Feetech robot manual人形机器人说明书

Shenzhen FEETECH RC Model Co.,Ltd.
Feetech Humanoid remote control robot
Operational guidelines and composing skills
Catalog Cover (1)
pany profile (3)
2.Feetech humanoid robot introduction (3)
2.1robot introduction (3)
2.2Serial bus smart control robot SCS15&controller SCM-1introduction (3)
3.Feetech robot play process (6)
3.1Computer connection hardware requirements (6)
3.2computer connection operation process (6)
4.Example (12)
5.Questions (13)
5.1Hardware question (13)
5.2Software question (14)
6.The composing skills (15)
1Company profile
Shenzhen Feetech Model Co.,Ltd.,our company is located in Longgang District,Shenzhen,Guangdong,specializing in the production,R&D and sales of rc robot,robot servo,robot accessories,helicopter servo,car servo,rc boat servo,servo accessories products.Our company regard user needs as the core,persist in the"Top quality,first-class service" business philosophy,won the customer's recognition and highly in remote control toy industry,we would like to create great value for customers, look forward to serve you!
Website：/
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2.Feetech humanoid robot introduction
2.1robot introduction
The robot consists of a head,a body,two arms,two legs,and a robot controller SCM-1to control17serial bus smart controls SCServo(SCS15).
Robots can walk,squat,rotate,slide,rotate,dance,fight or run more complex movements.
Open source code can be free two developments.
Arduino compatible,if use relevant sensors,can climb stairs, tracking,automatic control itself,etc..。

2.2Serial bus smart control servo SCS15and controller SCM-1 introduction
SCS15serial bus smart control servo is a kind of integrated DC motor, which is a kind of integrated motor,servo drive,serial bus communication
interface and sensor.Its characteristics are as follows:
Big torque：15kg.cm Rotation range of position servo
control mode:0-200°
Wide voltage range power supply DC 6V-9V can set to the wheel mode continous rotation and adjust the speed
resolution ratio0.21°Theoretically can series connect
253units ID number
Two axle mounting method,suitable for mounting in robot joint The baud rate from38400bps to1M bps can be used
High precision all metal geat set,
double ball bearing
0.25KHZ servo update rate
Dual connection port daisy chain connection Serial bus SCS communication protocol
Position,temperature,speed,
voltage feedback
Detailed parameters please reference"SCS15product manual"
•use robot controller SCM-1and free software，easy to program the robot to move，we will provide software download address.
（2）Controller SCM-1specification
weight:16g Size(L*W*H):60mm*38mm*20mm
controller:STM32F103C8
T6
Max current:10mA
Working voltage:6-9V Outside I/O Max Current:300ma
Recommend voltage:7.4V Outside I/OdeviceUART SCServoreceiver1(3pin):5•UART2(4pin)OpenRC24G receiver or other controller UART:1
Current consumption:
free：40mA
Work mode protocol type•Debug mode•SCS mode
working temperature:5℃~60℃Communication speed•UART1(3pin):38400 bps--1M bps•UART2(4pin):38400bps--1M bps
Attention:How to set to work model Protocol type Communication speed please refer to SCM-1
3Feetech humanoid robot playing chart
3.1Computer connection hardware requirements
Windows XP/Windows732bit、64bit/windows832bit、64bit（WIN8systems need to disable the drive digital signatures）
3.2online operation processes
A、Off-line commissioning：Straighten robot stand at attention posture, placed on a flat table,switch on the back of the robot,the robot will run with movement group1time.Shutdown,connect to power.(welly beside the robot back switch).
B、online operation：
①Straighten robot stand at attention posture
②Install the software,download package links:
https:///open?id=0B0Jk0ud2v8OWbnlNcm1sVklub0U
Open FT-Servo Software and Driver V1.1(160323)
Install FT-Servo Software and Driver V1.1(160323).exe
Hook Create a desktop shortcut
Appear unable to validate the driver software publishers:choose always install the driver software.
After the installation is successful there will be three ICONS on the desktop shortcut
（Figure7）
FD is steering gear parameter examination,Settings,update,upgrade:
FS common PWM model aircraft servo software test,temporarily can't use.
FM is the operation of the robot to use the highest frequency of a program,download the installation package in Chinese Version(see Figure 7)to facilitate the operation.
Appear above three icons,and then the software is installed.
Robot online once again confirmed that computer can meet the demand of on-line operation.The blue USB data line end connected to the computer USB interface,T-port inserted into the interface of robot back, and then the red light of controller light,computer port plug ring,and then open the back switch,on-line to complete.
④Connection software,open the desktop software FM.Open the software after clicking on buttons:"open"->port appear COMX(2,3, 4or other Numbers are likely to be)->click:"search".”；
appear“search box”→click“search”appear servo’s ID and serial number，appear ID1~17and NO.1~17.Software link is completed!Click“stop”、“ok”close the search box.
（if there are not17ID in the search box ID，that17servos of the robot have a part are not read or electricity shortage.Need to plug the power running,restart(1)(3)(4)steps）
⑤Interface introduction：
A zone:software search servo ID,to determine the software link robot;
B zone:the action group(export as the GOP format),after adding H zone appear,the edit action would have one of the action group.
C Zone:action set,B zone after add group,action is set inside the group.
D zone:Engineering area(PRJ format),burn,will edit action group and the error of the buffer(OFS format)to the robot controller,and the robot's motion can be read on the software.
E zone:testing zone,after editing action,will run action in accordance with the order
F zone:recording actions:control of the servo,
“Mirror”：The robot does the opposite action as the other side.，
“Copy”：The robot does the same action as the other side.，
“Read”：Turn the servo and then click the"read"to read the servo data to a computer,
“Initialization”：The robot back to the initial position,
“Calibration”：If there is a deviation,the initial position state can click on the Calibration,Set the stand at attention posture,click ok,and can correct the error.
“Torque Di”：servo unlock，
“Torque En”：servo cannot move。

G zone：Interface introduction;511represents the initial dimension of the servo position,1234...17is the servo ID.O represents the initial position;the error0,after the correction error,the numerical value is changed.Square:hooking represents the servo cannot move;no hooking represents the servo unlock.G1,G2,G3,G4represent a separate control of the limbs.
Format introduction：
PRJ:engineering format,it is the software within the movement group export form format.Also contains error in it.
OFS:format error values,generally after correcting the specification of the position,you can click on the save export saved,if you download and import from other place to PRJ in software engineering,you need to download this error OFS override his OFS.
GOP:a set of action group export format does not contain the error value. The software can import/export many times within the GOP.
⑥Through the software to extract the robot movement groups and error: Click on the lower right corner"Eprom"Eprom set:
Click on the"read"(read at this time is the action of robot run offline group and the error value),closed Eprom set,upper left frame appear several action groups:
⑦Corrective error:the so-called error value is the difference between each robot,the reason is that the robot production and installation of the servo angle deviation caused by the robot,the initial position of the robot as shown below：
Because there is a deviation,so need to manually correct to each place screw alignment status.Specific methods are as follows:just now we had extracted the error value,and then click on the"Initialization",the robot will be to modify the action itself.Assumes that the left hand arm elbow too bent,we click the"Calibration",stand to attention and then click the"ok",G zone digital interface changes,then click on the "Initialization",error correction is completed.
Error should not be more than30,closer to0,posture is more standard, if is at attention posture,numerical deviation is too large,you need to disassemble steering gear,manual correction servo dimensions.
⑧Add action group and write action:
The picture can refer to the step⑤"Stand-up"I zone action group tips. Below will be presented to you in the form of examples,I believe that after a few times to practice,you can be familiar with the operation of the robot.
⑨Eprom：If read or edit the at least one action group,after an action group inside at least one action,you can click on the E zone test run, and then click"Eprom"D zone,select debug mode,then offline run once, click on"write",close the dialog box and the software upper right corner, click on the"off",disconnect the cable,close the switch then turn on again，it can run the action.
(remote control mode selection is using the android app control and off-line running times0,baud rate unchanged,click"write",close the dialog box,the software upper right corner click"close",can disconnect the data line,off the switch and switch on the robot again,then use mobile phone remote control robot.
⑩Remote Control Mode：
Insert the module robot comes in four hole thread,Eprom the editing action choose the remote control mode,offline for the number0,other invariant, after writing,disconnected,pull the cable,,the robot to shut down and start up.Then the remote control turn on,the remote control on the1--9 were executed corresponding to the1--9action group,more than10of the remote control cannot be implemented.If you want to perform,please look down.
Robots need to be equipped with the2.4GHZ Bluetooth module,currently only support the Android system with a Bluetooth function mobile phone.
THE FTRobotRC.apk from the installation package is installed to android phone,the robot after installed the bluetooth module,turn on,open mobile phone bluetooth search FTRobot,paired,open FTRobotRC software, open the Settings,if robots are1,2,3,three groups,so you can edit named1,input command1,save after select"1"button operation,can let robot to perform the action of"1"set of commands,how to want to1and 2together,as long as the input commands written"1,2"(Use commas in the middle),save is completed.
4.Example
4.1.Action group:attention;Salute;Bow;attention
Attention action groups:straighten robots-connecting cable,switch on the robot,and open the computer software SCRobotMotion.Exe–A Zone "open"-search-search-17ID and serial number-sure-D Zone Eprom Set-read-sure–F Zone initialization-Robot standing,hands open. Situation1:position specification-B Zone add,named"Stand up"-determine(H Zone Display action group)-unlocks the G1and G2box(no hook)-Robot arm rotating down,standing to attention–F Zone read-C Zone set time600ms(custom)–C Zone added(I Zone appear in the first column action group)-attention action group set up;
Situation2:the posture is not standard,F Zone Calibration(don’t worry to click ok)--Adjust to a standard position--and then click ok--the
original position—repeat situation 1.
Bow:Click on TorqueEn--unlock ID10,ID11,ID15,ID16servo(no hook) -The robot into a bow pose-F Zone read–C Zone set time600ms(custom) -C Zone added(I Zone appear in the second column action group)--once again,F Zone read-C set time zone300ms(bow resting state time)–C Zone added(I Zone appear in the third column action group),double click on the I Zone Attention movement data of robot is the first column posture -,take this action need to click on the read(F Zone)-C Zone set time 600ms(custom)-Zone C added(I Zone appear in the fourth column action group)—Bowing set up;
Salute:click the TorqueEn--unlock ID2,ID3,ID6servo(no hook)or directly to unlock the G1-will robots on the left hand(mirror)for rotated180°-F Zone read-C Zone set time600ms(custom)-C Zone added(I Zone fifth column action data)-continue to machine hand joint to the head in about60°F read-Zone C time set200ms(custom)-Zone C added(I Zone6column movement data)-double-click the fifth column to extract180°action-read Zone F-C set time zone200ms(custom) -Zone C added(I Zone7column movement data)-double-click the first column attention moves data-read Zone F-C set time zone600ms(custom) -Zone C added(I Zone8column movement data)-saluting set up;
Eprom Set:click on debug zone play,online running bow and salute series action-click eprom set-debug mode-offline run once-write-sure -A zone close-pulling cable,switch on the robot,offline running robot with bow and salute in series–turn off-finished!
5.Problem
5.1.Hardware problem
1,the online operation,frequent drops?It's impossible to be created? Reason may appear on the USB interface,power supply,to understand the above to Control panel recommended voltage is7.4v,and general computer Voltage5V,so it is necessary to an external power supply USB splitter. It can solve the problem.Of course,occasionally dropped is normal. 2,Run time suddenly becomes slow,the last stop?
Best when editing has been connected to the power supply,offline runtime can pull out the power to perform.
3,servo cable stuck cause fracture?
This problem because of careless mistakes caused by operation can be connected with insulating tape glue cable,before the operations,the each servo cable,please avoid being broken.
4,servo Robots doesn’t move,or touch?
Possible reason is that the inside of the servo somewhere out of the question,FD can be used for testing or contact us.
5,Robot control in the long run,the screw loose?
Please follow the right way to repair the robot.First online-the initial position-let robot in enabling state,then servo is removed with a screwdriver,tossing the locking screws and nuts,rebuilt again,this can guarantee the servo dimension will not change.Suggest nut with sharp pliers,deep inside with tweezers.
5.2software problem
1,Can’t install the drivers?
First of all determine whether the hardware requirements,WIN8systems whether to disable the drive digital signatures,whether FT-Servo Software and Driver V1.1(160323)are installed;download the installation package of usbser.Sys when necessary to manually import. 2,servo search is not complete,no17?
Check which ID does not appear,the corresponding in the back of the robot control panel to check cross connection whether normal,unplug and plug in again after to test again.
3,desktop did not show FD/FS/FM three ICONS?
FT-Servo installation Software and Driver V1.1(160323),please remember to check the Create a desktop shortcut.Or in the beginning-all menus -Smart Robot-create a desktop shortcut icon.
4,offline run faster than online?
Because online,need data real-time transmission data,all online process will be slower than offline process40ms~80ms.
5,after the online search is less than ID?
Please operate in the correct order:straighten robots-connecting cable, switch on the robot,and open the computer software SCRobotMotion.Exe -A zone"open"-search-search-17ID and serial number-sure-D zone burn-read-sure-F zone initial position-robot hands open to stand.
6,online and then click the start slogan out not come?
Sure not win10computer system?Win10is still unable to control the robot. Currently only32/64/doing32/64support XP/WIN7(doing system to disable driver signature),it is recommended to use Windows764-bit systems.
7,how much can compile action group?
253group in theory.
6the plait skills
Robot in the plait at three difficulty levels:
Simple:hello,salute,bowed,shook his head,a simple radio gymnastics
routine and so on.
General:push-ups,splits,swallow,forward roll and roll after running large range of movement.
Difficulties:a cartwheel,walking,such as backward with barycenter offset action;Rhythm,the rhythm of the dance.
After introduction,you must have a new understanding of this little guy, in fact,the more you know him,and he is more interesting.You teach him to do a lot of action;he can give you a performance.He is not only a simple robot,he is your friend!。