XYZrobot A1-16 User manual

USER MANUAL

01
Please read the following information: failure to comply with provided information may lead to voiding
the warranty.
This document covers safety, proper handling, and regulatory information for use of your smart servo.
General Precautions
Caution: To avoid injury, damage to the servo or equipment, please follow the provided guidelines.
• Please read through the directions before starting.
• To prevent the spread of fire, keep candles or other open flames away from the servo at all times.
• At all times, keep in mind safety first to prevent injury to individuals using or around the servo.
• Review and follow all safety information provided throughout this manual.
• This guide does not cover all possible safety issues or conditions. Always use common sense
and good judgment.
• Warning: Conversion or modifications to this product not expressly approved by the party
responsible for compliance could void the user’s authority to operate the product.
• Please do not break, throw or trample the servo.
• Avoid installation in extremely hot, rainy or water splashing, or being placed in high temperature
or moist environment.
• Please use the accessories we match for this servo.
• Never disassemble or modify the smart servo in any way, otherwise, warranty of the product will
be lost. For non-human faults or breakdown, please contact authorized distributors.
• Do not use any tools other than those provided in the kit.
Important Notice for Use in Healthcare Environments:
XYZprinting Inc. products are not medical devices and are not listed under UL or IEC 60601 (or
equivalent).
You can find th User Guide, the Technical Guide and these Safety Instructions (“Documentation”), visit
the following:
http://www.xyzrobot.com
You can contact XYZprinting Inc. support at:
http://www.xyzrobot.com
Safety Guideline

02
Safety Guideline
Handling and Personal Safety
Handling
• Handle the servo with care at all times.
General
Working Area
• The working surface must be dry and level; thick carpets or rugs are not recommended for
operational stability.
• Keep the servo away from radiators, heat sources and direct sunlight.
• Operating temperatures: between 0°C and 40°C (32°F to 104°F).
• Operating humidity range: between 20% and 80%.
Special Procedures
General
• Do not modify or open any of the actuators.
• Do not drop, crush, bend, deform, puncture, shred, microwave, incinerate any of the
components. Doing so can cause fire, electric shock, damage or personal injury.
NOTE: For information on your warranty coverage see the Warranty in this Assembly Manual.

03
Prerequisites................................................................................... 04
Windows Operating System Requirements .................................................04
Mac Operating System Requirements.........................................................04
Arduino.......................................................................................................04
Setting Up the Environment .......................................................... 05
Setup MCU Board ......................................................................................05
Powering on MCU Board............................................................................05
Installing the Motor Editor Driver..................................................................06
Connecting Smart Servo.............................................................................07
Setting Up the Servo Tool.............................................................. 08
Installing Servo Tool ....................................................................................08
Overview........................................................................................................08
Installing the XYZrobot Servo Tool..................................................................08
Uninstalling the XYZrobot Servo Tool..............................................................10
Updating the Software...................................................................................10
Introduction to Servo Tool UI.......................................................................11
Main menu.....................................................................................................11
Servo Tool......................................................................................................13
Registering an ID............................................................................ 16
Overview..................................................................................................... 16
Detecting the Smart Servo..........................................................................16
Configuring an ID ........................................................................................17
Validating the Servo ID ................................................................................17
Troubleshooting.............................................................................. 18
繁體中文 | 简体中文 | 日本語......................................................................19
Italiano | Français ........................................................................................23
Español | Deutsche.....................................................................................27
Table of Contents

04
Prerequisites
Windows Operating System Requirements
• Windows 7 or later, including both 32-bit and 64-bit versions
• Microsoft .Net Framework 4.5
Mac Operating System Requirements
• Mac OS X 10.10 or later
Arduino
• Arduino IDE 1.0.6

05
01
New servos must have an ID assigned to them before being included in an assembly.
NOTE: The Bolide Y-01 model was used for the following procedure. The illustrations may differ from
the model you purchased.
Setup MCU Board
1. Connect the MCU board to your computer. Connect one end of a USB cable to the computer
(USB Type A) and the other end to the MCU board (USB Type Mini-B).
Powering on MCU Board
1. Plug the charger cable to the power socket on the MCU board.
2. Press the power switch to turn on the Bolide Y-01.
Setting Up the Environment

06
Setting Up the Environment
01
Installing the Motor Editor Driver
The following instructions guide you through the complete installation of the driver required for the
Servo Tool.
1. In Windows, go to Control Panel then to Device Manager to make sure the USB cable is
connected.
2. Locate the driver and navigate to the following folder:
XYZ_Motor_Editor_Driver_v3 (For the latest software visit http://www.xyzrobot.com)
3. Click XYZ_Motor_Editor_Driver.ino to run the application.
4. From the menu toolbar, click Tools > Board and select the option XYZrobot-BOLIDE option.
5. Next, select the COM port associated with the Bolide Y-01. From the menu toolbar, click Tools >
Serial Port and select the associated option.
NOTE: If the device is not detected, the USB driver may not be recognized. The option to select
the associated COM port will not be available. You will need to update or re-install the
serial port drivers; see “USB Drivers” on the Bolide Y-01 User Manual.
6. Click (Verify) to compile the codes.
After compiling, the message Done compiling displays on the bottom of the frame.
If there are no errors and the compiling is complete, upload the code to the MCU board.

07
01
Setting Up the Environment
7. Click (Upload) to upload the codes.
After uploading, the message Done uploading displays. Check that no errors display at the
bottom of the frame.
Connecting Smart Servo
1. Connect one end of a cable to the MCU board and the other end to the smart servo.
NOTE: Make sure there is only one smart servo connected to the MCU board.

08
Installing Servo Tool
Overview
The XYZrobot Servo Tool is designed specifically to configure an ID for a new servo.
Prior to installation, you will need to have the Adruino software and the Bolide driver code installed on
your computer system and the Bolide board, respectively.
See the following section for step-by-step instructions on installing the XYZrobot Servo Tool software.
Installing the XYZrobot Servo Tool
Before installing the Tool, download the driver from http:\\www.xyzrobot.com.
1. Locate the downloaded driver file.
2. Click setup.exe to run the application.
The Launching Application window displays. Follow the on-screen prompts to continue.
NOTE: At the time of writing, the file and folder names were under development. File and folder
names may differ after production.
3. Click Install to install the XYZrobot Servo Tool.
02 Setting Up the Servo Tool

09
A status screen displays the installation status. Once the installation is complete, the XYZrobot
Servo Tool software opens.
NOTE: A security prompt may display requiring authorization to open the software. To continue with
the procedure, click OK to continue or cancel to end the process.
02
Setting Up the Servo Tool

10
Uninstalling the XYZrobot Servo Tool
To uninstall the XYZrobot Servo Tool software, follow these step-by-step instructions.
1. Close the Tool to continue.
2. On Windows, click Start > Control Panel to open the computer’s settings menu.
3. Click Uninstall a program to open the Uninstall menu or change a program menu.
4. Select XYZrobot Servo Tool v1.0 from the list and click Uninstall/Change.
For Mac users:
1. Drag the app from the Applications folder to the Trash (located at the end of the Dock).
2. Then choose Finder > Empty Trash.
The XYZrobot Servo Tool application is removed from the program list.
WARNING: Emptying the Trash bin permanently removes the content and renders it unavailable.
NOTE: The screens and procedure displayed here may vary slightly from what you see in your
system, depending on the operating system in use.
Updating the Software
During the course of normal operations, the XYZrobot Servo Tool automatically checks for updates
and installs them. When new updates are available, you are notified before the process starts.
Setting Up the Servo Tool
02

11
Introduction to Servo Tool UI
Main menu
13
12 11
4
5
8
9
10
6
7
21 3
No Item Description
1 Tool Open to reboot the servo or reset the servo to default settings. See
“Tool” on page 12 .
2 Config Open to select the Port Settings option. See “Config” on page 12 .
3 Help Open to select the About and Language settings options. See “Help”
on page 12 .
4 Position Type a specific number (0-1023) and press Enter to manually set a zero
position.
5 Zero Position Drift to rotate the servo hub to the actual position.
6 Relax Stops the electric pulse signal to the smart servo, allows for manual
rotation of the servo.
7 Capture Capture the zero position on the servo.
CAUTION: The hub’s available range of movement is +/- 165° from
servo center. If the zero position is outside this range,
incorrect position information will be read and it will not
be possible to control the servo effectively. It is strongly
recommended that the usage area falls within this range.
8 Set Type a specific number and click Set to manually set a zero position.
02
Setting Up the Servo Tool

12
No Item Description
9 Read Read the current servo information.
10 Set Set the modified setting into the servo.
11 Connection Status If a servo is detected, the dialogue displays a device connected status.
12 Description bar The dialogue displays a text description of the last initiated action.
13 Configuration Area The configuration area displays the current information of the smart
servo as well as editing functions. See “Main menu” on page 11 .
Tool
Item Description
Reboot Servo Reboot the connected smart servo.
Reset servo to
default setting
Reset the connected smart servo to default setting.
Config
Item Description
Port setting Select the current communication port.
Detect Motor Detect the connected smart servo.
Help
Item Description
About Display information about the XYZrobot Servo Tool.
Language Select an interface language: English, 繁體中文, 简体中文, 日本語, Deutsch,
Español, Italiano and Français.
Setting Up the Servo Tool
02

13
Servo Tool
Item Description
ID The unique ID of each servo.
ACK Policy
(RAM Register
Address 1)
Sets ACK Packet reply policy when Request Packet is received.
• 0: No reply to any Request Packet
• 1: Only reply to Read CMD
• 2: Reply to all Request Packet
* When the CMD is “STAT” ACK Packet will be sent regardless of ACK
Policy.
* There is no reply when the pID in Request Packet is 254 (Broadcast pID)
with the exception of “STAT” CMD in which case a reply will be sent.
Alarm LED Policy
(RAM Register
Address 2)
Sets Alarm LED policy when Error is detected.
• 0: Error state, Alarm LED blinks
• 1: User Control LED
• When (r(LED Policy) & r(Status Error)) is TRUE, Alarm LED starts to
blink, Alarm LED blink period is set by r(LED Blink Period).
• When (r(LED Policy) & r(Status Error))is TRUE, Any values written
to r(LED Control) will be ignored to prevent confusion with Error
state.
• Error status r(Status Error) must be resolved first for r(LED Control)
to function properly.
02
Setting Up the Servo Tool

14
Item Description
Torque Policy
(RAM Register
Address 3)
Sets Torque Policy when Error is detected.
• 0: Torque is released (Torque off). If an error is detected, servo will not
return to Torque On state regardless of the Torque Control.
• 1: Servo does not automatically revert to Torque On state even after
status error has been resolved. Enable Torque On using Torque
Control after status error has been resolved.
Max Temperature The A1-16 servo’s maximum operating temperature. The value is in
degrees Celsius.
Min Voltage The A1-16 servo’s minimum operating voltage. The value is 16 times the
actual voltage in volts.
Max Voltage The A1-16 servo’s maximum operating voltage. The value is 16 times the
actual voltage in volts.
Max Load The A1-16 servo’s maximum operating current. The value is 200 times the
actual current in amperes.
Position Control
Parameter Kp
Servo position control parameter, proportional gain constant Kp. Output
torque applied to motor is adjusted by multiplying Kp and current position
error.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Position Control
Parameter Ki
Servo position control parameter, integral gain constant Ki. Output torque
applied to motor is adjusted by multiplying Ki and summation of error over
operating time.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Position Control
Parameter Kd
Servo position control parameter, derivative gain constant Ki. Output torque
applied to motor is adjusted by multiplying Kd and slope of error over
operating time.
For more features, see https://en.wikipedia.org/wiki/PID_controller.
Over Temperature
Detection Period
Over temperature error check period. The value is 10ms/Tick. For example,
120 ms is represented as value 12.
Over Voltage Detection
Period
Over/under voltage error’s checking period. The value is 10ms/Tick. For
example, 120 ms is represented as value 12.
Over Load Detection
Period
Over current error’s checking period. The value is 10ms/Tick. For example,
120 ms is represented as value 12.
Calibration Angle This value is used to calibrate the central point. The calibrated position
is equal to absolute position plus calibration angle and used in position
control. The value is 0.969°/count. For example, 0.969° is represented as
value 3.
Status Error This value presents the system operating error. The LED status indicates
the corresponding alarm LED policy is set. See “Status Error” on page
15 .
Setting Up the Servo Tool
02

15
02
Setting Up the Servo Tool
Item Description
Status Detail This value presents these system operating details.
• 1: Motor Moving
• 2: Motor In-Position (Position control mode only)
• 3: 1: Torque on (Position/Speed control);
0: Torque off
• 4: Motor Braked
Present Voltage This value shows the voltage currently supplied to the servo. The value is
16 times the actual voltage in volts.
Present Temperature This value shows the servo’s current temperature. The value is in degrees
Celsius.
Present Load This value shows the current currently supplied to the servo. The value is
200 times the actual current in amperes.
Status Error
No Status Error Error LED on/off
1 Exceed Potentiometer Range Error LED on (Blue)
2 Over Voltage Limits Error LED on (Red)
LED off (White)
3 Over Temperature Error LED on (Red)
LED off (White)
4 Overload/Over-current Error LED on (Red)
LED off (White)
5 Requested Packet Checksum Error LED on (Green)
6 Requested Packet Data Error LED on (Green)
7 Requested Packet RX FIFO Error LED on (Green)

16
Overview
The default ID for a new servo is 1. Use the Servo Tool to configure the correct servo ID you wish to
replace the existing ID.
Detecting the Smart Servo
Before you open the Servo Tool, it is necessary to connect the MCU board and computer through a
USB cable.
The following procedure provides detailed instructions on how to connect to the smart servo:
1. Set up the hardware environment. See “Setting Up the Environment” on page 05 .
2. Locate and open the XYZrobot Servo Tool application.
3. From the toolbar, select Config > Port to open the option window.
4. A list of available ports displays in the window. Select the port assigned to the connected MCU
board.
5. Click Confirm to continue.
Registering an ID
03

17
03
Registering an ID
Configuring an ID
1. Enter the correct servo ID in the ID field.
2. Click Set under Parameter description.
The LEDs will blink to indicate a new ID is being configured for the connected servo.
Click OK to confirm.
Validating the Servo ID
Finally, assembly the new smart servo to the correct position. Please refer to the Assembly Manual to
identify the servo position.
After assembly, use XYZrobot Editor to validate the servo ID. In the XYZrobot Editor Pose Editor, move
the new servo’s slide bar. If the slide bar works, the servo ID is defined.

18
04
I can’t connect my MCU board to the PC.
1. Open Device Manager in Windows.
When the product is connected to the PC, please check whether the connected device’s port is
detected.
2. If the port is not detected, you may need to install an FTDI serial driver.
If you have problems with other products, or are unable to solve the problem with the instructions
above, please contact your regional manager.
The Arduino displays “Done uploading” but still displays an error message the burn
program process.
1. Possible cause: low power.
Please charge the Li-ion battery fully or connect the adaptor and try again.
2. Possible cause: the selected COM port is wrong.
Select Config > Port Setting. Select the currently connected COM port and click OK.
Troubleshooting

19
ENGLISH 繁體中文 简体中文 日本語
About 關於 关于 概略
Servos A1 - 16 are modular
actuators, which combine with gear
reducer, DC motor and embedded
control board in one package. The
servo motors provide sufficient
torque to operate the robot. An
added function of the motors is to
provide information about internal
temperature, relay power and
display operational status through
LED light.
伺服 A1 - 16 為模組式促動器，結
合齒輪減速器、DC 馬達與內嵌式
控制板。 這款伺服馬達可提供足以
帶動機器人的轉矩。 此外，這款
馬達也可提供內部溫度、繼電器電
源的資訊，並透過 LED 燈顯示運
作狀態。
伺服系统 A1-16 属模块化致动器，
将齿轮减速机、直流电机和嵌入式
控制板整合到一个机组中。 伺服
电机提供了足够的转矩来操控机器
人。 这些电机的一个附加功能就是
提供有关内部温度、中继功率的信
息并通过 LED 灯显示运行状态。
サー能によって、内部温度に関
する情報の提供、パワーのリレ
ー、LEDライトによる動作状態の
表示を行います。
About Servo Tool 關於馬達編輯器 关于电机编辑器 サーボモーター編集ソフトに関
する
Cancel 取消 取消 キャンセルします
Capture 擷取 撷取 キャプチャ
Connect to {0} 連線到 {0} 联机到 {0} 接続します {0}
Config 設定 设定 コンフィグ
Parameter 參數 参数 パラメーター
Serial Port: 阜號: 阜号: シリアルポート:
OK 確認 确认 確認
Connecting… 連線中... 联机中... Connecting…
Sets ACK Packet reply policy when
Request Packet is received.
0. Only STAT command reply
1. Only EEPROM/RAM READ and
STAT commands reply
2. All commands reply
ACK 封包回傳,或伺服系統已接收
要求的封包時,即呈現數值。
0. 僅有 STAT 指令回覆
1. 僅有 EEPROM/RAM RAED 與
STAT 指令回覆
2. 所有指令回覆
该值说明 ACK 数据包返回时间或
伺服系统收到请求的数据包的时
间。
0. 仅 STAT 命令回复
1. 仅 EEPROM/RAM RAED和
STAT命令回复
2. 有命令回复
この値は、ACKパケットが返った
タイミング、あるいはサーボが要
求したパケットを受け取ったタイ
ミングを表します。
0. STATコマンドのみ応答
1. EEPROM/RAM RAEDコマンド
とSTATコマンドのみ応答
2. すべてのコマンドが応答
Sets ACK Packet reply policy when
Request Packet is received.
0. Show System Error Alarm LED
1. User Control LED
LED 狀態變更或偵測到系統錯誤
時,即顯示數值。
0. 顯示系統錯誤警示LED
1. 使用者控制LED
该值表示 LED 状态是否改变或何
时检测到系统错误。
0. 显示系统错误报警 LED
1. 用户控制 LED
この値は、LEDステータスの変化
の有無、あるいはシステムエラー
が検出されたタイミングを表し
ます。
0. システムエラーアラームLEDを
表示します
1. ユーザーコントロールLED
This value is used to calibrate
the central point. The calibrated
position is equal to absolute
position plus calibration angle and
used in position control. The value
is 0.969°/count. For example,
0.969° is represented as value 3.
此數值可用於校正中點。 已校正角
度等於絕對位置加校正角度,且用
於位置控制。 此數值為 0.969°/次
數。 例如,0.969° 以數值 3 表示。
此值用于校正中心点。校正的位置
等于绝对位置加校正角，并在位
置控制中使用。 该值是 0.969°/计
数。例如，0.969° 表示为值 3。
この値は中心点を調整するために
使用されます。校正位置は絶対位
置に校正角度を足したものに等し
くなり、位置制御で使用されま
す。数値は0.969°/カウントで表示
されます。たとえば、0.969°は3と
表示されます。
The maximum value of A1-16 servo
operating current. The value is 200
times the actual current in amperes.
A1-16 伺服系統的運作電流最大
值。 此數值為實際電流的 16 倍。
A1-16 伺服系统的工作电流最大
值。 该值是实际电流的 16 倍。
A1-16サーボの動作電流の最大
値。実際の電圧の16倍の数値で表
示されます。
The limitation of A1-16 servo
operating temperature. The value is
in degrees Celsius.
A1-16 伺服系統的運作溫度限制。
此數值以攝氏為單位。
A1-16 伺服系统的工作温度限制。
该 值以摄氏度表示。
A1-16サーボの動作温度の上限
値。数値はセ氏で表示されます。
The maximum value of A1-16 servo
operating voltage. The value is 16
times the actual voltage in volts.
A1-16 伺服系統的運作電壓最大
值。 此數值為實際電壓的 16 倍。
A1-16 伺服系统的工作电压最大
值。 该值是实际电压的 16 倍。
A1-16サーボの動作電圧の最大
値。実際の電圧の16倍の数値で表
示されます。
The minimum value of A1-16 servo
operating voltage. The value is 16
times the actual voltage in volts.
A1-16 伺服系統的運作電壓最小
值。 此數值為實際電壓的 16 倍,以
伏特為單位。
A1-16 伺服系统的工作电压最小
值。 该值是电压中实际电压的 16
倍
A1-16サーボの動作電圧の最小
値。実際の電圧の16倍の数値で表
示されます。
05
Appendix
繁體中文 | 简体中文 | 日本語