In Robotics, an End Effector is the device at the end of a robotic arm, designed to

interact with the environment. The exact nature of the device depends on the

application of the robot, and what it is required to do.

In the strict definition, the end effector means the last link (or end) of the robot. At

this endpoint the tools are attached. End Effectors may consist of a gripper or a tool

Grippers

The most common mechanical gripper can be of two, three or even five fingers.

End-of-arm-tooling (EOAT)

End of Arm Tooling refers to a variety of options that are available to industrial robot

users to complete industrial applications. Applications ranging from arc welding to

material handling require EOAT specially designed to complete the task. Like the

name implies, EOAT is installed on the wrist of the robot

A Two Finger Gripper

A Laser Cutting Tool A Nut Driver MIG Welding Tool

A Three Finger Gripper

Of course there are an almost unlimited number of possibilities for End of Arm

Tooling, different products and assembly processes will require different tools, most

of which are specially made for the application. Most Industrial Robots are designed

so that Grippers or End of Arm Tooling can be easily attached by the user.

www.techedu.com.au

The MiRobot Gripper

Gripper Fingers

Clamping surfaces

Linkages

Intermeshed Gears

Gripper Servo

The MiRobot uses a Finger style gripper, which allows manipulation of a wide range

of objects. It is also a compact system, allowing a large variation in opening without

a bulky mechanism. Please remember......the robot is designed to lift only small

weights !

The gripper uses a single servo to turn a pair of intermeshed gears. Being meshed

gears they turn in opposite directions.

These gears and the attached linkages form two links of a four link parallelogram,

allowing the fingers to open and close with the gripping surfaces remaining parallel.

Because of the parallel action, the gripping surfaces of the fingers move slightly

forward when closing and backwards when opening.

The Gripper Fingers are also setup NOT to close completely, which could lead to

excessive strain on the Servo, high current draw and short battery life. Foam rubber

pads are fitted to provide clamping force, a non slip surface and a degree of “give”,

allowing irregular objects to be more easily handled.

www.techedu.com.au

Handling Electronic Assemblies

Apart from the obvious potential for mechanical damage to electronic components

and assemblies when they are mistreated, there is another more subtle and hidden

risk...... Electrostatic Discharge ( ESD )

With complete assemblies like your Uno, the ESD risk is low as the electronics have

built in self protection that is effective once the components are assembled onto the

Printed Circuit Board ( PCB ), but handling with care is always a good idea.

Some general information on ESD..........

We experience occurrences of ESD everyday. For example, walking along a

carpeted floor in a heated room during winter may generate sufficient static

electricity to give us a small shock when we touch the door knob.

While this sudden discharge of static electricity does not result in any harm to the

human body, it can be very damaging to electronic devices. It is possible for

electronic devices to be damaged by ESD that is imperceptible to the human body.

The main Integrated Circuit on an Xbox One has around five million transistors in a

package about the size of your thumbnail. The dimensions of the structures inside

many electronic components are EXTREMELY small and electrically “fragile”, the

energy from an Electrostatic Discharge can easily damage or destroy them.

Electron Microscope image of ESD damage

to the inside of an Integrated Circuit

Undamaged Damaged

Means of ESD generation and potential Voltages

Humidity 10-20% 65-90%

Walking across a carpet 35,000 V 1,500 V

Walking on a vinyl tile floor 12,000 V 250 V

Vinyl envelopes for work instructions 7,000 V 600 V

Worker at bench 6,000 V 100 V

Unassembled electronic components may be EXTREMELY sensitive to ESD

damage so great care and adherence to safe working practices is absolutely

essential. There is lots of technical information available on the safe handling of

integrated circuits and electronic devices both in printed form and on the Internet.

www.techedu.com.au

The MiRobots Control System

Your Robot needs a control system in order to do anything.

This control system is responsible for receiving commands and converting them into

position information that the Servomotors can work with.

To do this we are using a Micro Controller on an Arduino Uno circuit board. The

Micro Controller used is an Atmel Corporation ATMEGA328P.

A Micro Controller is just a very small computer, similar in general principle to

Laptops, Desktop Computers, Mobile phones, and......., in fact just about anything

that is computer controlled.

Where it differs significantly is that all of the sub parts commonly found on a bigger

computer are minimized and squeezed into a single Integrated Circuit. By full size

computer standards a micro controller is very limited in computing power...... but as

it doesn’t have to create graphics for a screen, or communicate with the Internet etc.

what processing power it has is completely committed to its single task.

By being completely focussed on this single task, a Micro Controller can be

programmed to do many useful things.

Whilst Micro Controllers may seem

inferior to other Computers, they

frequently have inbuilt systems that

make interfacing and controlling real

world devices relatively simple.

The ATMEGA328 has lots of Input

and Output pins that can be used for

connection to the outside world for

both Digital ( on / off ) signals and

continuously varying ( Analog )

voltages. They don’t need disk drives

or external memory to store the

program or data... its all on the one

chip.

They also have built in

communication systems, some for

working with other electronic devices

and others for communicating with

other computers, and of course us.

Just turn them on and away they

go.... simple and focussed !

The ATMEGA328 we are using is a

very useful small Micro Controller, but

there are other far more powerful

devices available.

The Block Diagram of a Atmel

ATMEGA328..... you don’t need to

understand it, its just for reference.

www.techedu.com.au

Your Robot uses a pre programmed Arduino Uno “clone” to generate the Servo

control commands and communicate with a Microsoft Windows computer.

From the official Arduino web site : “Arduino is an open-source electronics platform

based on easy-to-use hardware and software. It's intended for anyone making

interactive projects”. The Uno is one of the simpler Arduino boards and is

programmed in a variation of the C programming language.

You can discover more about the Arduino Uno at the Uno web page :

http://www.arduino.cc/en/Main/ArduinoBoardUno

Arduino sell genuine circuit boards, but they are also “open source” allowing many

other manufacturers to produce clones that are identical in outline, connector

location, pinouts, programming and of course operation. To minimise confusion we’ll

just call our Controller board a “Uno” from now on.

The Uno is also fitted with an extra “Shield” ( Arduino speak for an extra circuit

board ) to make the connections to the Power Supply and Robot Servo’s easy.

VERY IMPORTANT

The MiRobots Uno is preprogrammed with a small Robot Operating System when

you receive it.

Whilst it is possible to write your own “low level” Uno programs to control the Robot,

when you upload them to the supplied Uno you will PERMANENTLY OVERWRITE

the pre-loaded Robot Operating System, stopping the Robot from working. Once

you upload new code to the Uno you can’t go back !

If you want to create your own Uno code, we strongly suggest you buy another Uno

or clone and keep the pre programmed one just in case. You can get complete Uno

clones for around $15 AUD if you search the Web.

There are many freeware packages allowing you to write and upload Arduino Uno

code, but remember once you overwrite the supplied system your on your own !

The Arduino web site is a great place to start looking for more information.

You can discover more about Arduino at their web page : http://www.arduino.cc/

The Top of a genuine Arduino Uno The underside of a genuine Arduino Uno

www.techedu.com.au

Robot Programming Languages

As with many things Computer related, there is no “standard” programming

language for Robots.

This is partly because of the evolution of robots over time as they have become

more complex and partly because each Robot manufacturer has their own ideas as

to the ideal programming method ( or perhaps they just want to be different ).

Fortunately, there are enough similarities between the different manufacturers that it

is possible to gain a general understanding of robot programming without having to

learn each manufacturer's proprietary language.

Over the years programming languages have changed from simple sequences of

positions to more complex coding that enables many high level functions to be

undertaken like Maths, Network Communication, reading and writing Data etc.

In fact most of the programming concepts in high level Computer languages are

available in the more powerful Industrial Robots.

A early example of a Robot programming language was “VAL” used by Unimate

Robots. VAL is still used today ( VAL3 ) in a more developed form.

PROGRAM PICKPLACE

1. MOVE P1

2. MOVE P2

3. MOVE P3

4. CLOSEI 0.00

5. MOVE P4

6. MOVE P5

7. OPENI 0.00

8. MOVE P1

.END

As you can see it is a simple sequential language, the Robot reads each line and

moves to the required position or controls a device. When each line is completed it

moves on to execute the next line until the Programs end..

Your Robot is programmed using a similar principle. Of course as we have a full size

computer available we could undertake many more complex functions, however for

our application a series of moves is all that’s required.

Other Programming languages used by commercial industrial robotics

Robot brand Language name

ABB RAPID

Comau PDL2

Fanuc Karel

Kawasaki AS

Kuka KRL

Yaskawa Inform

www.techedu.com.au

Installing the “MiRobot” Control / Simulation Software.

The MiRobot software runs on Microsoft Windows XP , Vista , Windows 7 ,

Windows 8 / 8.1® and Windows 10®.

Please ensure the latest Microsoft Windows® Service Packs / updates are

installed..... Note - MiRobot is a 32 bit Microsoft Windows® application.

The MiRobot includes the MiRobot installation software, if in a school etc it may be

available over the network.

® ® ®

If the MiRobot Installer package is

downloaded ( remember where you put

it... ), “right click” on it and choose “Run

as Administrator “ to start the installation

process.

After reading the Welcome Window,

Click “Next” to continue.

Its important to read the Installation

notes.....

You SHOULD be an Administrator to

install this software. You may need to

have UAC turned all the way off.

If you have issues with your Anti Virus

Software / Windows Defender during

installation, temporarily disable them -

but remember to re-enable them.....

Click “Next” to continue.

Read and agree to the MiRobot

License. You click on “I Agree” (

highlighted by the at left ) to

continue instillation.

If you don’t agree, the software will not

be installed.

Click “Next” to continue.

MUST

red circle

www.techedu.com.au

You can select where the MiRobot

software is to be installed, we suggest

using the default location for simplicity.

As the MiRobot requires a physical USB

connection, installing on a network drive

is not recommended.

Click “Next” to continue.

We are now ready to start the actual

program installation.

Click “Next” to continue.

That’s it .....

If your installation has encountered

problems extra information will be

displayed.

Click “Next” to continue, finalize and exit

from the MiRobot installation package.

You will now have a new Program installed called MiRobot and have a new shortcut

on your desktop. MiRobot has also created an Un-Installer file should you wish to

remove the MiRobot software.

Install the Arduino USB driver as described on the next page.

IMPORTANT - the MiRobot software will NOT OPERATE without the

MiRobot hardware being plugged in.

www.techedu.com.au

The Uno connects to the PC by a Type B USB lead.

The Uno used in your Robot automatically draws power from the USB connection to

the computer AND a Six Volt DC Plug Pack ( supplied ).

Power, USB and USB Drivers

Installing drivers for the Uno with Windows 10, 8, 7, Vista, or XP.

Unfortunately there are a number of different “Device Drivers” used by Uno’s (

genuine and clone ) to interface with a Windows Computer. Some Windows

versions already come with appropriate drivers, in others you will need to install

them. With Windows 7 and up, in many cases Windows will already have the

required drivers installed.

However some Uno’s will require manual installation. The driver installer was copied

to the drivers folder of the MiRobot program if needed. If everything goes wrong,

allowing Windows to search the Internet will usually locate and install the correct

drivers.

The first time you plug your Uno into ANY USB Port, device drivers will be

required... so it pays to plug your Uno into the same USB Port each time or when

installing drivers plug the Uno into each port and repeat the driver installation

process as required. Once drivers for the Uno are installed on a Port you will not

need to repeat the process.

Each Windows version has slightly different installation procedures so its not

possible to provide a “one size fits all“ explanation. Things to remember when

installing drivers :

Are you an Administrator... ? You may need this permission to install ANY

software and especially device drivers.

Is your Microsoft Windows version 32 or 64 bit ? Each version may require a

different driver sub version.

Is UAC turned completely off ? You may need this permission to install ANY

software.

Are you running a Microsoft Windows Version that requires “signed” Device

Drivers ( Windows 8 and up...) ? You will need to temporarily disable device

signing to install your Uno.

Your Anti Virus Package may need to be temporarily disabled to install a

Program or Device Driver.

Six Volt DC Plug Pack

USB Connection to Computer

www.techedu.com.au

Connecting the MiRobot

You should connect the MiRobot to the Computer with the USB cable then

the Plug Pack Power Supply starting the MiRobot Program.

Uno’s have a Reset Button, may need to press it to reset the MiRobot Hardware. If

you are having problems connecting - press it.

Uno’s have four Light Emitting Diodes ( LED’s ) fitted, there are some variances in

layout and colour so some checking may be required, but the functions are usual

screen printed onto the UNO circuit board beside each LED.

RESET BUTTON

STANDARD UNO LED FUNCTIONS

Power - When illuminated indicates

that the Uno is ON.

RX - When illuminated indicates

that Data is being received.

TX - When illuminated, indicates

data is being Transmitted.

L - General purpose indicator.

The L LED is used to indicate that the MiRobot Servos are enabled - we call it the

Status LED from now on.

Connection Sequence

Plug the Uno into the computer, the Power LED will illuminate and the Status

LED will blink a few times.

Connect the Plug Pack Power Supply.

Start the Mirobot Program, the TX and RX LED’s will blink a few times as well

as the Status LED.

After a few seconds the Power and Status LED’s should BOTH be

illuminated.

Unless BOTH the Power and Status LEDS’ are illuminated the Mirobot and

MiRobot Software will not work.

Unplugging during operation.

If you unplug the Mirobots USB Cable during operation you must reconnect the USB

cable and RESTART the MiRobot Software. You cannot simply plug it back in as the

Servo’s will not be enabled.

connect

BEFORE

If the STATUS ( L ) LED it is not illuminated after starting the MiRobot software

the system will NOT work. Close the MiRobot Software and press the Uno’s

Reset Button, then try again.

POWER

www.techedu.com.au

It would be great to have one type of universal connector that all RC Servo

manufacturers use, but perhaps not unexpectedly this is not the case.

Having servo leads the right length would also be a plus, but we can’t blame the

Servo manufacturers for that, so we will also need to use Servo Extension Leads

Fortunately we’ve done the work for you and designed a Servo Connection Shield

including “Overlay” text to guide you in connecting the Servo Cables / Servo

Extension Leads. The whole system is “Plug and Play”.

What is the Servo Connection Shield ?

From the Arduino web page.... “Shields are boards that can be plugged on top of the

Arduino PCB extending its capabilities. The different shields follow the same

philosophy as the original toolkit : they are easy to mount”.

Many Shields contain complex electronics to extend the capability of an Arduino, our

shield is VERY simple, it does nothing more than allow easy connection for your

Servo’s and switches the Servo Motors power On and Off as required.

Arduino Shields are also very simple to assemble to the Arduino board, you simply

align the downwards facing pins on the Shield with the sockets on the Arduino and

CAREFULLY push them together.

Many Shields are designed to be stackable, with a set of sockets on top of the

downwards facing pins, allowing Shields to be stacked. Your Shield is designed to

be a top level Shield because of the number and type of connectors it will be used

with.

Connecting the RC Servos

Arduino Uno

Servo Shield

Step 2 - GENTLY and EVENLY squeeze the Boards together.

Step 1 - Referring to the illustration below, align the Servo Shield with the back end

of the Uno, making sure that the pins align with the sockets. Note - not every socket

position on the Uno is connected to the Servo shield.

This pin aligns with the FIRST socket position on the Uno.

This pin aligns with the FOURTH socket position.

www.techedu.com.au

The Servo Connection Shield

In the centre of the Servo Connection Shield is a group of pin headers ( 6 x 3 ) for

connection of your Servos - each Servo uses three pins.

At the left hand side of each row of pins is a description of what Axis it is designed

to connect to, along with the colours of the connecting wires.

Flying leads are also provided for connection to the six Volt Battery Pack.

Because the Servo wires vary in colour, and there are rather a lot of them, we’ve

had to get a bit “creative” with the labels. On any row the left hand colour label is

associated with the left hand pin, the center colour label - the center pin and the.......

you get the picture.....

Connection

Axis

Wiring

Colors

Servo

Connectors

Just for Information

We have listed a few other RC Servo Manufacturers Color Codes. It is highly

recommended, before you experiment with an unknown servo to check what each

wire does. Getting it wrong can be expensive. Servo Extension Leads also come in

a range of different colors just to add to the confusion.

Manufacturer Positive Negative Signal

Airtronics / Sanwa RED BLACK BLUE or YELLOW

Futaba RED BLACK WHITE

Hitec RED BLACK YELLOW

Japan Radio RED BROWN ORANGE

Tower Hobbies RED BLACK WHITE

Kyosho / Pulsar RED BLACK YELLOW

www.techedu.com.au

Brown Wire ( Negative )

Red Wire ( Positive )

Orange Wire ( Control )

The Servo Plugs are actually pushed down from

the top NOT the side ...... the picture is to ensure

you get the Plugs the right way around.

The pin headers are at a fixed spacing, and quite

small. The Servo extenders may be a tight fit.

It is IMPORTANT that the Servo Plugs are fitted

correctly, the Servo and / or the Uno could be

damaged if you get it wrong.

Try to get the correct Axis Plug on the correct

Servo Connection Shield Connector, nothing will

be damaged if you get it wrong - just the wrong

Axis will move when commanded.

SERVO

Connecting the Servos to the Servo Shield

Unfortunately the wiring fitted to the Servo’s from the manufacturer is only long

enough to directly connect Axis A.

All the other Axes and the Gripper require the use of Servo Extension Leads. This

means you will need to use five Servo Extension Leads - they are all identical so it

doesn’t matter which one you use for any Axis.

These cables simply plug into the factory Servo wiring ( they are available in an

array of different lengths from different suppliers ) and run inside the Robots arm

down to the Servo Connection Shield on top of the Uno.

Any excess cable can simply be looped inside the Aluminum sections of the Robot

to keep things looking neat and prevent the cables getting in the way.

When tidying up the Servo wiring, ensure there is adequate cable slack available

so that each Axis can move throughout its entire travel without straining or

jamming the wiring.

The full table of all the Servos, cable colours and the required connections are

shown on the next page.........

www.techedu.com.au

Servo Wire color

Axis

A Axis

B Axis

C Axis

D Axis

E Axis

Gripper

Brown

Red

Orange

White

Red

Brown

Black

Extender Wire color Wire color at Shield

Servo / Extender / Servo Connection Shield- Connection Table

Axis A

Axis C

Axis D

Axis E

Gripper

Extender

Ensure the Connector colours

match those shown on the

Servo Connection Shield

Do NOT force the Connectors

onto the Servo Connector

Shield Pins.

Axis B

www.techedu.com.au

Much of this section is for information only....... as it applies to Robots used in

Industrial applications, your mini Robot has minimal risks when compared with full

size units. Its can’t exert much force, is battery powered and is lightweight. It might

fall off your desk or spill you coffe if it hits something but that’s about it, still be

careful !

However full size Robots of any type CAN be extremely dangerous unless safety

measures are taken.

The power and size of industrial Robots mean they are capable of inflicting severe

injury or causing death if programmed incorrectly or used in an unsafe manner. Due

to the mass and high-speeds of industrial Robots, it is never safe for a human to

remain in the work area of the robot during automatic operation.

The system can begin motion at unexpected times and a human will be unable to

react quickly enough in many situations, even if prepared to do so.

Even if the software is free of programming errors, great care must be taken to

make an industrial Robot safe for human workers or human interaction, such as

loading or unloading parts, clearing a part jam, or performing maintenance.

Industrial Robots are fitted with guards or installed in fenced off areas to ensure

people are kept out of danger. Special systems are fitted to allow safe maintenance

and programming.

Fortunately the risks of working with Robots is well understood and most countries

have compulsory Standards governing their safe use. Some examples are:

AS 4024.3301-2009 Safety of machinery - Robots for Industrial Environments -

Safety Requirements.

ANSI/RIA R15.06-2012 Safety Requirements.

ISO 10218-1:2011 (robot)

ISO 10218-2:2011 (robot systems and integration)

These documents are very heavy reading. Robot manufacturers and resellers are

also valuable sources of safety information and training for real world applications.

NEVER ENTER AN AREA WHERE AN INDUSTRIAL ROBOT IS OPERATING.

FOLLOW ALL SAFETY PROCEDURES WHEN WORKING WITH A ROBOT.

Robot Safety

www.techedu.com.au

Using the MiRobot Program

After you have successfully completed the MiRobot software installation, you will

have a MiRobot program shortcut on the desktop and an entry in “All Programs”.

Double click on the Icon or Program entry to start the MiRobot Program.

The MiRobot startup screen will be displayed, and it will

attempt to find the robot hardware’s USB connection.

If it is the first time the program has been run, or the

hardware is plugged into a different USB port ( avoid

using different USB ports unless you like installing

Device Drivers...... ) the default configuration most likely

will not be correct.

A Window will open allowing you to search for the robot

hardware.

Depending on your Windows version you can either use

the Manual or Automatic “Link” Buttons. The Com Port

display will turn RED and the software will try to locate

the MiRobot hardware.

If Automatic doesn’t work, manually set the Com Port

number ( this Port Number can be found in the

Windows Control Panel / Device Manager / Ports (Com

and LPT).

If you have the MiRobot hardware plugged into a USB

port ( and the Arduino Uno has been installed as

previously described..... ), then it should be located and

a success message displayed.

Click Ok on the “Found...” message and the MiRobot Program Window will open.

If the Mirobot hardware is not located then the MiRobot program cannot be used -

make sure the USB cable is plugged into the Computer and into the MiRobot

Hardware.

You can press the “Link” button again to try to “refind” the hardware as required.

If the MiRobot Hardware cannot be located then close

the MiRobot Comms Setup Window and the program

will exit.

IMPORTANT : you cannot use the MiRobot software

without the Mirobot.

The MiRobot Hardware is also not useable without the

MiRobot software.

www.techedu.com.au

The MiRobot ProgramWindow

Simulation Section

The Simulation section of the MiRobot Window, displays an animated graphic of the

physical MiRobot Hardware. Mouse hints are displayed in the top left corner.

Changing the View :

Press the LEFT Mouse Button and move the Mouse to Pan ( move ) the viewpoint.

Press the RIGHT Mouse Button and move the Mouse to Zoom in and Out.

Hold the SHIFT Key and press and move the LEFT Mouse Button to rotate in Z.

Hold the SHIFT Key and press and move the Right Mouse Button to rotate in X/Y.

www.techedu.com.au

Manual Axes and Gripper Control

Display Controls

Each Axis has identical controls allowing the MiRobot to

be manually moved.

The numerical display indicated the Axis position in

Degrees.

The Right and Left Arrow Buttons shift the axis by one

degree. This can be quite slow but is safer especially

when developing a program that has objects within the

work area.

The Right and Left Arrow, Plus and Minus Buttons shift

the Axis by five degrees.

The colour patch indicates the colour of the relevant

Axis.( Clicking on the Colour Patch allows the Axes

colours to be changed. )

In the Display Section, selecting

the “Solid” Radio Button sets the

Simulation display to a Solid

Rendering of the MiRobot,

In the Display Section, selecting

the “Solid and Wire” Radio Button

sets the Simulation display to a

Solid Rendering with an overlayed

Wire Frame.

In the Display Section, selecting

the “Wireframe” Radio Button sets

the Simulation display to a simple

Wireframe Rendering.

www.techedu.com.au

Viewpoint Controls

Simulation Speed Control

Viewpoint Controls

In the Viewpoint Section, selecting

the “Standard” Radio Button sets

the simulation viewpoint to the

user default ( Viewpoint 1 ).

Selecting the “Gripper” Radio

Button sets the simulation

viewpoint to the end of the

Gripper.

Selecting the “Top” Radio Button

sets the simulation viewpoint to

looking down on the top of the

MiRobot.

Selecting the “Bottom” Radio

Button sets the simulation

viewpoint to looking up from the

bottom of the MiRobot.

The Simulation Speed Control changes the animation

speed of the simulation NOT the movement speed of the

MiRobot Hardware.

Due to the huge differences is computer processing

capability, it is not possible to provide a single setting

that suits all users.

The optimum setting for a specific computer is for the

MiRobot hardware to finish its commanded move JUST

BEFORE the simulation completes its move.

Having the simulation running faster then the MiRobot

hardware can move, will result in the actual movements

of the hardware not being completed before the next

position is sent from a stored program....... your program

might not work correctly.

Individual Manual movements are not affected.

Once you have adjusted the Simulation Speed Control, it

should not need ongoing adjustment..... it is stored as a

default between sessions.

“Double Clicking” anywhere

on the simulation will

immediately reset the view to

Hint

www.techedu.com.au

Program Display / Editing Section

“Add the Current Co-ordinates to the Program”

Button

Pressing this Button adds the current set of Axes Co-

ordinates from the Manual Control Section to the END of

the Program Table.

This allows a Program to be easily built up by manually

moving the Axes using the Manual Controls, and when

the desired position is reached adding it to the Program

Table.

Robot Program Display

If a Program has been loaded, or the current program

saved its name will be displayed in this area.

The Program Table

The Program Table allows for the display and editing of a

llist of points ( a Program ) that can be used to

automatically control the MiRobot hardware.

The columns of the table are :

R The Axes Position ( All Axes entries required )

Type in the required Axis angle in Degrees.

R The Gripper Position ( Required )

Type in the required Gripper opening.

R CMD ( Optional )

Any Command ( See Programming Commands )

R Comment ( Optional )

Any descriptive text as required.

You can use the horizontal and vertical Scroll Bars on

the Table to display sections that are hidden.

Each entry is checked for validity and corrected to

default settings as required. Not all axes can be moved

by 180 Degrees, so minimum and maximum values will

vary with each Axis.

IMPORTANT NOTE : Each row of the Table represents a

set of positions for the MiRobot, each Row MUST

include angles for ALL Axes and the Gripper position.

The CMD and Comment fields are optional.

Clicking this Button will display

a basic overview of available

MiRobot Commands

Use the Scroll Bars to move to

“hidden” program rows and to

view Comments.

Hint

www.techedu.com.au

The Dropdown Menu’s

File > Open MiR File

Opens a MiRobot File ( .MiR file extension ) and loads its

contents into the Program Table. A standard Windows

Dialog Box will open allowing you to select the required

file.

Note : any existing Program Table contents will be lost.

File > Save MiR File

Saves the contents of the Program Table to a MiRobot

File ( .MiR file extension ). A standard Windows Dialog

Box will open allowing you to add the required file name.

File > Print

Prints the contents of the Program Table to a connected

Windows Printer.

File > End

Closes the MiRobot Program.

Edit > Insert Row at Cursor

Inserts an empty row in the Program Table AFTER the

currently selected row.

Edit > Delete Row at Cursor

Deletes the currently selected Row.

Edit > Copy Row at Cursor

Copies the Current Row to the MiRobot Clipboard ( not

the Windows Clipboard ).

Paste Row at Cursor

Pastes the contents from the MiRobot Clipboard ( not the

Windows Clipboard ) to the current Row.

Clear Current Program

Clears the Current Program.

File :

Edit :

www.techedu.com.au

The Dropdown Menu’s

View > Viewpoint 1

Sets the currently displayed simulation Viewpoint to the

saved Viewpoint 1. This is the default Viewpoint.

View > Viewpoint 2

Sets the currently displayed simulation Viewpoint to the

saved Viewpoint 2.

View > Save Current View to Viewpoint 1

Sets the saved Viewpoint 1 co-ordinates to match the

currently displayed simulation Viewpoint.

View > Save Current View to Viewpoint 2

Sets the saved Viewpoint 2 co-ordinates to match the

currently displayed simulation Viewpoint.

Be careful when saving Viewpoints, especially Viewpoint

1 ( the startup default ). Odd viewpoint can make

understanding the MiRobot physical position difficult.

View > Video Feed

Advanced function - See Reference 10

Setup > Send Robot Home

Sends the MiRobot to its “Home“ position.

Setup > Goto Order

Allows the user to specify whether the Homing

movement is undertaken from Axis E to Axis A or the

other way around.

Setup > Set Axes Colours

Allows the User to select colours for each of the

MiRobots Axes and the Gripper via a standard Windows

Colour Selection Box.

Setup > Servo Connections

Displays the connections between the MiRobot Servo

Connection Shield and the Servos. This is a duplicate of

the information included in this Manual.

View :

Setup :

www.techedu.com.au

The Dropdown Menu’s Setup > Set Servo Neutral

This menu selection is mostly used when assembling the

MiRobot.

It is EXTREMELY important that the alignment of the

MiRobots physical components is correct.

All Servo’s are sent to the MECHANICAL Neutral

position as shown.

Please refer to the Mechanical Assembly Manual for a

full description of the mechanical alignment process.

Setup > Servo Trims

Allows for minor adjustment of the B and C Axes

operating neutral position. Refer to the Servo Trim page

for more information.

Setup > Remote Control

Advanced function - see Reference 9

Setup :

www.techedu.com.au

About

Displays the MiRobot Software Information Screen.

About :

Robot > Enable

With “Robot Enable” selected any movement in the

MiRobot Software results in movement of the MiRobot

hardware.

With “Robot Disable” selected the MiRobot Hardware

WILL NOT move. All movements and Program

commands are ignored.

Robot > Ground Crash Stop

Ground Crash Stop, allows you to turn off the system

that warns that you are about to “crash” into the ground

plane.

This setting is ON by default and must be turned off

each time you run the MiRobot software.

In most case this system should be left ON... however

you may genuinely need to reach below the Ground

Plane so the system can be disabled as required.

Robot > Move to Edit Position

When activated, selecting a Row in the Program Table

will automatically move the MiRobot to the positions set

in that Row.

When editing is complete the MiRobot will automatically

move to this edited position.

Use with great care as there may be objects in the

MiRobots path. This option is TURNED OFF by default

Robot > Key Control

Selecting this option will open a Window allowing control

of the MiRobot from the PC Keyboard.

Unfortunately the Pc’s Keyboard layout doesn’t provide a

layout that is ideal for control of so many Axes so be

careful to familiarise yourself with the key layout.

See also - Advanced function - see Reference 9

Robot :

www.techedu.com.au

Creating a MiRobot Program

Creating a sequence of movements for the MiRobot is simple.

The easiest approach is to use the manual controls to move each axis as required,

then when the MiRobot is is the correct position, press the “Add the Current Co-

ordinates to the Program” Button.

Each “click” of the “Add...” button will

add a new line to the Program,

allowing you to build up a complex

series of movements.

You can also manually enter ( or edit )

each line of co-ordinates, although

this can be a very time consuming and

difficult to visualize process.

Double clicking in a cell will....

1/ Move the Mirobot to the currently

selected row position. ( if the Mirobot is enabled )

2/ Open the specified cell for editing.

3/ When editing is complete the

MiRobot will move to the new

position. ( if the MiRobot is enabled )

Commands ( CMD )

The CMD column allows a SINGLE programming command to be added per row.

“D#####” A programable delay at the end of the program movement.

The Delay is specified in mS ( thousandths of a second ), with a

maximum of 30,000 ( 30 Seconds ).

“L###” Loop causes the Program to jump to the provided ( valid ) line

number.

“ON” Turns on the User Output ( Advanced Function - Reference 12 )

“OFF” Turns off the User Output ( Advanced Function - Reference 12 )

“H<” Wait for Handshake In ( Advanced Function - Reference 13 )

“H>+” Turn ON Handshake Out ( Advanced Function - Reference 13 )

“H>-” Turn Off Handshake Out ( Advanced Function - Reference 13 )

“SEND” Transmits the Comment to the Remote Link ( if active ).

“CHAIN” Loads the “filename” from the Comment Column.

File must be in the “\MiRobot\Programs” folder.

Comments

The use of Comments for lines is a great idea.... its often difficult to remember

exactly what each movement does in a long program. When creating any type of

Computer Software, lack of documentation is considered poor practice.

www.techedu.com.au

Chaining MiRobot Programs

A complete sequence of movements does not have to be created in a single

MiRobot Program, you can create smaller “sub Programs” and then use the CHAIN

Command to have the MiRobot automatically load the CHAINed Program at the end

of the current Program.

There is no limit to the number of Programs that can be chained together

For very complex systems it can be easier to write and test smaller programs to

perform individual actions then when they are complete and working create a final

program by chaining together all the sub programs

Technically the CHAIN Command can be used anywhere in a Program.... but it

would be a little unusual as everything after the CHAIN command would not be

executed unless the L Command was used to divert Program flow.

PROGRAM 1 PROGRAM 2 PROGRAM 3

CHAIN PROGRAM 2 CHAIN PROGRAM 2 CHAIN PROGRAM 1

Each CHAINed Program is just a normal MiRobot Program and can be created and

tested as a stand alone program. All functions and Commands work exactly as

usual.

If the CHAINed Program is not found the MiRobot simply stops.

CHAINing when under Remote Control

If you load a Program using Remote Control it will be executed as usual and CHAIN

any included programs.

Of course if you have created your own interface you can just wait for the current

program to end, remotely command the next Program to be loaded then run it.....

loading and running as many Programs as you want.

An “endless loop” of CHAINed Programs

www.techedu.com.au

Testing and Running a MiRobot Program

Testing a MiRobot Program

After a Program has been loaded, created or edited, it is ready to be “Run”.

You might not want the MiRobot to physically move when

testing your program - select the Dropdown Menu item ”

Robot > Disable Robot” which will allow the on screen

simulation to be displayed without the MiRobot actually

moving.

Most Commands behave exactly the same when the MiRobot is disabled, however

the H< command is slightly different. Instead of waiting for a real Handshake In

signal, a Windows dialogue box will open allowing you to “simulate” this signal.

Clicking the “Run Program” Button will execute the

complete program on screen. During Program execution

all of the on screen Status Indicators function normally.

Remember to re-enable the MiRobot using the Dropdown Menu item

“Robot > Robot Enable” after you have finished checking your program.

Stopping a Running Program

Regardless of wether the MiRobot is disabled or enabled, clicking on

the RED or Orange “CLICK TO STOP” indicator will pause a running

Program. You are able to Continue or Stop / Reset the Program.

Note: the simulation may move a little after the Stop Indicator is

“clicked”.

Using the Goto Button

Another way of testing individual moves in your Program

is to use the Goto Button.

Select the desired Row in the Program Table ( black

highlight ), and then “click” on the Goto Button. The

MiRobot will move directly to the selected position.

IMPORTANT NOTE : This move will be DIRECT from where the MiRobot current is

positioned to the new position. If something is in the way.......

The Goto Button does NOT execute any commands...... it is strictly a movement

control.

Its is ALWAYS a good idea to check out your Program “on screen” before

activating the MiRobot hardware to avoid “crashes”, or unexpected moves -

especially if you are used any of the Advanced Functions with other MiRobots

or devices.

www.techedu.com.au

Testing and Running a MiRobot Program

Ground Plane “Crash” Warning

The MiRobot Software includes a SIMPLE form of Ground Plane “Crash” warning.

As the software does not know about its surroundings or objects held in the Gripper,

it is only possible is to warn the user when the calculated position of gripper tips are

close to the Ground Plane ( the onscreen grid beneath the MiRobot ).

The crash warning system assumes the Mirobot is set up correctly..... if the

mechanical position does not match the on screen position then the warnings will be

inaccurate. That’s why we spent time setting the Neutral positions when building.

This system has two stages and changes slightly depending on whether the

MiRobot hardware is enabled.....

IMPORTANT :

The large warning appears ONLY during simulation, its is quite possible that you

really do want your MiRobot to reach below the Ground Plane and this warning

would interrupt operation, so its not displayed when a Program is running.

Hardware NOT Enabled ( On Screen Simulation )

An Icon appears on Screen when you are close to the Ground Plane.

A Warning Message appears on Screen when you are likely to touch the

Ground Plane, and the Ground Plane flashes on Screen.

You can continue to move the MiRobot past the Ground Plane once you have

been warned..... we can only hope you know what your doing !

Hardware Enabled

An Icon appears on Screen when you are close to the Ground Plane.

Getting CLOSE !

WARNING

www.techedu.com.au

When the MiRobot is

running, there are a

number of on screen

indicators used to show

the operating status.

Some of these indicators

are only visible when a

feature is activated, so

you may not see all of

them.

Feature Status

The User Controlled Output is turned ON.

The Handshake Output is turned ON.

The Mirobot is waiting for a Handshake Input.

The MiRobot can receive Remote Commands.

A Remote Command is being executed.

Delay mode active.

Robot Disabled.

Ground Plane Proximity Warning.

On Screen Indicators

The MiRobot is stationary and is OK to touch or work on.

The MiRobot is MOVING and is NOT a good idea to touch or work on it.

The MiRobot is PAUSED and is NOT a good idea to touch or work on it.

The Mirobot is moving, clicking on the Indicator will allow the running

program to be Stopped or Paused, and is NOT a good idea to touch or

work on it.

The Mirobot is in a Delay, clicking on the Indicator will allow the running

program to be Stopped or Paused, and is NOT a good idea to touch or

work on it.

Motion Status

Feature Status

www.techedu.com.au

During construction of the MiRobot you

used the Set Servo Neutral position

system to align the Servomotors with the

mechanical components.

Due to slight variations in Servomotors

and the 3D printed components you might

have had to settle for a “not quite right”

setup..... with the Axes not being exactly

as required.

On most of the Axes this doesn’t make much difference, but with B and C Axes

being quite long - errors multiply rapidly. The major concern is that angular errors in

B and C have a very large effect on MiRobots Ground Crash Detection system.

MiRobot calculates the EXPECTED position of the gripper fingers assuming the

mechanical assembly is PERFECT. If the actual MiRobot geometry differs, then the

real vs calculated positions will be different and the warning system will no longer be

useful. In the worst case, the Mirobot will hit the ground well before any warning.

How do we fix this ?

The MiRobot software includes an Axes “Trim” function for the B and C Axes. This

allows minor correction for geometry errors from within the MiRobot software.

Using the normal movement buttons on the Main Screen, move the

B and C Axes so that both indicate Zero degrees on their displays.

If B is vertical and C horizontal then no trimming is necessary.

If either is out of alignment, select Setup > Axes

Trim, from the MiRobot Main Window drop down

menu’s.

Adjust the B axis first until it is vertical.

Adjust the C axis until it is horizontal.

Close the Axes Trim Window..... all done !

The MiRobot software will now automatically

correct for the B and C Axes errors.

Servo Trims

IMPORTANT

The Axes Trim function corrects for the MiRobot that is

currently connected. If you use a different MiRobot or

Computer then the Trim settings are unlikely to be correct.

In this case you will need to re trim to match the current

MiRobot.

www.techedu.com.au

Warnings, limitations, reminders

Connect the Battery Pack / Power Supply to the Mirobot before connecting

the USB Lead or opening the MiRobot Program.

Remember to disconnect the Battery when you are finished using the

MiRobot.

Test run your Programs to ensure they work as expected, especially if there

are other objects in the MiRobots working envelope.

Set the Simulation Speed slider so that the MiRobot completes its move

BEFORE the MiRobot software visualisation.

Save you Program....... its VERY frustrating to have to re do a program once

completed and misplaced.

The MiRobot needs to be treated with care. The Servo’s have capacity

limitations, the parts are in most cases plastic, so can be broken. Replacing

damaged parts will take time and potentially cost money.

The MiRobot is NOT designed to lift weight. You may exceed the capacity of

the Servo’s causing mechanical damage or flatten the battery as the Servo’s

struggle to hold the weight.

DO NOT attempt to move any of the MiRobot axes or gripper by hand when

the MiRobot is on. You can easily damage the Servo’s.

If you must move the Mirobot Axes or gripper when the power is OFF, do it

SLOWLY and GENTLY to avoid Servo damage.

Do not allow Axis movements to cause the MiRobot to collide with other

objects / benchtops etc. The MiRobot has quite a large operating “envelope”

and can reach downwards for some distance.

DO NOT disconnect the USB cable whilst the MiRobot Program is running

You cannot just “plug it back in... “, you need to close the MiRobot software,

press the Hardware reset button and restart the MiRobot Software

DO not make DIY electrical connections to the MiRobot unless you really

understand what your are doing. Read the Reference Sections for

specifications, If in doubt - DON'T !

DO NOT upload new firmware to the supplied

Arduino Uno. You will PERMANENTLY

OVERWRITE the pre-loaded Robot Operating

System making the MiRobot and the MiRobot

software unuseable.

www.techedu.com.au

Reference 1 : How a Radio Control Servomotor Works

An RC Servomotor ( Servo ) as used in your MiRobot is a device that incorporates

an electric motor, gear set, a positioning measuring device, and driver electronics.

Three wires extend from the Servo housing, one for

power, the second for ground, and the final one is the

control input wire.

The shaft of the Servo can be positioned to specific

angular positions by sending a coded signal. As long as

the coded signal exists on the input line, the Servo will

maintain the angular position of the shaft. If the coded

signal changes, then the angular position of the shaft

changes.

RC Servos come in different sizes but use similar control concepts and are

extremely useful for many applications. The Servo’s are compact and are extremely

powerful for their size. They also draw power proportional to the mechanical load. A

lightly loaded Servo, doesn’t consume much energy. RC Servos work with voltages

between 4 and 6 volts DC ( Direct Current ).

RC Servos are available in a wide range of sizes. The driver electronics all work in

pretty much the same manner in all analog RC Servos, but the mechanical

components vary depending on the Servos size and quality.

The gears of a Servo vary between models and manufacturers. Inexpensive Servos

have plastic gears, and more expensive Servos have metal gears which are much

more rugged

Servos can be damaged if rotated by hand, so be careful not to force them.

RC Servos are constructed from three basic components, a motor, a potentiometer

(variable resistor) that is connected to the output shaft, and a control board.

The potentiometer allows the control circuitry to monitor the current angle of the

servo motor. The motor, through a series of gears, turns the output shaft and the

potentiometer simultaneously.

The potentiometers signal is fed into the

servo control circuit and when the control

circuit detects that the position is correct, it

stops the motor.

If the control circuit detects that the angle

is not correct, it will turn the motor in the

right direction until the angle is correct.

Normally a servo is used to produce an

angular motion of between 0 and 180

degrees. It is not mechanically capable

(unless modified) of turning any farther..

The amount of power applied to the motor is proportional to the distance it needs to

travel. So, if the shaft needs to turn a large distance, the motor will run at full speed.

If it needs to turn only a small amount, the motor will run at a slower speed.

www.techedu.com.au

Normally a servo is used to produce an angular motion of between 0 and 180

degrees. It is not mechanically capable ( unless modified ) of turning any farther.

There are 360 Degree Servo’s available, these are often used to drive Robot wheels

or winches of model sailboats, but in this case the command signal controls the

speed and direction not the position.

RC Servos are controlled by sending an on/off pulse train ( a repeating series of

pulses ) of variable pulse width. The control wire is used to send this Pulse Train to

the Servo’s internal electronics. The pulse parameters are configured so they have

minimum and maximum values, and a repetition rate.

Given the rotational limits of the Servo, neutral is defined as the position where the

Servo has exactly the same rotation in the clockwise direction as it does in the

counter clockwise direction. It is important to note that different Servos will have

different limits to their rotation, but they all have a neutral position and that position

is achieved with a pulse width of around 1.5 mS (0.015 Seconds ).

The Servo’s shaft angle is determined by the duration of the pulse that is applied to

the control wire. This is called Pulse Width Modulation (PWM).

The Servo requires a pulse every 20mS ( 0.02 Seconds ). The length of the pulse

will determine how far the Servo turns. For example, a 1.5mS ( 0.015 Second )

pulse will make the Servo turn and hold its neutral position.

When a pulse is sent to the Servo that is less than 1.5mS, the Servo rotates and

holds its output shaft a number of degrees counterclockwise from the neutral point.

A pulse greater than 1.5mS will result in clockwise rotation from the neutral point.

When servos are sent a command signal they will move and hold that position. If an

external force pushes against the servo, the servo will resist moving from its

commanded position.

The maximum force the Servo can exert is its torque rating. Servos cannot be

guaranteed to hold their position without a command signal, the pulse must be

repeated ( a pulse train ) to ensure the servo stays in the desired position.

1mS

OFF

ON 1.5mS

OFF

ON 2mS

OFF

SERVO

MOTOR

SERVO

MOTOR

SERVO

MOTOR

- 90 Degrees + 90 Degrees

Neutral

Position

RC Servo Position vs Control Signal

Reference 2 : RC Servo Control

www.techedu.com.au

Reference 3 : Arduino Uno Robot Pin Mapping

Gripper - Pin 3

Axis E - Pin 5

I/O 3 - Pin 4

Axis D - Pin 6

Axis C - Pin 9

Axis B - Pin 10

Axis A - Pin 11

I/O 0 Pin A0

H> Pin A1

H< Pin A2

SE 2 Pin A3

SE 1 Pin A4

UO Pin A5

Ground

5 Volt DC5 Volt DC

REPEATING SOME IMPORTANT INFORMATION !

The Robots Uno is preprogrammed with a small Robot Operating System when you

receive it. If you upload a new program to the Uno you will PERMANENTLY

OVERWRITE the pre-loaded Robot Operating System.

If you want to create your own Uno code, we strongly suggest you buy another Uno

or clone and keep the pre programmed one just in case.

So your going to modify the Electronics.....

Making the wrong connections to ANY Computer may result in permanent damage,

so you need to understand how the Uno works and its specifications BEFORE

making modifications. If you don’t fully understand - don’t do it.

The Robot Servo Shield makes the connections show below to the main Uno circuit

board. If your sticking with RC Servo’s there’s little to be gained by not staying with

the Axis pins as allocated. Clone Uno’s may look a little different but the external

connections will be the same as a genuine Uno.

Some extra Inputs and Outputs

We have also provided a number of connections to spare pins that can be used by

YOUR program as general purpose Digital ( On/Off ) or Analog ( varying Voltage )

inputs or Digital outputs. There’s also regulated 5VDC and ground connections -

these must only be used to power LOW CURRENT sensors etc.

GREEN TEXT

Unused I/O and

Power connections

available on the

Servo Connection

Shield.

BLACK TEXT

Required I/O and

Power connections

used by the Servo

Connection Shield.

www.techedu.com.au

Reference 4 : Uno Pin Electrical Specifications.

If you don’t understand Electrical terms like mA / Volts etc. and how they effect an

electrical circuit, then we strongly suggest you don’t start making custom

connections to your Uno - especially DON'T MODIFY the Uno supplied with the

MiRobot.

However, if you have another Uno and want to create your own code.......

There are pin headers fitted to the Servo Connector Shield for the extra I/O pins,

You can choose to fit a connector or solder directly to the board if you have the right

equipment and skill.

The extra Uno pins can function as :

Digital Inputs - they can be used to “read”wether a pin is at 5VDC or 0VDC.

Analog Inputs - they can be used to “read” varying voltages. ( 0 to 5VDC )

Digital Outputs - they can be used to output 5VDC or 0VDC.

These pins are identified in Uno documents as A0 - A5, 5V and Gnd.

Pin Ratings when used as INPUTS.

Digital Inputs, 5VDC = On , 0VDC = Off

Analog Inputs, 0 to near 5 VDC ( 1024 steps )

Pin Ratings when used as OUTPUTS.

When a Pin is ON, it is at 5VDC and can “Source” Current ( Current can flow

OUT of the pin to Ground ).

When a Pin is OFF, it is at 0VDC and can “Sink” Current ( Current can flow

from the 5VDC supply INTO the pin. )

Pin Current Limitations when used as Outputs

Pin SOURCE Current Limitations:

Any single pin - 20 mA ( recommended MAXIMUM )

The sum of all the extra I/O pins should not exceed 150 mA.

Pin SINK Current Limitations:

Sn single pin - 20 mA. ( recommended MAXIMUM )

The sum of all the Extra I/O pins should not exceed 100 mA.

A brief explanation of Source and Sink is provided on the next page.......

www.techedu.com.au

Reference 5 : Sourcing and Sinking Current.

Sinking and Sourcing are terms used to define the control of current flow in a Direct

Current ( DC ) electrical circuit.

A Sourcing digital output provides a Voltage and Current source to the Load,

whereas a Sinking digital output provides a Ground connection to the Load.

It can all be a bit confusing...... things seem to be “on” when the Uno’s output is off

and the other way around !

It makes more sense when you understand that the Uno not only provides 5V to its

output pins when you turn them on, but also provides a Ground when you turn them

off. So depending on exactly where the “other” side of the Load is connected, you

will get different results.

Consider a simple circuit that consists of a Load connected to a digital Output.

Electric Current by definition flows from Positive to Negative (Conventional Current),

To operate correctly the circuit requires a Voltage source, a Ground, and of course a

COMPLETE circuit from Positive through the UNO and Load to Ground.

A Sourcing digital output provides the Voltage and Current needed for the circuit.

Note that the side of the Load NOT connected to the Uno is connected to Ground.

A Circuit configured to “Sink” Current

in the OFF State

A Circuit configured to “Sink” Current

in the ON State

A Circuit configured to “Source” Current

in the ON State

A Circuit configured to “Source” Current

in the OFF State

A Sinking digital Output provides the Ground needed in the circuit.

Note that the side of the Load NOT connected to the Uno is connected to 5VDC.

Uno PIN

Gnd / 0V

5VDC

Uno Output

Pin is OFF

Device OFF

Uno PIN

Gnd / 0V

5VDC

Uno Output

Pin is ON

Device OFF

20mA Max

Uno PIN

Gnd / 0V

5VDC

Uno Output

Pin is OFF

Device ON

Uno PIN

Gnd / 0V

5VDC

20mA Max

Uno Output

Pin is ON S

Device ON

www.techedu.com.au

This is a slightly edited version of the Arduino Uno Web Page.......

The Arduino Uno is a microcontroller board based on the Atmel ATmega328. It has

14 digital input / output pins (of which 6 can be used as PWM outputs), 6 analog

inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP

header, and a reset button.

It contains everything needed to support the microcontroller - simply connect it to a

computer with a USB cable or power it with a AC-to-DC adapter or battery to get

started. "Uno" means one in Italian.

Summary

Microcontroller Atmega328P

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 ( of which 6 provide PWM output )

Analog Input Pins 6

Flash Memory 32 KB, 0.5 KB used by bootloader

SRAM 2 KB

EEPROM 1 KB

Clock Speed 16 MHz

Length 68.6 mm

Width 53.4 mm

Weight 25 g

Note: The Arduino reference design can use an Atmega8, 168, or 328, Current

models use an ATmega328, but an Atmega8 is shown in the schematic for

reference. The pin configuration is identical on all three processors.

Power

The Arduino Uno can be powered via the USB connection or with an external power

supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter or battery.

The adapter can be connected by plugging a 2.1mm center - positive plug into the

board's power jack.

Leads from a battery can be inserted in the Gnd and Vin pin headers of the POWER

connector.

The board can operate on an external supply of 6 to 20 volts. If supplied with less

than 7V, however, the 5V pin may supply less than five volts and the board may be

unstable.

If using more than 12V, the voltage regulator may overheat and damage the board.

The recommended range is 7 to 12 volts.

Reference 6 : Arduino Uno Description

www.techedu.com.au

Power Pins

VIN. The input voltage to the Arduino board when it's using an external

power source (as opposed to 5 volts from the USB connection or other

regulated power source). You can supply voltage through this pin, or, if

supplying voltage via the power jack, access it through this pin.

5V. This pin outputs a regulated 5V from the regulator on the board. The

board can be supplied with power either from the DC power jack (7 - 12V),

the USB connector (5V), or the VIN pin of the board (7-12V). Supplying

voltage via the 5V or 3.3V pins bypasses the regulator, and can damage

your board. We don't advise it.

3V3. A 3.3 volt supply generated by the on-board regulator. Maximum

current draw is 50 mA.

GND. Ground pins.

IOREF This pin on the Arduino board provides the voltage reference

with which the microcontroller operates. A properly configured shield can

read the IOREF pin voltage and select the appropriate power source or

enable voltage translators on the outputs for working with the 5V or 3.3V.

Memory

The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has

2 KB of SRAM and 1 KB of EEPROM.

Input and Output

Each of the 14 digital pins on the Uno can be used as an input or output,

using pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5

volts. Each pin can provide or receive a maximum of 40 mA and has an

internal pull-up resistor (disconnected by default) of 20-50 kOhms. In

addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial

data. These pins are connected to the corresponding pins of the ATmega8U2

USB-to-TTL Serial chip.

External Interrupts: 2 and 3. These pins can be configured to trigger an

interrupt on a low value, a rising or falling edge, or a change in value.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite()

function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI

communication using the SPI library.

LED: 13. There is a built-in LED connected to digital pin 13.

www.techedu.com.au

The Uno has 6 analog inputs, labeled A0 through A5, each of which provide

10 bits of resolution (i.e. 1024 different values). By default they measure from

ground to 5 volts, though is it possible to change the upper end of their range

using the AREF pin and the analogReference() function. Additionally, some

pins have specialized functionality:

TWI A4 or SDA pin and A5 or SCL pin.

There are a couple of other pins on the board:

AREF Reference voltage for the analog inputs. Used with analogReference().

Reset Bring this line LOW to reset the microcontroller. Typically used to add

a reset button to shields which block the one on the board.

The Arduino Uno has a number of facilities for communicating with a computer,

another Arduino, or other microcontrollers.

The ATmega328 provides UART TTL (5V) serial communication, an ATmega16U2

on the board channels this serial communication over USB and appears as a virtual

com port to software on the computer.

The Arduino software includes a serial monitor which allows simple textual data to

be sent to and from the Arduino board. The RX and TX LEDs on the board will flash

when data is being transmitted via the USB-to-serial chip and USB connection to

the computer (but not for serial communication on pins 0 and 1).

The ATmega328 also supports I2C (TWI) and SPI communication.

Programming

The Arduino Uno can be programmed with the Arduino software. Select "Arduino

Uno from the Tools > Board menu (according to the microcontroller on your board). .

The ATmega328 on the Arduino Uno comes preburned with a bootloader that allows

you to upload new code to it without the use of an external hardware programmer. It

communicates using the original STK500 protocol (reference, C header files).

Automatic (Software) Reset

Rather than requiring a physical press of the reset button before an upload, the

Arduino Uno is designed in a way that allows it to be reset by software running on a

connected computer.

USB Overcurrent Protection

The Arduino Uno has a resettable polyfuse that protects your computer's USB ports

from shorts and overcurrent. Although most computers provide their own internal

protection, the fuse provides an extra layer of protection.

If more than 500 mA is drawn from the USB port, the fuse will automatically break

the connection until the short or overload is removed.

www.techedu.com.au

Reference 7 : MiR File Format

There is nothing complex about the file format used to store your MiRobot program.

It is simply a number of rows of Axes positions, delays and comments separated by

Comma’s. If you don’t like the Programming Tools included in the MiRobot Software

you can use a PLAIN Text Editor ( Notepad, WordPad etc ) or even write your own.

Its is VERY important however that you get the format correct, errors will lead to

unexpected results,

This is what a MiR file looks like when opened in Notepad.

0,-26, 52,-29, 0, 0,N/A,N/A

-35,-26, 52,-29, 0, 0,N/A,N/A

37,-26, 52,-29, 0, 0,N/A,N/A

0,-26, 52,-29, 0, 0,N/A,N/A

0,-45, 52,-29, 0, 0,N/A,N/A

0, 5, 52,-29, 0, 0,N/A,N/A

0, 5, 20,-29, 0, 0,N/A,N/A

0, 5, 20, 25, 52, 0,N/A,N/A

0, 5, 20,-25,-34, 0,N/A,N/A

0, 5, 20, 79, 0, 0,N/A,N/A

0, 5, 20,-90, 0, 0,N/A,N/A

0, 0, 0, 0, 0, 0,N/A,N/A

Each Row contains a value separated by a Comma ( “,” ).

First Number - Axis A position in Degrees

Second Number - Axis B position in Degrees

Third Number - Axis C position in Degrees

Forth Number - Axis D position in Degrees

Fifth Number - Axis E position in Degrees

Sixth Number - Gripper opening in Degrees

Command - Valid Command OR N/A.

Comment - User Comment OR N/A

ALL numbers MUST be provided and be Integers only.

Command and Comment MUST use “N/A” if not used.

All numbers MUST be within limits :

First Number - Axis A, -90 to 90 Degrees

Second Number - Axis B, -45 to 90 Degrees

Third Number - Axis C, -90 to 90 Degrees

Forth Number - Axis D, -90 to 90 Degrees

Fifth Number - Axis E, -90 to 90 Degrees

Sixth Number - Gripper, 0 to 40

Command - Valid Commands

Comment - No Limitations

www.techedu.com.au

(ADC5)PC5 28

(ADC4)PC4 27

(ADC3)PC3 26

(ADC2)PC2 25

(ADC1)PC1 24

(ADC0)PC0) 23

(SCK)PB5 19

(MISO)PB4 18

(MOSI)PB3 17

(SS)PB2 16

(OC1)PB1 15

(ICP)PB0 14

(AIN1)PD7 13

(AIN0)PD6 12

(T1)PD5 11

(T0)PD4 6

(INT1)PD3 5

(INT0)PD2 4

(TXD)PD1 3

(RXD)PD0 2

GND

8VCC

AVCC

20 AREF

XTAL1

XTAL2

RESET

AGND

1 2

3 4

5 6

P$1

P$1 P$2

P$2

3OUT 4

(AIN0/INT1)PD1 7

(AIN2/PCINT11)PC2 5

(CTS/HWB/AIN6/TO/INT7)PD7 13

(INT4/ICP1/CLK0)PC7 22

(INT5/AIN3)PD4 10

(OC0B/INT0)PD0 6

(OC1A/PCINT8)PC6 23

(PCINT5)PB5 19

(PCINT6)PB6 20

(PCINT7/OC0A/OC1C)PB7 21

(PCINT9/OC1B)PC5 25

(PCINT10)PC4 26

(PD0/MISO/PCINT3)PB3 17

(PDI/MOSI/PCINT2)PB2 16

(RTS/AIN5/INT6)PD6 12

(RXD1/AIN1/INT2)PD2 8

(SCLK/PCINT1)PB1 15

(SS/PCINT0)PB0 14

(T1/PCINT4)PB4 18

(TXD1/INT3)PD3 9

(XCK/AIN4/PCINT12)PD5 11

AVCC

D+

29 D-

GND

PAD

RESET(PC1/DW)

UCAP

UGND

UVCC

VCC

XTAL1

XTAL2(PC0)

1 2

3 4

5 6

2 1

1 8

1 827

4 5

3 6

4 5

2 7

3 6

1 2

3 4

ON/OFF

NC/FB 4

OUT 5

GND

2 1

Reference 8 : Arduino Uno R3 Schematic

Arduino is a registered trademark

Arduino Uno - http://www.arduino.cc/en/Main/ArduinoBoardUno

www.techedu.com.au

Reference 9 : Remote Control

It is possible to remotely control the MiRobot Software and therefore the Mirobot.

This is achieved by sending Serial Data commands to the MiRobot PC Software.

You can create your own Software using whatever programming language you want,

with any degree of complexity. Its entirely up to you.

The MiRobot Software has a drop down menu selection, Setup > Setup Remote

Link that allows you to specify which COM Port your commands will be received on.

Use the Up/Down arrows on the Port Number to select

the COM Port that the MiRobot Software will use to

receive your commands.

Press the “Disabled” Button to enable Remote Control,

press the Button again to disable it.

Communications settings are 115200 Baud, 8 bit, No Parity and 1 Stop Bit.

You can link two computers together by a USB to USB serial connection cable, or by

a traditional RS232 cable depending on what your computer is fitted with.

You can create Virtual COM Port Pairs on a single Computer allowing you to link

your “creation” to the MiRobot software without using separate Computers.

Sourceforge hosts com0com for creating virtual serial port pairs ( there are no doubt

many others ). com0com is free but not digitally signed so you may need to disable

driver signature enforcement on current Windows versions.

There is also com2tcp which enables redirecting serial to TCP/IP and TCP/IP to

serial for remote control over a network or Internet.

Download from - http://sourceforge.net/projects/com0com/

At left is a Screenshot of com0com creating a Virtual

COM Port pair on a single computer. Data sent to

COM2 will be received by COM40 and vice versa. So....

if MiRobot Remote Command is set to COM2, your

creation can communicate via COM40 and the data will

be exchanged.

You can use a simple Terminal Program and type in the

Commands by hand to see it at work.

We have included “Termite” a simple freeware Terminal Program ( provided by

CompuPhase ) in the MiRobot\Termite folder. You don’t need to install Termite just

“double click” on Termite.exe to run it.

See http://www.compuphase.com/index_en.htm for instruction on its use.

Your

Program

www.techedu.com.au

Remote Control Commands

A### Move Axis A to Position ### in degrees

Max. length four characters. Integer Only - Span -90 to 90 Degrees

B### Move Axis B to Position ### in degrees

Max. length four characters. Integer Only - Span -45 to 90 Degrees

C### Move Axis C to Position ### in degrees

Max. length four characters. Integer Only - Span -90 to 90 Degrees

D### Move Axis D to Position ### in degrees

Max. length four characters. Integer Only - Span -90 to 90 Degrees

E### Move Axis E to Position ### in degrees

Max. length four characters. Integer Only - Span -90 to 90 Degrees

G## Move Gripper

Max. length three characters. Integer Only - Span 0 to 40

H>+ Handshake Output On. ( Remote Control receive a “H<” when a

Handshake In is received. )

H>- Handshake Output OFF

H< Handshake IN ( Only when Robot Movement is DISABLED )

IAdd Current Coordinates to Program

M+ Robot Movement Enabled

—Robot Movement Disabled

ON Turns ON User Output

OFF Turns OFF User Output

PClear current Program

RRun Program.

SStop Program.

T(filename) Loads the filename from the MiRobot\Programs folder.

.MiR file extension is optional.

U(filename) Saves Program to the MiRobot\Programs folder.

.MiR file extension is optional.

VReturns the MiRobot Programs version number.

WReturns the current Mirobot position for all axes and the gripper.

?Lists all valid commands.

www.techedu.com.au

Remote Control Commands - Continued

J# Sets the increment in Degrees for all the <and > commands

Minimum Value - 1, Maximum Value - 10.

Initial default is ONE degree for Axes and ONE Percent for the Gripper

<A Decrease the A Axis Position by the increment ( J ) degrees.

>A Increase the A Axis Position by the increment ( J ) degrees.

<B Decrease the B Axis Position by the increment ( J ) degrees.

>B Increase the B Axis Position by the increment ( J ) degrees.

<C Decrease the C Axis Position by the increment ( J ) degrees.

>C Increase the C Axis Position by the increment ( J ) degrees.

<D Decrease the D Axis Position by the increment ( J ) degrees.

>D Increase the D Axis Position by the increment ( J ) degrees.

<E Decrease the A Axis Position by the increment ( J ) degrees.

>E Decrease the A Axis Position by the increment ( J ) degrees.

<G Open the Gripper by the increment ( J ) percent.

>G Close the Gripper by the increment ( J ) percent.

Remote Control - Feedback Messages

All of the 33 possible commands sent to the Remote Control Interface generate

return messages.

These should be taken as confirmation that the MiRobot Control System has

understood or executed your remote command.

The V command can be used by a remote program to ensure there is actually an

active link to the MiRobot.

The ? Command will list all the available command codes and is usefully when you

are working from a terminal program such as Termite.

If you are creating your own software it is important that you include a handler for

these return messages. Any command that is not understood by MiRobot will

generate an "Invalid Command : XXXX" return message with XXXX being the

command you sent.

www.techedu.com.au

Keyboard Control

When the Keyboard Control function is activated a Window will be shown with a

picture of the MiRobot and the keys on the Computer Keyboard that can be used to

move each Axis.

Both small and large movement increments( 1 & 5 degrees ) are possible in all

directions.

If a key is held down the MiRobot will continuously move the selected Axes until it is

released.

This Keyboard Control Window MUST BE THE TOPMOST WINDOW AND BE

SELECTED ( HAVE FOCUS ) otherwise key presses will not be processed.

Interesting Possibilities......

For example, some Virtual Reality systems allow you to operate a keyboard in a

virtual workspace...... you could control the MiRobot this way.

Some EEG ( Brain Wave Reading ) Headsets also allow you to use a keyboard by

thought control..... once again you could control the Mirobot this way.

Obviously these examples require extra hardware from other companies and

sometimes are quite challenging to use, but we have described these applications

as examples of what is possible. Experiment away !

www.techedu.com.au

Reference 10 : Video Feed.

If you have a free standing WebCam installed on your computer it is possible to

display the video in a Window within the MiRobot Program.

Obviously a WebCam installed at the top of a Notebook Screen will be of no use as

it will display you, not the MiRobot operating !

You could use this video to remotely monitor the MiRobot working.

Installing and setting up the WebCam is your

responsibility, if you can’t get it to work normally

on your Computer then it won’t work in the

MiRobot program !

Select View > Video Feed from the MiRobot Main

Window’s dropdown menu. The MiRobot Video

System Window will open.

This Window will by default stay on top of other

Windows and can be positioned and scaled

anywhere you want by moving its Title Bar.

If you have a second Monitor installed on your Computer, you can drag the Video

Window onto it so that the main MiRobot Software Window is not obscured.

As a brief overview - the MiRobot Video System allows you to select between

various WebCams, set the viewed and captured image size, capture a single frame

to the Windows Clipboard and capture a video stream to an AVI File.

Depending on the Video Codecs installed on your computer various file formats and

compression schemes may be available. Some are supplied with Windows, others

are third party commercial add ons.

As capturing Video is secondary to the real role of the MiRobot Software, we won’t

attempt to cover all the options and possibilities - most PC Users are quite familiar

with the Operation of Webcams.

There are of course other programs that can display / record Video... use whatever

you are familiar with.

Performance Warning

Displaying and Capturing Video whilst the MiRobot simulation is running may cause

the on screen simulation to be less smooth than usual, depending on the processing

power of your computer.

If you have an older computer the performance MAY still be acceptable, you will just

have to try it out and see.

www.techedu.com.au

Reference 11 : Connections for Advanced Functions

There are LOW CURRENT pin headers ( connectors ) fitted to the MiRobot Servo

Shield for the Advanced Functions.

Of course you can directly solder the wires directly to the PCB but this can be a bit

limiting when your experimenting.

Doing the “wiring”

Many suppliers of Adruino parts carry sets of coloured “Jumper Wires” that simply

slide over 0.1" Pin Header Pins. They come in a range of colours making it MUCH

easier to make the right connection or troubleshoot later if things aren’t working as

expected.

Typical Pin Header Jumper Wires.

Higher Currents

It is NOT advisable to draw more than the recommended maximum current or apply

“odd” voltages to the Servo connection Shield as it is possible to destroy or damage

the PCB and / or the Uno.

The pin header for the user Output is NOT capable of reliably carrying 500mA and

the small Jumper wires would also be over stressed so we strongly advise keeping

the current as low as possible. Of course you can CAREFULLY solder to the Servo

Connection Shield if you need to draw currents up to the maximum.

User output - up to 500mA and voltages up to 15 VDC MAXIMUM.

Handshaking Pins - TTL Voltage and currents levels

www.techedu.com.au

Reference 12 : User Output.

The MiRobot Servo Shield has a single Output that can be controlled by the “ON”

and “OFF” commands in a program.

This output ( highlighted by the RED Circle ) is a current sink...... in other words it

provides a switched ground connection for up to 500mA and voltages up to 15 VDC.

CAUTION - the Uno and Servos should

NEVER be power by more than 6 Volt

DC.

This “switched ground” concept means

that it can be used in circuits that have

voltages higher or lower than the five

volts DC used by the Uno, providing a

degree of design flexibility.

The User Output in its ON State

The User Output in its OFF State

20mA Max

External Supply Gnd / 0V

External Supply Voltage

Uno Supply

Uno Ground

Uno Supply Exteranal Supply Voltage

MiRobot

User

Output

MiRobot

User

Output

Servo

Connection

Shield

Servo

Connection

Shield

Device

OFF

Care should be taken using this output, ideally you would use it to control a relay

that actually switches the connected device. The User Output has an internal diode

to protect the system from voltage spikes as commonly created when switching a

relay coil.

Ideally you would use a separate power supply to power the relay and external load

as the six volt battery used in the MiRobot is really not suitable for high current

loads.

Exercise care - you could damage the Servo Shield and Uno.

www.techedu.com.au

CONNECTING A LED TO THE USER OUTPUT

A Light Emitting Diode ( LED ) can be easily connected and controlled by the

MiRobot using the USER output and included program command.

However..... you must connect it correctly and use a current limiting resistor.

For example we will use a LED

current of 12mA, a forward voltage

drop across the LED of 1.7 Volts and

the Uno’s five Volt supply in our

calculation.

The variation of Ohms Law used to

calculate Resistance ( R=V/I ) works

out to a 270 Ohm series Resistor in

this case.

Anode ( Long Lead )

Resistor

270 Ohm 1/8 Watt

(Red, Violet, Brown, Gold )

Cathode ( Short Lead )

WRITING THE CODE

Once the LED is correctly connected, turning it on and off is very simple. In the CMD

field of the program, simple use the ON command to turn the User Output ( the LED

) on and the OFF Command to turn it off.

In the sample Program below the LED will turn on at line 3 and stay illuminated until

after line 11 has executed.

LED ON

LED OFF

www.techedu.com.au

Reference 13 : Inter Device Handshaking.

The MiRobot Servo Shield has Handshake In and Handshake Out pins that can be

used to control and synchronize one or more MiRobots or devices. Like the

connections for other advanced functions, you will need to connect to the MiRobot

Servo Shield.

Whilst we will illustrate the applications with MiRobots, other devices can also be

used - its up to your imagination, electronic ability or programming skills

The H< connection is the Handshake

IN a signal is sent FROM a MiRobot (

or device ) TO the MiRobot.

The H> connection is the Handshake

OUT - the MiRobot sends a signal

FROM your MiRobot TO a MiRobot ( or

device ).

The signals are TTL Logic Levels ( as

used by the Uno ) so direct connection

Pin to Pin is all that is required.

Due to the design of the Uno the

Handshake signals are Active Low.

Handshake Commands

This Handshake Input and Output is controllable from the program using the

following commands:

“H<” Handshake In

When “HI” is entered as a Command, and the program is run, the

execution will stop and wait for the “HI” input at the appropriate line

before continuing.

“H>+” Handshake Out ON

When “H>+” is entered as a Command, and the Program is run, the

Handshake Out Pin will be turned ON at the appropriate line.

“H>-” Handshake Out OFF

When “H>-” is entered as a Command, and the Program is run, the

Handshake Out Pin will be turned OFF at the appropriate line.

Caution :

Exercise care when developing code that uses Handshaking, getting it wrong may

cause mechanical damage if your MiRobots hit each other or other objects.

www.techedu.com.au

A Single MiRobot

The Handshake system can be used to halt a MiRobot Program at a particular

Program Line until an external event occurs that closes the Handshake circuit.

For example the MiRobot is Paused until an object is placed on a platform with a

switch in it. The Object closes the switch so the MiRobot moves, picks up the object

and moves it somewhere else.

Include a Loop “L#” command and the miRobot will pick up and move the object

every time it is place on the platform.

Normally Open

Momentary Switch

MiRobot Program

Line Coordinates Command Comment

1 A,B,C,D,E,G Preposition MiRobot.

2 A,B,C,D,E,G

3 A,B,C,D,E,G

6 A,B,C,D,E,G

7 A,B,C,D,E,G H>+ Turn ON Handshake OUT.

8 A,B,C,D,E,G H< Set to WAIT.

9 A,B,C,D,E,G Pickup Object and move it.

10 A,B,C,D,E,G

11 A,B,C,D,E,G

12 A,B,C,D,E,G

13 A,B,C,D,E,G H>- Turn Off Handshake Out.

14 A,B,C,D,E,G L7 Loop back to Line Seven.

WAITING FOR SWITCH TO CLOSE

Using Handshaking on a single MiRobot

A simulated MiRobot Program that prepositions the arm, pauses, then when a

switch is closed by an object moves to pick it up and move it somewhere.

This sequence is repeated for as long as objects are placed on the switch.

www.techedu.com.au

How it Works

Both programs execute until MiRobot 1 gets to its Line 7, at the end of which it halts

( caused by “H<” ) and waits for the H>+ signal from MiRobot 2's Program at Line

10.

At Program Line 13, MiRobot 2 halts ( “H<” ) waiting for the H>+ Command from

MiRobot 1's Line 14 H>+ Command.

Note : its necessary to turn off the Handshake Out Signal using “H>-”. This may

seem like an extra unnecessary command but the Handshake system could also be

used to control other devices that need to remain on for longer periods so separate

On and Off commands are necessary.

Note : As MiRobots and their controlling Computers may operate at different relative

speeds and different programs could include different time delays, writing Programs

for multiple MiRobots to work together can be quite a challenge. Take your time, test

each program separately and only then allow them to operate in the same physical

space.

You can appreciate just how much work is involved in programming an Assembly

line with many Robots working in synchronisation.

Synchronising Multiple MiRobots

The operation of more than two MiRobots ( or devices ) can be synchronised with

the following connections

MiRobot 1 Pin : MiRobot 2 Pin : MiRobot 3 Pin :

H> H<

H< H>

0V 0V 0V

This is a chained link, each MiRobot can be programmed to send handshaking

signals to the NEXT MiRobot in the chain. This type of connection allows many

MiRobots to be chained but offers less programming flexibility than a direct

Bidirectional connection.

MiRobot 1 MiRobot 2 MiRobot 3

www.techedu.com.au

Synchronising Two MiRobots

The operation of two MiRobots can be synchronised with the following connections

MiRobot 1 Pin : MiRobot 2 Pin :

H> H<

H< H>

0V 0V

This is a Bidirectional link, each MiRobot can be programmed to send handshaking

signals to each other to synchronize their operation when the appropriate

programming commands are added.

MiRobot 1 MiRobot 2

MiRobot 1 Program MiRobot 2 Program

Line Coordinates Command Line Coordinates Command

1 A,B,C,D,E,G 1 A,B,C,D,E,G

2 A,B,C,D,E,G D2000 2 A,B,C,D,E,G D2000

3 A,B,C,D,E,G 3 A,B,C,D,E,G

4 A,B,C,D,E,G H< 4 A,B,C,D,E,G

5 A,B,C,D,E,G

6 A,B,C,D,E,G

7 A,B,C,D,E,G H>+

5 A,B,C,D,E,G 8 A,B,C,D,E,G H>-

6 A,B,C,D,E,G 9 A,B,C,D,E,G

7 A,B,C,D,E,G 10 A,B,C,D,E,G H<

8 A,B,C,D,E,G

9 A,B,C,D,E,G

10 A,B,C,D,E,G

11 A,B,C,D,E,G H>+ 11 A,B,C,D,E,G

12 A,B,C,D,E,G H>- 12 A,B,C,D,E,G

13 A,B,C,D,E,G 13 A,B,C,D,E,G

14 A,B,C,D,E,G L2 14 A,B,C,D,E,G L2

Waiting For....

Shown below are to simulated MiRobot Programs, A to G are MiRobot Axes

Coordinates.

www.techedu.com.au

Handshaking with other Digital Devices.

We are now is really interesting territory........

Whilst we have described the use of Handshaking in single and between multiple

MiRobots, these Handshaking lines can be connected to other digital devices.

The Handshake Lines are :

Handshake Output - Active Low TTL signal

Handshake Input - Active Low TTL signal.

For a really complex automation project, you could connect a group of MiRobots to

a stand alone “Master” Arduino or other Microprocessor, programmed to

synchronize the operation of the whole Robot group and other components.

There are a range of Arduino Microcontrollers or you could use a Raspberry Pi or

similar. Even a full PC can be used as the Master Controller.

Its really a matter of how ambitious you are and how much coding experience you

have - or want to develop.

SENSORS

ACTUATORS

SERIAL COMMS

USER INTERFACE

There are lots of Arduino add ons.. its impossible to cover even a small fraction of

the possible systems, but with the Mirobots Handshaking system and the ability to

remote control it via Serial Communications just about anything is possible.

www.techedu.com.au

Reference 14 : MiRobot Servo Shield Assembly

The MiRobot Servo Shield MAY be ordered unassembled. It is not a complex or difficult

electronic assembly, but we suggest that you develop your soldering skills with other

exercises before starting assembly.

Required Parts :

1/ 1 x Technology Education Servo Shield Printed Circuit Board

2/ 40 x Pin Headers ( may be supplied in strips or individually )

The long side of all the remaining Pin Headers

FACE UPWARDS with the soldering being done

on the UNDERSIDE of the PCB. Some of these

pins may not be used on your particular build as

they give access to advanced features, but whilst

your assembling and soldering you should fit

them.

Start by cutting and inserting and soldering the

PCB Pin Headers, there’s no functional

difference between inserting groups or individual

pins but have a think about the best method of

cutting the strips before you start.

IMPORTANT - the long side of the pins fitted to

the outside of the PCB pins FACE

DOWNWARDS with the soldering being done on

the TOP ( Text Side ) of the PCB.

And finally, insert the ULN2803 IC from the

top of the PCB and solder its pins from the

underside. This IC is not especially static

sensitive but its always important to handle

and solder them correctly.

The IC may be supplied in an antistatic

plastic holder or on conductive foam... both of

these are discarded after use.

www.techedu.com.au

Reference 15 : Useful Links.

General Arduino Information

Arduino Web site : http://www.arduino.cc/

Arduino Forum : http://forum.arduino.cc/

Arduino Uno Information

Arduino Uno Web Page : http://www.arduino.cc/en/Main/ArduinoBoardUno

Programming IDE’s

Arduino IDE : http://www.arduino.cc/en/Main/Software

Alternative IDE’s : http://playground.arduino.cc/Main/DevelopmentTools

Some Suggestions :

AVR Studio with Visual Micro plugin

http://www.visualmicro.com/page/Arduino-for-Atmel-Studio.aspx

Visual Studio with Visual Micro plugin

http://www.visualmicro.com/

CodeBlocks

http://arduinodev.com/codeblocks/

Arduino Language Reference

http://www.arduino.cc/en/Reference/HomePage

http://www.ele.uri.edu/courses/ele205/ELE205Lab/ELE205_Lab_files/Arduino

%20-%20Reference.pdf

Arduino Application Guide

http://www.me.umn.edu/courses/me2011/arduino/arduinoGuide.pdf

Atmel Home Page

( manufacturers of the Microprocessor used on many Arduino boards )

http://www.atmel.com/

com0con& com2tcp ( Virtual Serial Port Freeware )

http://com0com.sourceforge.net/

USB to USB Null Modem Cable ( communicate between two computers )

http://www.ftdichip.com/Products/Cables/USBtoUSB.htm

www.techedu.com.au

MiRobot Specifications

Axes : Five - Rotary

Gripper : Two Finger Parallel.

Supply Voltage : Five Volt DC Nominal, Six Volt DC Maximum.

Servomotors : Six ( two sizes all with metal gears ). Analog RC type.

Folded Size : 160 High x 140 Wide x 310 Long.

Working Max Size : 460 High x 450 Wide x 560 Long.

Materials : Metal and Plastic.

Robot Controller : Arduino Uno or Uno clone.

Technology Education Servo Connection Shield.

Power supplied from USB Connection and Batteries.

Control System : Technology Education.

MiRobot Software : Technology Education

Microsoft Windows Compatible.

Windows XP, 7, 8, 8.1, 10

Simulation : On Screen animated 3D Graphics.

User Controls : On Screen via Mouse / Keyboard.

Video In : Can use a Windows installed WebCam.

Program Type : Axes Coordinate Sets.

Unlimited Lines

Delay and Loop.

Advanced Programming Functions.

User Output Control.

Handshaking Control.

Comments

Program Storage : Load and Save to PC using .MiR Files.

Printing : Any Microsoft Windows supported Printer.

Communication : USB to Virtual Serial Port.

Cable : USB Type A to USB Type B.

User Output : One.

500mA Sink Max.

15VDC Max.

Handshake : One pair.

Handshake OUT ( TTL Logic Level - Active LOW).

Handshake IN, ( TTL Logic Levels - Active LOW ).

Indicators : On Arduino Uno.

Power.

Communications Transmit.

Communications Receive.

Servos Enabled

Remote Control : ASCII Commands via Serial Port ( Real or Virtual )

www.techedu.com.au

This License is a binding legal agreement between the individual (”You”) who uses the Software, Firmware,

Hardware, Documentation and 3D Printable files package, ( hereafter called MiRobot ) and the Licensor.

MiRobot IS COPYRIGHT AND THE OWNER OF THE COPYRIGHT CLAIMS ALL EXCLUSIVE RIGHTS TO

MiRobot, EXCEPT AS LICENSED TO USERS HEREUNDER AND SUBJECT TO STRICT COMPLIANCE WITH

THE TERMS OF THIS LICENSE.

As a condition for granting you a license to MiRobot you agree to all of the following terms and conditions. You

are deemed to have read, understand, and have accepted all such terms and conditions upon installing or using

all or part of MiRobot. If you fail to abide by any of the terms and conditions set forth herein, your license to use

MiRobot shall be immediately and automatically revoked, without any notice or other action by the Copyright

Owner.

TERMS AND CONDITIONS

1. You acknowledge that MiRobot is to be used strictly as a Educational Package.

2. You are granted a non-exclusive license to use MiRobot subject to your compliance with all of the terms and

conditions of this License.

3. You may only use MiRobot on a single computer that you own, lease or control. You may make one backup

copy of the software for your own use to replace the primary copy in the event of hard-drive failure or other

unavailability of the primary copy. The backup copy shall retain all copyright notices.

4. You may not use MiRobot for multiple users or on a local area network without written consent from the

Licensor.

5. You may not distribute, copy, publish, assign, sell, bargain, convey, transfer, pledge, lease or grant any further

rights to use MiRobot.

6. You will not have any proprietary rights in and to MiRobot. You acknowledge and agree that the Licensor

retains all copyrights and other proprietary rights in and to MiRobot.

7. Your license to use MiRobot shall be revocable by the Licensor upon written notice to you. This license shall

automatically terminate upon your violation of the terms hereof or upon your use of MiRobot beyond the scope

of the license provided herein.

8. Use beyond the scope of this license shall constitute copyright infringement. This license shall be effective

and bind you upon your installing or using MiRobot.

9. You accept that MiRobot use is "AS IS" and with all faults basis. No representations and warranties are made

to you regarding any aspect of the software.

10. THE LICENSOR HEREBY DISCLAIMS ANY AND ALL WARRANTIES, EXPRESS OR IMPLIED, RELATIVE

TO MiROBOT, INCLUDING, WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY AND

FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL THE CREATORS OF MiROBOT BE LIABLE

FOR ANY DIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE

OR INABILITY TO USE MiROBOT. THE CREATORS AND DISTRIBUTORS OF MiROBOT SHALL NOT BE

LIABLE FOR ANY LOSS, DAMAGES OR COSTS, ARISING OUT OF, BUT NOT LIMITED TO, LOST PROFITS

OR REVENUE, LOSS OF USE OF MiROBOT, LOSS OF DATA OR EQUIPMENT, THE COSTS OF

RECOVERING SOFTWARE, DATA OR EQUIPMENT OR CLAIMS BY THIRD PARTIES, DAMAGE TO

EQUIPMENT, OR OTHER SIMILAR COSTS.

11. This License shall be interpreted under Victorian law.

12. Licensor's failure to enforce any rights hereunder, or its copyright in MiRobot shall not be construed as

amending this agreement or waiving any of Licensor's rights hereunder or under any provision of law.

WARNING: this Software, Hardware, and Documents are protected by law and international treaties.

Unauthorized reproduction or distribution of MiRobot, or any portion of it, may result in severe civil and criminal

penalties and will be prosecuted to the maximum extent possible under law.

MiRobot Control System, Software, Manual and PCB are copyright - Ross McLean 2015.

MiRobot Hardware / 3D Printable files / Mechanical Manual are copyright - Sam Pop 2015.

Where mentioned, Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the

United States and/or other countries.

MiRobot Licence

MiRobot Control System Manual V1_1 Mi Robot V1 1

Navigation menu

Versions of this User Manual:

Views

Navigation