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HERA Hlab Education

Robot Arm

Education Robot Arm Kit

User Manual

Rev : 1.1
Date: 1/2012

Copyright 2009 H-Laboratory


www.hlab.com.vn

Hardware Revision
EAR5: phin bn u tin.
HERA Rev 1.1 :
Sa phn c kh.
Sa software.

Document Revision

EAR5 Userguide Rev 1.0 : phin bn nhp


HERA Userguide Rev 1.1 : phin bn u tin

Copyright 2009 Hlab-Team. Ti liu ny thuc bn quyn ca nhm hlab


(www.hlab.com.vn), chng ti hy vng cc bn khi s dng vi bt k mc ch no bng
bt c hnh thc no bao gm sao chp, in, copy, trch dn cn phi ghi r xut x
ngun gc t trang web ca chng ti. Hy truy xut trang web ca chng ti thng
xuyn c nhng cp nht mi nht v cc thit b, hay nhng bi vit mi nht. Hy
vng s cng cc bn pht trin nn cng nghip in t Vit Nam.

Rev1.1 - 1/2012

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Mc lc
1

Gii thiu ....................................................................................................... 5


1.1

Gii thiu v HERA ...................................................................................................5

1.2

Chi tit ........................................................................................................................6

1.3

B iu khin .............................................................................................................7

1.4

Phn mm iu khin ................................................................................................8

Hng dn s dng ......................................................................................10


2.1
Ch hot ng ..................................................................................................... 10
2.1.1 Manual Mode :....................................................................................................... 10
2.1.2 Auto Mode :........................................................................................................... 10
2.1.3 Teach Mode : ......................................................................................................... 11
2.2
Tnh nng ................................................................................................................. 11
2.2.1 Ch Stand-Alone ............................................................................................... 11
2.2.2 Ch PC Control ................................................................................................. 12

Ph lc ..........................................................................................................13

Rev1.1 - 1/2012

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Rev1.1 - 1/2012

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Ti liu ny m t v thit b, cng nh cc thng tin cn thit cc bn s dng


trong qu trnh tham kho hoc pht trin ng dng da trn sn phm ny. cp nht
nhng thay i mi nht, vui lng truy cp trang web www.hlab.com.vn ca chng ti.
Nu c bt c kin ng gp cng nh cn h tr, t vn thm thng tin v sn
phm, vui lng gi mail n a ch email: support@hlab.com.vn

1 Gii thiu
1.1 Gii thiu v HERA

Hnh 1 : HERA Robot ARM dnh cho gio dc

HERA l th h robot th 2 do phng th nghim H-Lab sn xut. Cng nh th h th


nht EEAR-5, HERA l tay my 5 bc s dng cc RC servo, gm 4 khp chuyn ng
v tr v mt khp xoay, kt hp vi b iu khin PCS16 cho php iu khin tay my

Rev1.1 - 1/2012

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nhiu ch khc nhau nh chy t ng, chy bng tay, chy ch hun luyn, chy
khng cn my tnh, np EEPROM....

1.2 Chi tit


HERA bao gm cc chi tit sau :

Rev1.1 - 1/2012

S bc t do : 5
Kch thc (trng thi nh nht): Cao 50cm
Vng hot ng : 270,bn knh 450mm
in p cung cp : 200-250VAC,50-60Hz
Kh nng : kp, gp c vt nng 0.5Kg.
Giao tip my tnh : RS232 (USB option)
iu khin bng Teach panel (option)
3 Ch hot ng : t hot ng, iu khin bng my tnh, v ch hun
luyn (teach mode)
C th hot ng c lp (khng cn my tnh)
Board iu khin s dng Pic18F4550, 20Mhz iu khin ln ti 16 servo ng
thi.
Thch hp cho mi trng dy hc, nghin cu

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1.3 B iu khin
HERA c th iu khin bng mch PSC16 (16 channel Pic Servo Controller) c nhng
kh nng sau :

PSC16 s dng PIC18F4550 ca MicroChip.


iu khin theo v tr v tc cho cc RC servo.
iu khin ln ti 16 servo ng thi,
8 in/out/analog, SPI, I2C connectors.
Giao tip UART (USB option),
C chc nng lp trnh hnh ng lu trong EEPROM
C th hot ng c lp vi my tnh (standalone) hoc kt ni vi my tnh (PCmode).
C th kt ni vi teach panel bn ngoi.

Rev1.1 - 1/2012

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1.4 Phn mm iu khin


Phn mm iu khin HERA ,c th s dng phn mm HRC Tool cho php iu
khin trc tip robot HERA t my tnh. HRC Tool kt ni vi robot thng qua cng
COM ca my tnh v s h tr cng USB trong tng lai gn.

Rev1.1 - 1/2012

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Phn mm iu khin cho php kt ni vi tay my HERA thng qua cng COM,
hoc USB (option). Giao din phn mm gm c 3 ch :
Manual Mode : cho php iu khin tng trc bt k thng qua 5 Slider (3
slider cn li cho php m rng cc hot ng iu khin ca tay my).
Auto Mode : cho php tay my chy t ng t mt file lp trnh sn
(*.trip)
Teach Mode : ch hc ca tay my cho php ta thc hin cc thao tc
mong mun mt cch t ng.

Rev1.1 - 1/2012

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2 Hng dn s dng
2.1 Ch hot ng
HERA c ba mode hot ng : manual Mode, Auto Mode v Teach Mode
2.1.1 Manual Mode :
Ta c th iu khin tng trc ca tay my bng cch ko cc slider S0-S4.
Chng ta cng c th iu khin nhiu trc ng thi bng cch nhp cc v tr ca
cc RC servo vo cc textbox S0-S4.Sau nhn nt goto. Mn hnh Status hin th
trng thi v sa trao i thng tin gia phn mm m tay my.
Nt gohome cho php ta a tay my v trng thi ban u.
2.1.2 Auto Mode :
Ch ny cho php tay my thc hin cc thao tc c lp trnh sn mt cch
t ng. Nhn Open file v tm cc file c nh dng *.trip. Sau listbox s hin th cc
thao tc cn thc hin v thi gian delay tng ng vi tng v tr nh hnh sau :

File *.trip c th lp trnh s dng cc cng c son tho vn bn nh notepad,


File *.trip c nh dng nh sau :

Rev1.1 - 1/2012

10

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2.1.3 Teach Mode :


Hot ng dy robot c th thc hin bng cch di chuyn tay my n cc v tr
mong mun nh trong ch manual mode. Sau khi n v tr mong mun, ta nhn nt
teach lu li v tr , c thc hin ln lt cho n khi hon tt qu o. Sau ta
c th thc hin cc thao tc nh dy bng nt Run, hoc lu li thnh file dng trip
s dng sau ny

2.2 Tnh nng


2.2.1 Ch Stand-Alone
ch standalone, HERA c th hot ng khng cn ti my tnh, n di
chuyn theo qu o c lp trnh sn trong b nh EEPROM, v c th d
dng lp trnh li bng my tnh hoc teach panel.

Rev1.1 - 1/2012

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2.2.2 Ch PC Control
ch ny, HERA c kt ni vi my tnh enable cc chc nng mnh m
nh dy hc, chy t ng, chy bng tay hay lp trnh hnh ng cho EEPROM
ca PCS16.

Rev1.1 - 1/2012

12

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3 Ph lc

Rev1.1 - 1/2012

13

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Rev1.1 - 1/2012

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