Vstone Robovie-nano User manual

Vstone Co.,Ltd.
ATR

1
0．Introduction
Please Read First
Thank you for purchasing the Robovie-nano bipedal robot kit. Contained herein are the
directions for assembling the robot kit. Please carefully follow the instructions and have fun.
This is a do it yourself assembly kit. The quality of the end product will vary depending on how
the robot is assembled by the user, so careful attention must be followed to following the
directions. Please do not hesitate to seek assistance if any problems arise during the course of
the assembly.
After assembling the robot, a personal computer (PC) will be required for programming
purposes. A software usage guide is included with the kit, however, the manufacturer will not be
able to answer any Windows specific questions. A working level knowledge of PCs is assumed
from this point forward.
A battery charger is not included with this kit, however 4 AA batteries are required for operation,
so it is recommended that the user purchase rechargeable Ni-MH batteries and an off the shelf
battery charger.
※ Please note that the specifications listed herein are subject to change without advanced
notice, in order to enhance performance of the Robovie-nano system.

2
Safety Warnings
●As for this product、this is a do it yourself robot kit so much of the stated performance in this
manual cannot guaranteed, due to the nature of varying methods of user assembly..
●Please do not use of this product、assemble、or store parts around small children、This kit
contains small pieces which may be easily swallowed.
●This product is not a toy. If shown in front of kids, always make sure an adult is present.
●The product can get damaged or ruined is left in areas of high moisture, humidity or
condensation.
●Please use adequate safety measures and techniques when using tools.
●Please do not modify or alter any of the circuitry or electrical components. This could result in
equipment failure, electric shock, or even fires.
●Do not apply any foreign objects, especially metals or substrates to the electronic circuitry. This
could result in equipment failure, electric shock, shorts or even fires.
●Please prepare adequate table space when assembling, programming and testing the robot.
During programming, the robot can suddenly move and knock items over, and possibly cause
personal injury to the user or anyone nearby due to high torque servo motors and sharp
brackets.
●Please check the polarity of the connectors. Fire and other hazards may occur if installed
incorrectly.
●Please be careful to avoid crimping the cables in the robot frame. Short can occur.
●Please remove all cables and connectors at the plug end. Failure to do so could tear the wire
and lead to shorts or fires.

3
About the Servo Motors
A servo motor has an important rule and concept concerning its mounting. If it is mounted in a
wrong way, the robot will not move correctly. When assembling the servo motor, read this page
thoroughly.
○Servo motor original position
The servo motor is controlled by the CPU and can be programmed by the user to freely run.
The servo motor VS-S020 used for the Product has frame mounting holes in the top and back
covers, into which a frame is mounted. Then, mount a servo horn to an output shaft (power
supplied shaft), followed by the frame there, to use it as the robot’s joint. A movable range of the
robot’s joint depends on this mounting of the servo horn.
The servo motor has its movable range. The VS-S020 used for the Product moves within a
range of about 130º, that is from -65º to +65º.* The central position of 0º is called the “origin.”
each servo motor has a slight angle discrepancy. Even if the angle of the origin is sent from the
CPU board to the servo motor, it may be slightly dislocated from the origin. Assuming that the
origin position based on a signal from the CPU board is correct, this robot uses software to adjust
an error produced in the actual servo motor. (An error adjusting method is described later.) In
the following description, “origin” is used as the “origin set by the CPU board.”
○Mounting a servo horn
A servo horn mounting angle to the origin is important in order to set a movable range of the joint
more accurately. If the origin is not accurately set, the robot cannot move successfully in
motions, such as getting up, which require an accurate movable range. Try each hole in the
servo horn one after another until it is located at the most accurate angle to the origin. When
mounting the servo horn to the output shaft, do not allow the servo motor’s output shaft to be
rotated.
○About “motor lock.”
Some servomotor can not rotate in 130º by some joint frame. We limit the rotating range in
software, however we can not limit the rotating range perfectly at the legs and arms.
If a hand or a foot gets caught on the body at the time of activating the servo motors, an
excessive load will be applied to the servo motors. This condition is called “motor lock.” If
this condition persists, the servo motors will be heated and go out of order(breaking
gear/case/servo circuit board/CPU board ). While compensating, touch the servo motors
periodically with your hand to check if they are heated. If they are too hot to touch, turn off
the Power switch of the Robot immediately and wait until the servo motors are cooled down.
Please be careful of Motor lock.

4
１．Equipment
Please prepare the following tools and have readily available during and after assembling the
robot.
●Personal Computer
CPU：Pentium 3 or equivalent (1GHz or Greater)
RAM：128MB
OS：Windows 2000／XP／Vista
Display：XGA or Better
Interface：USB
CD-ROM Drive Installed。
●Tools
・Screw Drivers
＃０、＃１ Philips （＃２ cannot be used）
●Other useful items
Screwdriver, tweezers, towels, cellophane tape, bowl for screws
＃０ ＃１ ＃２
Screws A,B Screws C,D,E,F Do Not

5
2．Parts Discription
・Servo Motor VS-S020
Dimensions：22.5×11.5×24.6mm（L×W×H）
Torque：2.2kg・cm
Speed：0.11S/60°
Weight：12g
Range of Motion：140°
Electrical Input：4.8V～6V（7.4V Optimal）
Protocol：PWM
・Robot Internal CPU Board ＶＳ-ＲＣ003ＨＶ
Dimensions： 52x48(44)x13mm
Weight： 21g
Servo Motor Output：30ch
Voice/Sound Output：2W
Electrical Input： 5V～16V
PC interface：USB (HID)
Remote Control： PS2 Wireless Remote, Probo
Expansion Boards：IXBUS × 1
Included Parts

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Servo Holder Ａ
× ２each
Knee Frame
×２
Servo Holder Ｃ
X 1 each
Servo Holder Ｂ
X 1 each
Servo Holder Ｄ
×４
Link Arm Ａ
×４
Link Arm Ｃ
×４
Link Arm Ｂ
×４
Rear Link Arm
×４
Parts List Please confirm all parts are included in kit
Main Body
Frame
＜L＞
＜L＞ ＜L＞＜Ｒ＞ ＜Ｒ＞
＜Ｒ＞

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Top Frame
×１
Foot
×２
Bottom Frame
×１
Battery Box Frame
×１
Bracket Ａ
X 2 each
Bracket Ｂ
X 1 each
Side Frame
X 1 each
Body
Frame
＜L＞ ＜L＞＜Ｒ＞ ＜Ｒ＞
＜L＞ ＜Ｒ＞

8
Front Cover
×１
Back Cover
×１
Arm HolderＢ
×２
Arm HolderＣ
×２
Arm Holder Ａ
×２
Hand Frames
×１each
Arm
Frames
Flat Washer
×２
＜L＞ ＜Ｒ＞

9
Screw NA
M2-3 Course Thread
×１０２
3
M2- ４ M2-
５
M2-
４
M2- S
バ
Spacer A
M2-3(Hex spacer）
×２
6
M3-
Screw NF
M3-８ Fine Thread
×４
8
M3-
Twist Screw
×２
Spacer C
M3-20(Hex Spacer)
×２
3
M2- ス
20
M3-
バインドネジ
Screw NB
M2-４ Course Thread
×４
Screw ND
M2-５ Binding
×１０
Screw NC
M2-４ Ｓ Tight
×７５
Screw NE
M3-6 Fine Thread
×２４
ス
Screw
Varieties
B
S
Sp
Binding Screw
S Tight Screw
Spacer
S
B
Sp Sp

10
Speaker
×１
USB Cable
×１
Connector and Cable
Gamepad Receiver
×１
CPU Board
VS-RC003HV
×１
Servo Motors
VS-S020
×１５
Battery Terminal
×１
VS-S020
Servo Horn
×１５
Washer
×２８
Washer Bearing
×２
Major
Parts
Cable Ties
×１０
Initial Position
Adjustment Jig
×１

11
３．Assembly
Important Points
・Please use new screw driver.
Philips head screwdriver ＃０： Ｍ２‐３ Course thread, Ｍ２‐４ course thread.
Flat head screwdriver ＃１： Ｍ２‐４Ｓ tight、Ｍ２‐５ Binding、M３‐６、M３‐８ screws.
・Please make sure to use correct screw type.
In particular, M2-4 tapping screws and M2-5tapping screws are very similar. Please note
that if you use M2-5 tapping screw for the output shaft of the servo, it may case a
malfunction of the robot.
・Please install the servo horn in specified center position.
When installing the servo horn to servo, please try several times until you find the
center position. If you install the servo horn in wrong position, the robot may not be
able to play motions properly.
Assembly Instructions
Please follow the following instruction in order.
①Setting up servo motors
②Assembling right leg
③Assembling left leg
④Assembling right arm
⑤Assembling left arm
⑥ Assembling Body
⑦ Attaching legs and arms onto the body
⑧ Wiring
⑨ Attaching covers onto front and back

12
Naming and positioning of the servo motors
Ｓ6：Head
Ｓ5：（Right Eye ＬＥＤ）
Ｓ4：（Right Hand）
Ｓ3：Right Elbow Roll Axis
Ｓ2：Right Shoulder Roll Axis
Ｓ1：Right Shoulder Pitch Axis
ＣＮ３ ＣＮ４
Ｓ6：（Right Leg Yaw Axis）
Ｓ5：
Ｓ4：Right Thigh Roll Axis
Ｓ3：Right Thigh Pitch Axis
Ｓ2：Right Ankle Pitch Axis
Ｓ1：Right Ankle Roll Axis
ＣＮ１
Ｓ6：（Left Leg Yaw Axis）
Ｓ5：
Ｓ4：Left Thigh Roll Axis
Ｓ3：Left Thigh Pitch Axis
Ｓ2：Left Ankle Pitch Axis
Ｓ1：Left Ankle Roll Axis
ＣＮ２
Ｓ6：Power Cable
Ｓ5：（Left Eye ＬＥＤ）
Ｓ4：（Left Hand）
Ｓ3：Left Elbow Roll Axis
Ｓ2：Left Shoulder Roll Axis
Ｓ1：Left Shoulder Pitch Axis

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①Setting up servo motors
Please prepare the necessary parts
USB Cable
×１
CPU Board
VS-RC003HV
×１
Battery Box
×１
Servo motor
VS-S020
×１５
If you are installing Yaw axis extension kit, please prepare following parts.
Servo Motor
VS-S020
×２
Other Parts
PC
NiCad rechargeable battery
（AAA、full charged）

14
Please insert RobovieMaker２ Install CD into CD drive of your PC, and open the folder
from MyComputer.
Read the license agreement and select
“Agree”.
Click
Next
Please Double click the file called “RobovieMaker2_Inst_***.exe”
(*** indicates the software version)
Click Next
１ Installing RobovieMaker2

15
Click Next
Click Next
Click Next
Click Install
It takes a few minutes
Click Finish

16
Connect USB cable to
CPU Board.
Connect to PC Insert the cable firmly.
Connect CPU Board to PC and PC will recognize the CPU Board.
PC will automatically detect the CPU Board when it is connected.
It may take several times to detect the CPU board when you are connecting it for the first time.
Please wait until PC detects the CPU Board.
２ Connect CPU board to PC

17
①Click Start
③Click 「RobovieMaker2」
②Place the cursor over the “All Programs”.
The following dialogues will appear when you start the program for the first time.
Click 「 OK 」
Select create new project.
Click 「 OK 」
Start RobovieMaker and prepare for controlling Robot from PC.
５ Creating new robot project

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Make sure you select this
check box.
Type in name of your robot.
Select directory your want to
save the data of the robot.
Select “Robovie-nano”
Click “Create”
Push the reset button on the CPU
Board and click “OK”.
Click O
K
Click “OK”
Please initialize your CPU Board if you are using new board.
Make sure you press the reset button before you
click the “OK” button.

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The initialization of the CPU Board is completed.
It will open the following window.