XYZrobot Bolide Y-01 User manual

Bolide Y-01
Construct of Your Imagination

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
Bolide Y-01.
General Precautions
Caution: To avoid injury, damage to the robot or equipment, please follow the provided guidelines.
• Please read through the directions before starting.
• The robot is not intended for use by children under 15 years old, or any person with reduced
physical, sensory or mental capabilities, or lack of experience and knowledge, unless:
• Supervised by a person responsible for the child’s safety and who has read and understood
these instructions.
• Keep the robot away from children under 3 years old at all times to prevent injury or damage.
• Keep components or small parts away from children.
• Keep away from pets and animals of any kind, animals may behave erratically in the presence of
the robot.
• First time users should take extra care when handling the robot to minimize injury or damage.
• If the robot is operating abnormally, there is an unusual sound, smell or smoke is detected:
• Turn the robot OFF immediately.
• Unplug the robot.
• Ensure the robot does not tip over or fall down.
• Remove the battery (remove 1 screw on the back of the battery casing).
• To prevent the spread of fire, keep candles or other open flames away from the robot at all times.
• At all times, keep in mind safety first to prevent injury to individuals using or around the robot.
• Always follow installation and service instructions closely. Keep manuals for future reference.
• 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.
• The battery will become hot a little during charging, which is normal phenomenon.
• Please take care of this unit and its accessories, keep them clean. Please do not let this unit or
accessories exposed to fire/burning cigarette, etc... Try to keep the robot and its accessories dry;
please do not let this unit exposed to water or moisture.
• Please do not break, throw or trample the robot.
• 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 robot.
Safety Guideline

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Safety Guideline
• 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.
• Please unplug the charging cord from the charger after charging completed to avoid over-
charging.
• Keep robot away from face and body when moving.
• Do not use any tools other than those provided in the kit.
RF Exposure Warning (For Bluetooth)
The equipment complies with FCC RF exposure limits set forth for an uncontrolled environment.
The equipment must not be co-located or operating in conjunction with any other antenna or
transmitter.
Battery Safety Warning:
DO NOT throw the battery in fire.
DO NOT short circuit the contacts.
DO NOT disassemble the battery.
DO NOT throw the battery in municipal waste.
The symbol of the crossed out wheeled bin indicates that the battery should not be placed in
municipal waste.
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 the User Guide, the Technical Guide and these Safety Instructions (“Documentation”)
at:
http://www.xyzrobot.com
You can contact XYZprinting Inc. support at:
http://www.xyzrobot.com

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Safety Guideline
Handling and Personal Safety
Buttons
• Before using, take a moment to locate the Power On/Off and directional buttons and familiarize
yourself with the functions.
Handling
• Handle the robot with care at all times.
• Pick up the robot by the bar in the event of the following situations:
• If the robot comes close to danger, exposure to water, or falling off a surface.
• Before the robot knocks over objects.
• If the robot’s operation seems erratic.
• Procedure for handling in a potentially hazardous event:
1. Pick up the robot by bar even if it is still moving.
2. Press the Power On/Off button to turn off.
3. Put the robot in the starting default posture.
Refer to the User Guide for powering on instructions.
• In case of a power emergency, do not touch the robot.
CAUTION:
Pinching Hazard
• Avoid carrying and touching the robot when it is moving, walking or getting up to avoid getting
pinched.
• Keep hand and fingers out of the joint areas to avoid getting caught in between.
• To avoid injury, do not place your hands in any joint to prevent damage or personal injury.

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Safety Guideline
General
IMPORTANT:
• The robot requires a clean work space to move around and perform activities.
• Do not insert any foreign objects into any of the component or internal cavities.
• Generally, do not allow or cause the robot to fall down.
• Do not exert strong force against the joints or actuators (smart servos).
• Do not grab and pull by the head or arms/legs to prevent exerting force on the joints.
Powering
Please read the user manual that came with the Bolide Y-01. It contains important installation and
safety instructions.
CAUTION:
The AC adapter may become hot.
• Do not use the robot when the cables are plugged in to avoid damage.
• Do not use the AC adapter to charge the battery if room temperature is above 45°C (113°F).
• For the maximum battery lifespan, fully charge the battery at least once every 3 months.
• Protect the AC adapter terminals from dirt or other foreign objects.
CAUTION:
To avoid electric shock:
• Do not plug the power cables into an electrical outlet if the power cable is damaged.
• During a storm, unplug the AC adapter from the socket to protect it from damage.
• Never use an AC adapter that shows signs of damage or excessive wear.
CAUTION:
Risk of fire or electric shock:
• Use only the provided AC power cable with the AC adapter. Use of any other power cable may
damage the robot or AC adapter or affect your safety.
• There is no switch on the AC adapter; to disconnect it, pull the plug. Keep the plug easily
accessible at all times to allow easy disconnection.
• Unplug the power adapter if:
• The adapter is exposed to rain, liquid, or excessive moisture.
• The adapter case has become damaged.
• You suspect the adapter needs service or repair.
• You want to clean the adapter.

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Safety Guideline
Extension Cables
CAUTION:
To avoid electric shock:
• Do not use multiple socket adapters or power extension cables that bypass the ground wire or
disable grounding.
• When using a power extension cable or a multiple socket adapter, make sure it is grounded and
has sufficient current rating. No more than one extension device at a time is recommended for
use.
• If using a multiple socket adapter, take care when plugging the power cable, as some types
allow incorrect plugging which could result in permanent damage to the robot, as well as cause
possible electric shock and/or fire damage.
• Do not plug the robot power cables into an electrical outlet if the power cable is damaged.
• Do not connect or disconnect the power adapter with wet hands.
• Plug the robot power cables only into properly grounded electrical outlets.
• Do not use adapter plugs that bypass the grounding feature, or remove the grounding feature
from the plug or adapter.
• If using an extension cable, make sure that the total ampere rating of the products plugged in to
the extension power cable does not exceed the ampere rating of the extension cable.
• Use an extension cable or power board designed for grounded plugs and plugged into a
grounded wall outlet.
Working Area
• Start from the default posture before turning on the robot.
• When turned off, it is best to keep the robot in the default posture without the cable plugged
unless charging.
• Before starting, make sure there is enough free space for operation. This requires a radius of at
least 60 cm (24 inches) around the robot to avoid obstacles.
• Generally, leave at least 60 cm (24 inches) all around the robot to avoid damage. In particular,
ensure that all cabling is removed from the usable area.
• The working surface must be dry and level; thick carpets or rugs are not recommended for
operational stability.
• The robot is designed for indoor use only.
• Keep the robot 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%.
• Do not leave the robot unattended on the floor.

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Safety Guideline
Special Procedures
General
• Never oil the joints with any kind of lubricant.
• 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.
• When handling sensitive components (e.g., printed circuit board), only hold the board by the
edges to prevent damage due to electrostatic discharge (ESD).
• Do not forcibly twist the robot when the power is to prevent damaging the smart servos
(acuators).
• Place the robot on a flat surface prior to the use of the remote control.
Liquid Spills
CAUTION:
Use extreme caution when removing wet power cables from a power socket (or extension cable)
and only attempt this if it is safe to do so:
• Liquids spilt onto the robot or AC adapter may cause a short-circuit and stop the robot from
working. The warranty is automatically void if any liquid seeps inside the AC adapter, whether
apparent from the outside or not.
• Do not use the robot in a wet environment.
• Do not connect or disconnect the battery or AC adapter when your hands are wet.
• Do not use the AC adapter if exposed to rain, liquid, or excessive moisture.
• Do not attempt to dry the components with an external heat source such as a hairdryer or an
oven.
Procedures
• If liquid has not seeped inside the torso or battery casing:
1. Turn off the robot.
2. Disconnect all cables, including the AC adapter.
3. Place the robot in the default posture.
4. Wipe the robot completely dry.
5. When thoroughly dry, turn on the robot to continue operation.

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Safety Guideline
• If liquid has seeped inside the torso or battery casing:
1. Disconnect all cabling from the power socket then disconnect the other cabling end from
the robot.
2. Turn off the robot.
3. Place the robot in the default posture.
4. Dry the robot as much as possible.
5. Disconnect and remove the battery casing.
6. Let the robot air dry completely before installing the battery casing.
7. Once completely dry, install the battery casing.
8. Turn on the robot.
NOTE: For information on your warranty coverage see the Warranty in this assembly manual.

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Table of Contents
Prerequisites................................................................................... 10
Windows Operating System Requirements ................................................. 10
Mac Operating System Requirements......................................................... 10
Arduino....................................................................................................... 10
Introduction to Software.............................................................................. 11
XYZrobot Editor .................................................................................... 11
Bolide Software Pack............................................................................ 11
Software .......................................................................................... 12
Setting Up the Environment ........................................................................ 12
Before You Start.................................................................................... 12
Requirements........................................................................................ 12
Overview of Installation Process ............................................................ 12
Read Me First ....................................................................................... 13
Existing Arduino Installations ................................................................. 13
First Time Installation............................................................................. 14
Setting Up Hardware and Libraries........................................................ 15
Installing the Bolide Y-01 Editor Driver ................................................... 16
Installing the Editor Software....................................................................... 18
Overview............................................................................................... 18
Installing the XYZrobot Editor ................................................................ 18
Uninstalling the XYZrobot Editor ............................................................ 20
Updating the Software .......................................................................... 20
Operations ...................................................................................... 21
Introduction ................................................................................................ 21
Interface Menus .......................................................................................... 21
Main Menu............................................................................................ 21
Pose Editor ........................................................................................... 23
Sequence Editor ................................................................................... 25
Basic Editing............................................................................................... 26
Creating a Pose .................................................................................... 26

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Table of Contents
Creating a Sequence............................................................................. 28
Creating an AVR Format........................................................................ 29
Advanced Editing........................................................................................ 30
Before You Start.................................................................................... 30
Programming the Control Panel ............................................................ 32
Programming the Remote Control......................................................... 33
External Applications................................................................................... 36
Introduction........................................................................................... 36
Mechanical Components............................................................... 37
Additional Components .............................................................................. 37
Adapters ............................................................................................... 37
MicroSD Card ....................................................................................... 37
Hardware Installation................................................................................... 38
Installing the MicroSD Card ................................................................... 38
Control Panel .............................................................................................. 39
Remote Control (Default Motion) ................................................................. 40
Maintenance ................................................................................... 41
LED Codes ................................................................................................. 41
Definition List ........................................................................................ 41
USB Drivers ................................................................................................ 42
Installing a USB FTDI Driver................................................................... 42
Installing Bolide Y-01 Default Firmware.................................................. 43
Validating Environment Setup................................................................ 44
Smart servos .............................................................................................. 45
Querying Servo Status .......................................................................... 45
Setting a Servo ID ................................................................................. 45
Troubleshooting.............................................................................. 46

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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 10.8 or later
Arduino
• Arduino IDE 1.0.6

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Introduction to Software
XYZrobot Editor
The XYZrobot Editor is the designed software included with your Bolide Y-01 robot package. The
software is compatible with both Windows and Mac OS operating systems. The XYZrobot Editor
allows you to create a wide variety of standard and unique poses for your Bolide Y-01, which
are easily edited and stored for use at any time. The software will also allow you to create action
sequences by combining the created pose list in any number of combinations.
For more information about the XYZrobot Editor, visit XYZprinting Inc. at
http://www.xyzrobot.com
Bolide Software Pack
The software pack includes the following items:
• ArduinoSetting: Setup the Arduino environment for Bolide Y-01
• A1_16_ID_Setting: Set A1-16 smart servo ID
• Bolide_Y-01_Default: Default firmware for Bolide Y-01
• Bolide_Y-01_UserMotion: Firmware for controlling user’s motions
• XYZrobot_Editor_Driver: XYZrobot Editor driver
Software 01

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Software
01
Setting Up the Environment
Before You Start
The Bolide Y-01 robot kit includes a motion editor to help you define and edit pose and sequence
actions. The Bolide Motion Editor is installed on your computer and interfaces through a USB port
to the Bolide Y-01 robot kit.
Before you start to use the Bolide Y-01 Motion Editor, you will need to setup your computer
environment to enable the use of the Arduino application for installation and configuration of the
Bolide Y-01 firmware and driver.
Requirements
The following list outlines prerequisites for the installation process.
1. Assembly the Bolide Y-01, see the Bolide Y-01 Assembly Guide.
2. Download the Bolide Software Pack, visit from www.xyzrobot.com.
3. If you haven’t already, download the Arduino application. At this time, the Bolide Y-01 only
supports version 1.0.6. See the following information to download the applicable software
package.
• Windows: http://arduino.cc/download.php?f=/arduino-1.0.6-windows.exe
• Mac OS X: http://arduino.cc/download.php?f=/arduino-1.0.6-macosx.zip
Overview of Installation Process
Review all instructions and information prior to starting the actual installation to avoid hardware
damage, difficulty during installation or personal injury.
The document is organized to give the reader a straightforward account of the installation
process. The sections are ordered sequentially as follows:
• Setting Up the Environment
• Obtaining the Arduino software and firmware (Enclosed CD from XYZprinting Inc.)
• Installing Drivers
• Installing Arduino
• Launching the Arduino application
• Configuring the Arduino application
• Uploading new firmware

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01
Software
Before you can begin using the motion editor for the Bolide Y-01, you must first install and
configure the Arduino application.
Once the software is installed, the drivers for the Bolide Y-01 can be installed.
NOTE: Prior to using the Arduino application, it is necessary to install the USB drivers on your
system, see “USB Drivers” on page 42.
To setup the environment:
• Install Arduino environment
• Setup Arduino library folder
• Install and configure the Bolide Y-01 drivers
Read Me First
There are two possible installation methods featured in this chapter, first time users and users
with an existing Arduino package intalled on their computer system.
The Bolide Y-01 robot kit only supports Arduino 1.0.6. If your current version is not 1.0.6, you will
need to first uninstall the Arduino package from the system.
However, it is not necessary to delete the library folders or its contents from your system. If you
use the same installation path to install the new Arduino version, the new installed package will
recognize the library folder and the included contents, allowing you to extend use of previosly
saved files.
• For users that have a previously installed Arduinio package in their computer system, see
“Unsupported Versions” on page 13.
• For users that do not currently have the Arduino application installed, see “First Time Installation”
on page 14 section.
Existing Arduino Installations
Unsupported Versions
The Bolide Y-01 robot kit supports Arduinio 1.0.6. If the current version installed on the computer
system is not the supported version, you will need to uninstall it and perform a clean installation..
NOTE: It is not necessary to delete or remove the library structure from the current Arduino
installation. Any existing library reference can be extended by later Arduino installations.
To setup an unsupported Arduino version:
4. Uninstall the current Arduino software. It is not necessary to delete the library folder or the
included content.
5. If you haven’t already, download the Arduino package (ver. 1.0.6).
• Windows: http://arduino.cc/download.php?f=/arduino-1.0.6-windows.exe
• Mac OS X: http://arduino.cc/download.php?f=/arduino-1.0.6-macosx.zip
6. Once the Arduino package is downloaded to your system, install the software. See “First
Time Installation” on page 14.

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Software
01
Arduino 1.0.6 Version
The Bolide Y-01 robot kit supports Arduinio 1.0.6. Once this version is setup, only required files
available in the Bolide software pack are required to begin using the Arduino application.
To extend the current version, setup the required Bolide files in the Arduino library, see “Setting
Up Hardware and Libraries” on page 15.
First Time Installation
The Bolide Y-01 robot kit supports Arduinio 1.0.6. Once it is installed on your system, you will
need to setup the Arduino library to extend the use of the current Arduino installation.
This section includes step-by-step instructions for setting up the Arduino application. The
software is available for Windows, Mac OS X and Linux systems. This section only refers to the
Windows and Mac OS X versions.
Two instruction types are given. The first explains the installation process using a file installer
for users with admin priviledge, while the second version is intended for users who do not have
administration privilege on the system.
Installer Version
The Installer Version allows you to fully install the Arduino application in your computer system.
For this version, you will need admin priviledges to being the installation process. If you do not
have admin privileges, see your network administrator or use the Non Admin Installation version.
1. Download the Arduino software, only version 1.0.6 is supported.
• Windows: http://arduino.cc/download.php?f=/arduino-1.0.6-windows.exe
• Mac OS X: http://arduino.cc/download.php?f=/arduino-1.0.6-macosx.zip
2. Click the installer file to start the installation process.
3. The Installation Options prompt displays, click on the components to de-select from the
installation process. By default all components are pre-selected.
Non Admin Installation
The Non Admin version is a standalone package capable of running on your system without the
need to initiate the installation process. This version is not installed onto the operating system and
is not registered within the system registry. It can only be accessed by opening the executable
file, provided in the software package.
1. Download the Arduino ZIP file, only version 1.0.6 is supported.
• Windows: http://arduino.cc/download.php?f=/arduino-1.0.6-windows.zip
2. Once downloaded, extract the ZIP package to a desired folder on your system.
The Arduino package (ver. 1.0.6) is now setup on your system. To complete the installation and
environment setup, migrate the required files found in the Bolide software pack into the Arduino
library folder. See the following section for details.

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01
Setting Up Hardware and Libraries
Once the Arduino software is installed or placed in your computer system, you will need to copy
the required library files from the Bolide software pack and transfer them onto the Arduino library
structure.
For both Installer and Non-admin, the Library setup method is the same.
The files for the Arduino Libraries are supplied in the Bolide software pack. The files are a
collection of code that makes it convenient to get your Bolide Y-01 setup quickly. To begin using
the Bolide Y-01, you will need to setup the provided Arduino Library.
To setup the Arduino Library:
1. First run the Arduino application and then close it.
2. Then locate the drive containing the Bolide software pack, for example D:\ (where D: is the
name of the drive containing the Bolide software pack).
The folder contains a subfolder named ArduinoSetting. Click on it and navigate to the
ArduinoSetting\hardware folder.
3. Select and copy the folder XYZrobot.
4. Navigate to the local drive, which contains the installed Arduino software. Locate the
hardware folder.
For example:
\My Documents\Arduino\hardware\
If a hardware folder is not available in the Arduino directory, add a new folder and rename it
hardware.
For Mac users the folder structure will be different.
5. Paste the XYZrobot file, as listed in the previous steps, in the hardware folder.
The Arduino hardware folder should now look like the following example (on Windows):
My Documents\Arduino\hardware\XYZrobot\
or the following (on Mac):
My Documents/Arduino/hardware/XYZrobot/
Next you will need to copy the BOLIDE_Player folder to the Arduino library structure in the same
manner as the previous steps.
6. Locate the drive containing the Bolide software pack, for example D:\ (whereas D: is the
name of the drive containing the Bolide software pack).
The folder contains a subfolder named ArduinoSetting. Click on it and navigate to the
ArduinoSetting\libraries folder.
7. Select and copy the folder BOLIDE_Player.
8. Navigate to the libraries folder in the Arduino folder.
For example:
\My Documents\Arduino\libraries\
For Mac users the folder structure will be different.
Software

16
Software
01
9. Paste the BOLIDE_Player in the libraries folder.
The Arduino library folder should now look like the following example (on Windows):
My Documents\Arduino\libraries\BOLIDE_Player
or the following (on Mac):
My Documents/Arduino/libraries/BOLIDE_Player
The library structure is now setup. To complete the environment setup, setup the driver to validate
the environment.
Installing the Bolide Y-01 Editor Driver
The Bolide Y-01 comes with a pre-installed firmware driver. To allow you to make full use of all
its features, the Bolide Y-01 comes with a Motion Editor, which allows you to create single and
sequenced movement steps. The motion editor makes use of the Arduino open-source software,
requiring the installation of Arduino on your system (if not done so at this point) and synchronizing
it to your Bolide Y-01.
The following instructions guide you through the complete installation of the driver required for
the Motion Editor.
1. Connect the Bolide Y-01 to your computer. Connect one end of a USB cable to the computer
(USB Type A) and the other end to the Bolide Y-01 (USB Type Mini-B).
2. Power up the Bolide Y-01, see “Testing the Bolide Y-01” in the assembly manual.
3. Locate the Bolide software pack and navigate to the following folder:
Bolide_Y-01_Arduino_Support_File_20151201\XYZrobot_Editor_Driver. (For the latest
software visit the http://www.xyzrobot.com)
4. Click XYZrobot_Editor_Driver.ino to run the application.

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5. From the menu toolbar, click Tools > Board and select the option XYZrobot-BOLIDE option.
NOTE: If the previously mentioned Tool > Board option is not available, the Arduino Library
structure has not been setup. To setup the Arduino Library for the hardware, see “Setting
Up Hardware and Libraries” on page 15.
6. Next, select the COM port associated with the Bolide Y-01. From the menu toolbar, click Tool
> 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 page 42.
7. 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 Bolide Y-01 board.
8. Click (Upload) to upload the codes.
After uploading, the message Done uploading displays and no error on the bottom of the frame.
01
Software

1818
Installing the Editor Software
Overview
The XYZrobot Editor is designed specifically to allow for easy creation of poses and action
sequences for use with the Bolide Y-01.
Prior to installation, you will need to have the Adruino software and the Bolide driver code
installed on your computer system and Bolide board, respectively.
See the following section for step-by-step instructions on installing the XYZrobot Editor software.
Installing the XYZrobot Editor
Before installing the XYZrobot Editor, 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 Editor.
Software
01

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A status screen displays the installation status. Once the installation is complete, the XYZrobot
Motion Editor 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.
01
Software