OMOROBOT OMO R1 Assembly instructions
Copyright © 2019 OMOROBOT Inc. All Rights Reserved.
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TM
User Manual Quick Guide v1.51
Copyright © 2019 OMOROBOT Inc. All Rights Reserved.
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Content
1. Take a look at the robot............................................................................................... 4
1.1 Components........................................................................................................................4
1.2 External components.................................................................................................. 5
1.3 Specifications.............................................................................................................. 5
2. How to use.................................................................................................................................7
2.1 Overall size...................................................................................................................7
2.2 How to use........................................................................................................................8
2.2.1 Power on and off................................................................................................ 8
2.2.2 Charging the robot............................................................................................9
3. Basic functions.................................................................................................................... 9
3.1 Controller priority.................................................................................................. 9
3.2 Check robot status.................................................................................................... 9
3.2.1 LED indicators................................................................................................... 10
3.2.2 Buzzer sound........................................................................................................10
4. Communication guide for RS-232 protocal........................................................ 10
4.1 Robot setup procedure............................................................................................. 10
4.2 Connect to PC................................................................................................................ 11
4.3 RS-232 basic setup.................................................................................................... 12
4.3.1 Example.....................................................................................................................12
5. Remote control guide (T8F8)..................................................................................... 13
5.1 Remote controller set........................................................................................... 13
5.2 Paring the robot with the controller....................................................... 13
5.3 Manual control............................................................................................................14
6. Maintenance............................................................................................................................ 16
6.1 Replace battery......................................................................................................... 16
6.2 Wire connection and test....................................................................................18
Copyright © 2019 OMOROBOT Inc. All Rights Reserved.
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Notice:
- For your safety, please read this manual carefully and handle the robot
properly.
- This manual contains a product warranty, so please keep this document
in a safe place.
Copyright © 2019 OMOROBOT Inc. All Rights Reserved.
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1.TAKE A LOOK AT THE ROBOT
1.1 COMPONENTS
What is included in the box
1x Robot
2x Batteries
1x Charger
1x USB to Serial
Cable
Quick guide
manual
Parts sold separately
Remote controller set
Additional emergency switch
(hard wired)
Purchasing parts
The above is the basic model of OMO R1; the remote controller set and
additional emergency switch are sold separately based on your purchase
needs.
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1.2 EXTERNAL COMPONENTS
Main Body (View from the front)
Main body (View from the rear)
01 Aluminum Frame
01 Rear wheel (caster wheel)
02 Upper Cover
02 Battery Status Indicator LED
03 Status LED
03 Charger Input
04 Emergency Button
04 Communication Port
05 Front-wheel (8-inch diameter)
1.3 SPECIFICATIONS
Category
Specifications
Category
Specifications
Model Name
OMO-R1
Charging
Time
4 hours
Size
660 x 510 x 263
Battery
Type : Lead acid
Voltage: 24V (2x 12V 12Ah
Battery)
Total weight
37 kg (Including
batteries)
Max Payload
100 kg (220 lbs)
Wheel size
8 inch
Climbing
Capacity
13% with 100 kg payload
Max speed
1.2 m/s (4 ft/s)
External
ports
CAN / RS-232 / S-BUS /
External DC24V Power
Power train
120W DC Geared
Motor
Optional
Parts*
Radio control set /
External emergency switch
box / Laptop mount
Operating
Hours
8 hrs (May vary
per user
environment)
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ⓐPower train
No
Category
Specifications
Image
01
Wheel
8inch urethane
wheel
02
Gear head
Gear ratio 15:1
03
Motor
120W DC Geared
Motor
ⓑExternal ports
No
Parts
Specifications
Image
01
Emergency
Switch
1 Push button on
each side of the
robot. (Push once
to turn on the
Emergency switch,
Rotate to
release)
02
Battery
status LED
4x LED Indicator
03
Power
button
LED Push Button
04
Charging
port
220V, 12V
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ⓒCommunication ports
No
Category
Specifications
Image
01
Serial
Port
RS-232, 9 Pin, D-
SUB
02
External
power
24V, 3Pin Φ20
03
CAN Port
6Pin Φ16
04
S-BUS
3Pin Φ12
05
External
emergency
2Pin Φ12
2.HOW TO USE
2.1 OVERALL SIZE
Main body front side
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Body rear side
2.2 HOW TO USE
2.2.1 POWDER ON AND OFF
Before turning on OMO R1, please make sure the charger is not connected
to the charging port.
Press the power button on the right side
of OMO R1 once.
● If the power is turned on, both the
power mark on the button and the battery
status LED will light up.
● Also, the front Logo light will be
turned on.
Power On and Off
If the front OMOROBOT Logo light is not
turned on, please check the connection
to the motherboard.
Shocking hazard
The charger port is always powered with
24V directly connected to the main
battery.
Please do not put any conductive
materials into the port as doing so may
cause damage to the robot and yourself.
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2.2.2 CHARGING THE ROBOT
Before starting charging, please make sure OMO R1 is turned off and
connect the charger adapter to the charging port.
Always charge with supplied charger
adapter.
● Do not attempt to operate the robot
while charging.
● Charging status can be checked by
monitoring the status LED located above
the power button.
Power On and Off
When disconnecting the charger, always
pull the connector body instead of the
wire itself.
3.BASIC FUNCTIONS
3.1 CONTROLLER PRIORITY
EMERGENCY Switch Remote Controller Serial (UART) Control
3.2 CHECK ROBOT STATUS
LED and Buzzer can be turned ON and OFF by sending LEDEN or BUZEN command.
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3.2.1 LED INDICATIONS
MODE
Status
Description
READY
Breathing / Repeat
The robot is powered on and
standing by.
AUTONOMOUS
Blinking
Driving in autonomous mode.
REMOTE
Blink / Repeat (1-second
intervals)
The remote control mode is on.
ERROR
Blink twice / Repeat
Error is detected.
3.2.2 BUZZER SOUND
MODE
Status
Description
Power ON / READY
Do-Re-Mi-Fa-Sol-Fa-Mi-Re
When powered on.
AUTONOMOUS drive
mode
Do-Re-Mi-Fa-Sol
Switch to autonomous mode.
REMOTE drive mode
Sol-Fa-Mi-Re-Do
Switch to remote (manual) control mode.
ERROR mode
beep-beep-beep-beep
If any of the following errors are detected.
1. Emergency switch is ON.
2. Internal memory is corrupted.
3. Motor polarity error.
4.COMMUNICATION GUIDE FOR RS-232 PROTOCOL
4.1 ROBOT SETUP PROCEDURE
Please follow the below steps to set up your robot.
STEP 1. Turn on the robot.
• Press the power button located
on the left side of the robot
(caster wheel at the front).
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STEP 2. Connect serial communication
cable to the robot.
• Connect an RS-232 cable to the
RS-232 serial port located in
the rear panel of the robot.
4.2 CONNECT TO PC
How to
Image
Process
Option 1
Under Documents support
STEP 01.
Visit https://omorobot
.com/en/r1/
and download "R1
Protocol Test program
v1.0".
STEP 02.
Simply run the
program.
Option 2
Use a third-party
program such as
TeraTerm.
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4.3 RS-232 BASIC SETUP
Description for each speed
direction
Unit
v : Current speed [ mm/s ]
w : Current rotational velocity
[ mrad/s ]
left: Left wheel traveled distance
[mm]
right: Right wheel traveled
distance [mm]
4.3.1 EXAMPLE
Command
Example
Go straight
● PC >> $CVW,200,0,\r\n
Interpretation) Command to move at 200mm/s , 0
mrad/s.
● PC << #CVW,v,w,\r\n
v : Current speed , w : Current rotational velocity
Turning
● PC >> $CVW,0,200,\r\n
Interpretation) Command to move at 0 mm/s , 200
mrad/s. (Counterclockwise)
● PC << #CVW,v,w,\r\n
v : Current speed , w : Current rotational velocity
Check current
speed
● PC >> $QVW\r\n
Interpretation) Check current speed.
● PC << #QVW,v,w\r\n
v : Current speed , w : Current rotational velocity
Check travel
distance
● PC >> $QODO\r\n
Interpretation) Check travel distance so far.
● PC << $QODO,left,right\r\n
left : Left wheel traveled distance,
right : Right wheel traveled distance
Initialize the
distance traveled
● PC >> $SODO\r\n
Interpretation) Reset travel distance so far.
● PC << #SODO\r\n
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5.REMOTE CONTROL GUIDE (T8F8)
5.1 REMOTE CONTROLLER SET
Remote control
Radio receiver
5.2 PARING THE ROBOT WITH THE CONTROLLER
Please note that the remote controller and receiver sets are supplied as
paired.
STEP 01. Turn off the robot
• Turn off the robot by pressing the
power button on the right side of the
robot.
STEP 02. Connect radio receiver
• Find the 3pin S-Bus connector port in
the rear panel of the robot and
connect the receiver.
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STEP 03. Turn on the radio controller
• Make sure all the switches are set
as below.
• SWA: Remote ON
• SWB: Basic drive mode (UP)
• VrB: Max speed (Low-end)
• Turn on the controller by pushing
the main switch to the ON position
STEP 04. Turn on the robot
• Turn on the robot by pressing the
power button.
• If you hear "DI-RI-RI-RI" the
receiver is paired successfully
and getting a signal.
5.3 MANUAL CONTROL
The below image shows the basic functions of each joystick and switch
input.
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Use remote controller, please set SWA switch in Upper position as shown
below.
Basic drive mode
• In basic drive mode, longitudinal speed and horizontal rotation
speed are proportional to the position of the right side joystick.
• Moving the right side joystick Up and Down makes FWD and REV
motion.
• Moving the right side joystick Left and Right makes a turning
motion.
•Putting the right stick into the center position will stop the
robot's motion immediately
Cruise drive mode
• In cruise mode, the robot maintains its speed per position of the
left stick Up-Down position and stopped at the down most position.
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Note: When switching to this mode, please make sure the left side
joystick is in the down most position (Stop position).
• Move SWB switch to change the direction of the robot as below.
• Middle: Moving FWD direction
• Down: Moving REV direction
• Max speed can be set by moving the VrB slider.
•To turn the robot, move the right side joystick left or right.
6.MAINTENANCE
6.1 REPLACE BATTERY
When changing the battery, please replace the same module of battery
(product) as we provided.
STEP 01. Remove upper panel
• Remove the upper panel by using
a hexagon wrench.
STEP 02. Disconnecting battery cables
• Disconnect wires orderly as in
the picture.
• Cover the connection terminals
with a protective cover or non-
conductive tapes.
Shocking hazard
• When separating connectors,
please make sure to wear insulator
gloves.
• Do not put any tools such as
drivers or wrenches on the battery.
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• Shock or even fire may occur if
positive and negative terminals are
shorted.
STEP 03. Removing battery cover
• Remove battery cover using a hex
wrench.
STEP 04. Replacing the batteries
• Remove old batteries.
• Place a terminal protective
cover on the new battery connection
terminals.
• Replace the new batteries in
the battery bay.
Shocking hazard
• Exposed terminals, even on
disconnected batteries, present an
electrical shock hazard.
• Never touch both battery
terminals with your bare hands at the
same time!
• Remove rings, watches, and
dangling jewelry when working with or
near batteries. The metal in the
jewelry can cause a shock or burn if
they contact the battery terminals.
• Only use insulated/non-
conducting tools to remove cell caps.
Never lay tools or other metal parts
on top of a battery.
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STEP 05. Assemble the robot in reverse order
• Check STEP 02, please assemble
the robot in ③②① order if
assemble reversely.
6.2 WIRE CONNECTION AND TEST
When connecting the wires separately, please make sure the wires are
connected correctly!
Checking wire connection inside the controller box
• Please make sure of the location of the motor communication
wire.
• Connect the wire and test immediately to check if the wheels are
moving.
•Damage and accidents of devices can be prevented in case of
malfunction due to incorrect wire connection.
•Please be aware that we are not responsible for any accidents or
property damage caused by the user's incorrect wiring
connections.
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Position the robot on the pedestal for safety before running a test.
.
SERVICE INQUIRY OMO R1
※Please be sure to check the manual before using the product, as it
contains information and quick setup guide.
E-mail
Homepage
sales@omorobot.com
www.omorobot.com/en/
Please let us know the product model name, fault
condition, and contact number, and we are happy
to hear your inquiries and we will take care of
them quickly.
Manufacturer: OMOROBOT Ltd. / Made in Korea
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