Corobot - Robotshop

Transcript

COROBOT USER’S GUIDE WHAT YOU’LL FIND:
OVERVIEW OF COROBOT
INITIAL SETUP
WIRELESS SETUP
CONTROL PANEL
TROUBLESHOOTING Version 1.0 CoroBot User Guide TABLE OF CONTENTS 1 2 3 Getting Started..........................................................................................................................................1 1.1 Environmental Concerns ....................................................................................................................1 1.2 Introduction to the CoroBot .................................................................................................................1 1.2.1 Front of CoroBot.........................................................................................................................1 1.2.2 Infrared Range Detectors...........................................................................................................2 1.2.3 Camera/Video ............................................................................................................................2 1.2.4 Left Side of CoroBot...................................................................................................................3 1.2.5 Right Side of CoroBot ................................................................................................................4 1.2.6 Rear of CoroBot .........................................................................................................................5 1.2.7 Infrared Range Detectors...........................................................................................................6 1.2.8 Rear Connection Ports...............................................................................................................6 1.2.9 Upper Deck ................................................................................................................................7 1.2.10 Lower Deck ................................................................................................................................8 Power........................................................................................................................................................9 2.1 Windows Installation During Initial Use...............................................................................................9 2.2 Installing the User software for tele-operation ..................................................................................10 2.3 Power up for Regular use .................................................................................................................10 2.4 Power Down......................................................................................................................................11 2.5 Charging the Batteries ......................................................................................................................11 2.6 Running Tethered Power on Windows Unit......................................................................................11 Installation...............................................................................................................................................12 3.1 Installing Additional Hardware and Drivers.......................................................................................12 3.1.1 4 5 Configuring the Wireless Link.................................................................................................................13 4.1 Connecting to a Wireless Network....................................................................................................13 4.2 Connecting to a Wired Network ........................................................................................................13 Optional Robotic Arm..............................................................................................................................14 5.1 6 7 Disassembly .............................................................................................................................12 Overview of Arm ...............................................................................................................................14 CoroBot Control Panel............................................................................................................................15 6.1 Arm....................................................................................................................................................15 6.2 Camera View ....................................................................................................................................16 6.3 Drive..................................................................................................................................................16 6.4 Connection........................................................................................................................................16 Troubleshooting ......................................................................................................................................17 7.1 Power Problems................................................................................................................................17 7.1.1 Unable to Turn On....................................................................................................................17 Version 1.1 (15 August 2007) Page i CoroBot User Guide 7.1.2 7.2 Turns Off Unexpectedly ...........................................................................................................17 Battery Problems ..............................................................................................................................17 7.2.1 Battery Charger Not Operating ................................................................................................17 7.2.2 Battery Does Not Hold Charge.................................................................................................17 7.3 Robotic Arm Problems ......................................................................................................................17 7.3.1 Not Opening/Closing Properly..................................................................................................17 7.3.2 Gripper Sensor Malfunctioning.................................................................................................17 7.4 Wireless Problems ............................................................................................................................17 7.4.1 7.5 CoroBot Does Not Respond When Operating in Wireless Mode ............................................17 Connection problems ........................................................................................................................18 7.5.1 Unable to Establish Connection with CoroBot .........................................................................18 8 Using the Restore Disk ...........................................................................................................................19 9 Warranty .................................................................................................................................................20 10 Online Forum Support.......................................................................................................................20 Version 1.1 (15 August 2007) Page ii CoroBot User Guide LIST OF FIGURES Figure 1-1: Carrying the CoroBot.....................................................................................................................1 Figure 1-2: Front of CoroBot ............................................................................................................................2 Figure 1-3: Infrared Device and Camera .........................................................................................................2 Figure 1-4: Left Side of CoroBot ......................................................................................................................3 Figure 1-5: Left Side Power Selector Switch and Power Connectors .............................................................4 Figure 1-6: Right Side of CoroBot....................................................................................................................4 Figure 1-7: Right Side Power and Reset Buttons ............................................................................................5 Figure 1-8: Rear of CoroBot.............................................................................................................................5 Figure 1-9: Rear Connection Ports ..................................................................................................................6 Figure 1-10: Upper Deck..................................................................................................................................7 Figure 1-11: Lower Deck..................................................................................................................................8 Figure 5-1: Robotic Arm.................................................................................................................................14 Figure 6-1: CoroBot Control Panel ................................................................................................................15 Version 1.1 (15 August 2007) Page iii CoroBot User Guide This document is for informational purposes only. Complying with all applicable copyright laws is the responsibility of the user. Without limiting the rights under copyright, no part of this document may be reproduced, stored in, or introduced into a retrieval system, or transmitted in any form or by any means (electronic, mechanical, photocopying, recording, or otherwise), or for any purpose, without the express written permission of CoroWare, Inc. CoroWare may have patents, patent applications, trademarks, copyrights, or other intellectual property rights covering subject matter in this document. Except as expressly provided in any written license agreement from CoroWare, the furnishing of this document does not give you any license to these patents, trademarks, copyrights, or other intellectual property. © 2007 CoroWare, Inc. All rights reserved. CoroWare is either a registered trademark or trademark of CoroWare, Inc. in the United States and/or other countries. The names of other companies and products mentioned herein may be the trademarks of their respective owners. Version 1.1 (15 August 2007) Page iv CoroBot User Guide 1 GETTING STARTED The CoroBot arrives fully assembled and after a few initial setup steps, the CoroBot is ready for use. WARNING: If the CoroBot was ordered with a robotic arm, be advised not to pick the unit up by the arm. For more information, refer to Section 5: Optional Robotic Arm. To remove the CoroBot from the box, hold the unit securely with two hands placed between the wheels holding the upper and lower decks. Figure 1-1: Carrying the CoroBot WARNING: Before using the CoroBot for the first time, ensure that the battery is completely charged. See Section 2.4 for more information. 1.1 ENVIRONMENTAL CONCERNS The CoroBot is designed for easy access, disassembly, and reassembly for the adding and changing of hardware and parts. Due to the open design, the CoroBot is sensitive to debris. Light outdoor operation should pose no problems to the CoroBot; however, water and dirt will cause damage. The unit is not water proof. Most indoor environments pose no problems for the CoroBot. 1.2 INTRODUCTION TO THE COROBOT This section provides an introduction to the CoroBot. Detailed information about the robotic arm is found in Section 5: Optional Robotic Arm. 1.2.1 FRONT OF COROBOT The front of the CoroBot has one of the infrared range detectors, the camera, and the optional robotic arm. Version 1.1 (15 August 2007) Page 1 CoroBot User Guide Figure 1-2: Front of CoroBot 1.2.2 INFRARED RANGE DETECTORS The infrared range sensor detects the distance from the front and back of the CoroBot. This information is displayed with a blue line on the CoroBot Control Panel. Be advised that the current IR sensors are not programmed to stop when the CoroBot is too close to an object. Figure 1-3: Infrared Device and Camera 1.2.3 CAMERA/VIDEO The camera is floor mounted for best visibility. When used in conjunction with the gripper arm, the camera is used to identify and pick up items that weigh up to eight ounces. Version 1.1 (15 August 2007) Page 2 CoroBot User Guide 1.2.4 LEFT SIDE OF COROBOT See Figure 1-5 to identify the following: 1. Tethered power is on the left. 2. Battery charging connector is on the right. 3. Power Selector Switch is the three position switch in the center. • Up: Operate off tethered power Note: The battery takes approximately six hours to charge. However, the CoroBot can be operated off tethered power while charging the batteries. • Center: Off • Bottom: Run off battery power (no charge) WARNING: If the CoroBot is not in use, ensure that the Power Selector Switch is in the center (off) position. If Power Selector Switch is left in the bottom (battery) position, the batteries will drain even if the robot is not in motion. The batteries will also drain if the main CPU is not powered on. When the Power Selector Switch is in the up position, even though the CoroBot may be powered off, some power is still available and supports the robotic arm in place. The arm cannot be manually adjusted. When the Power Selector Switch is in the center position and the CoroBot powered off, no residual power is available to support the robotic arm. The arm can be manually moved to any position. Figure 1-4: Left Side of CoroBot Version 1.1 (15 August 2007) Page 3 CoroBot User Guide Figure 1-5: Left Side Power Selector Switch and Power Connectors 1.2.5 RIGHT SIDE OF COROBOT The right side of the CoroBot contains two buttons. 1. Power button (Closest to the front) 2. Reset button (Closest to the back) Figure 1-6: Right Side of CoroBot Version 1.1 (15 August 2007) Page 4 CoroBot User Guide Figure 1-7: Right Side Power and Reset Buttons 1.2.6 REAR OF COROBOT Identify the following: 1. Rear infrared sensor is located on the base. See Figure 1-8. 2. Rear connection ports are located on the upper deck in between the batteries. See Figure 1-9. Figure 1-8: Rear of CoroBot Version 1.1 (15 August 2007) Page 5 CoroBot User Guide Figure 1-9: Rear Connection Ports 1.2.7 INFRARED RANGE DETECTORS The infrared range sensor detects the distance from the front and back of the CoroBot. This information is displayed with a blue line on the CoroBot Control Panel. Be advised that the current IR sensors are not programmed to stop when the CoroBot is too close to an object. 1.2.8 REAR CONNECTION PORTS The ports are detailed from left to right and top to bottom. 1. Mouse (green) 2. Keyboard (purple) 3. Serial connection (top) 4. Monitor connection (bottom) 5. Ethernet jack (top) 6. USB ports (bottom) 7. PCMCIA slot (Wireless Card Inserted) 8. S-video output (black) 9. RCA-video output (yellow) 10. Line out (green) 11. Line in (blue) 12. Microphone (pink) 13. FireWire Version 1.1 (15 August 2007) Page 6 CoroBot User Guide 1.2.9 UPPER DECK The upper deck contains the motherboard and batteries. Note the PCI slot, which is free for user-added expansion boards. Similarly, if wireless network connectivity is not desired, the wireless network adapter could be removed and replaced with another device. Figure 1-10: Upper Deck Version 1.1 (15 August 2007) Page 7 CoroBot User Guide 1.2.10 LOWER DECK Power is available on the underside of the lower deck. The barrier block provides ground, 12-volt, and 6volt power. The servo controller board is located on the lower deck. The mobility base’s left and right drive channels are servo channels 0 and 1 respectively. Channels 2 and 3 are reserved for future use. Channels 4 through 7 are used by the 4 Degree of Freedom (DOF) arm, if present. The remaining servo channels are free for expansion. Digital inputs and outputs are available via the screw terminals on the interface board, and the four open analog inputs are most accessible from the front of the robot. Finally, the robot’s hard disk drive is also located on this deck. Figure 1-11: Lower Deck Version 1.1 (15 August 2007) Page 8 CoroBot User Guide 2 POWER The CoroBot is driven on battery power and has approximately 2.5 hours of battery life. While the battery is charging, the unit can be operated via the tethered power cord. The battery will take about six hours to fully charge. However, the CoroBot cannot be driven while using the tethered power cord. WARNING: In the event that the CoroBot is being operated on tethered power, the unit must be on blocks. If the user is working on the CoroBot on a table, ensure that the unit is on blocks. If the CoroBot is being recharged and the unit is off, then there is no need to prop the CoroBot on blocks. The primary reason for propping the unit on blocks is to ensure that the CoroBot is not accidentally engaged and driven off a table top, down a staircase, or drive away and pull out the power tether. Any of these could result in serious damage to the CoroBot, damage to the power cord, or damage to the power connector. 2.1 WINDOWS INSTALLATION DURING INITIAL USE When powering up for first use, the user will be prompted to complete the last few steps to install Windows. The default Windows installation is recommended. The CoroBot has a standard PC located on the lower deck. During the installation process, the user will be required to attach the keyboard, mouse, monitor, and possibly the Ethernet connection. Complete the following steps to install Windows: 1. Ensure that the CoroBot is elevated on blocks such that the wheels do not come into contact with the ground surface. This will prevent accidental damage if the wheels are unintentionally engaged. 2. Plug the tethered power cord into the electrical outlet and then into the CoroBot. 3. Attach the battery charger unit to the CoroBot (optional). 4. Attach the monitor, keyboard, mouse, and Ethernet connection (optional) to the rear of the CoroBot. 5. Press the Power button and wait for the CoroBot to fully power up. 6. The Welcome to Microsoft Windows screen will be displayed. 7. Click Next. 8. Read the End User License Agreement. If you accept the agreement, click Next. 9. Enter the Windows Product Key. This key consists of 5 groups of 5 numbers or letters each. The key is printed on a sticker on the underside of the CoroBot. Click Next when done. 10. At the Help protect your PC screen, answer that you will not enable the firewall right now. Click Next when done. 11. Choose a computer name for the CoroBot’s on-board computer. This name can be any valid computer name, however the name MyCoroBot is recommended. If multiple CoroBots will be run on the network, it is strongly recommended that each CoroBot has a unique name. Click Next when done. 12. Select an Administrator password. Enter the password when prompted, and click Next when done. 13. When asked if your computer requires a domain controller, it is recommended that “no” is left selected. If the local network configuration requires a domain controller, contact your network administrator for information on how to connect to the network. Click Next when done. 14. Set user accounts. These accounts will not be used by the robot, however, Microsoft Windows requires at least one account to be created. Click Next when done. Version 1.1 (15 August 2007) Page 9 CoroBot User Guide 15. Windows will complete the boot-up process. At the log-on screen, select the “robot” account, and log in using the password “robot”. 16. The “robot” user will log in, and automatically run the robot services. The computer must now be configured to automatically log into the “robot” account upon boot-up. 17. Click the Start button, and select “Run”. In the dialog box, enter “control userpasswords2” without the quotation marks, and press the enter key. 18. A dialog box will appear. Clear the checkbox labeled “Users must enter a username and password to use this computer”, and click the OK button. 19. A dialog box prompting for the account and password to use for automatically logging in will appear. Enter “robot” for the the username, and “robot” for the password. Click the OK button when done. 20. Follow the instructions in section 4 to connect the CoroBot to the wireless network. This will enable the CoroBot to automatically connect on subsequent reboots. Note: If using wireless networking be prepared to set up the wireless network at this point. For more information about wireless setup, see Section 4: Configuring the Wireless Link. 21. Shut Windows down. 22. When the computer has powered down, press the CoroBot power button again to reboot the computer. 23. Verify that the CoroBot automatically logs into the “robot” account, and runs its services. 24. Shut Windows down. 25. Disconnect the keyboard, monitor, mouse, and Ethernet. 2.2 INSTALLING THE USER SOFTWARE FOR TELE-OPERATION The CoroBot comes factory-equipped with software for tele-operation. This allows a user at a desktop or laptop computer to control the CoroBot over a wireless network. This requires that some software is installed on the user’s computer. To install this software, take the following steps: 1. Locate the CoroBot Windows Software and Source CD-ROM. 2. Insert the CD into the user’s computer’s CD-ROM drive. 3. Click the Start button, then Run, and enter “D:\CoroBotUIDeploy.exe”, where “D” is the drive letter for the CD-ROM drive. 4. The CoroBotUIDeploy program will prompt you for the directory in which to install itself. Enter “C:\CoroBotUI”. 5. The program will install its files to the specified directory. 2.3 POWER UP FOR REGULAR USE The robot automatically runs robot services at start-up. In Windows, the robot automatically logs on using the “robot” account with the “robot” password (default). 1. Use the Power Selector Switch to select the desired power source: tethered AC power or battery power. 2. Press the Power button and wait for the CoroBot to fully power up. a. If robotic arm is attached, the arm will move to the ready state. This process may take a few minutes. Version 1.1 (15 August 2007) Page 10 CoroBot User Guide b. If robotic arm is not attached, wait while the unit boots up. This process may take a few minutes. Fans will turn on and the CoroBot will respond to motion commands when in the ready state. 3. Boot up the user’s computer and connect to the network. 4. Optionally attach a joystick or gamepad to the user’s computer. 5. Click the start button, then Run, and enter “C:\CoroBotUI\runcorobotui”. This will run the user interface that allows the user to interact with the CoroBot. Please refer to section 6 for details on how to use the program. 2.4 POWER DOWN 1. Push the Power button once, and then wait while the system turns off. This process may take a few minutes. 2. When the fan turns off, the system is completely turned off. 3. Move the Power Selector Switch to the center (off) position. Be advised that leaving the Power Selector Switch in the down (battery) position will deplete the battery. WARNING: Do not power down by removing the tethered power cord or by switching main power off. If the Power button does not work, see Section 7: Troubleshooting. 2.5 CHARGING THE BATTERIES The battery charger comes with two charge settings: 0.9 and 1.8. The CoroBot should only be charged on the 1.8 setting. A typical charge takes approximately six hours. 1. Switch the charger to 1.8 amps. 2. Plug into AC power and watch for red/green flashing light, which indicates power to the charger. 3. Plug the power connector into the connector located on left side of CoroBot. (See Figure 1-5) 4. Check for red solid charging light on the charger unit, which indicates the unit is charging. 5. When the light on the charger turns green, the charge is complete. Note: CoroBot can be run on tethered power while charging. This will not affect the time needed to charge the batteries. However, the CoroBot cannot be charged while operating on battery power. 2.6 RUNNING TETHERED POWER ON WINDOWS UNIT The CoroBot has the option to run on AC power or battery power. Generally, battery power is used when driving the robot and AC power is used when the CoroBot is on blocks, i.e., not moving on wheels. If the CoroBot is driven while under tethered power, there is a risk of damaging the power cord, battery charging cords, or connection ports. The unit can recharge while operating under tethered power. Note: If running tethered power, CoroWare recommends propping the base to avoid accidentally disconnecting or damaging the power cord. 1. Plug in AC power cord. 2. Plug tethered power into the left connector located on the left side of the CoroBot. 3. Ensure the Power Selector Switch is in up position. 4. Push the Power button on the right side of CoroBot. Once fully powered, the robot arm will move to the ready state and the disk drive and fan will start/beep. WARNING: If the default software is removed, arm movement will not take place. Version 1.1 (15 August 2007) Page 11 CoroBot User Guide 3 INSTALLATION The CoroBot contains a fully functioning PC. To add or remove any applications, the user must first attach a monitor, keyboard, mouse, and optional Ethernet cord. 3.1 INSTALLING ADDITIONAL HARDWARE AND DRIVERS The CoroBot is designed for users to easily add, remove, or modify parts as needed. In some instances, the CoroBot will have to be disassembled in order make the desired changes. (i.e., modifying Servos-slots). Section 3.2.1: Disassembly provides steps for separating the upper and lower decks. WARNING: 1. Use extreme caution while working on the robot to avoid pulling or damaging the cables. 2. Before modifying the robot, ensure that the power is off and that the unit is not plugged into the power tether or the charger. 3.1.1 DISASSEMBLY To access the middle deck, complete the following steps: 1. Unscrew the six screws on the upper deck of the robot and remove the lock washers. 2. Carefully remove the top deck, ensuring that the cables between the arm (if present) and the robot’s other components are not stretched or pulled. To access the lower deck, complete the following steps: 1. 2. 3. 4. 5. 6. Remove the top deck as detailed above. Then unscrew the four screws holding down the mother board. Disconnect all cables connecting the mother board to the robot’s other components. Carefully remove the motherboard, revealing six screws which connect the lower deck to the base. Unscrew these screws, and their associated lock washers. Carefully move aside or flip-over the middle deck, revealing the components mounted underneath. Version 1.1 (15 August 2007) Page 12 CoroBot User Guide 4 CONFIGURING THE WIRELESS LINK The CoroBot can connect to a local wireless network, which enables tele-operation of the robot from a networked desktop or laptop computer, or depending on network conditions and configuration, from anywhere on the Internet. 4.1 CONNECTING TO A WIRELESS NETWORK To connect to a local wireless network, complete the following steps: 1. Double-click the Wireless Network Connection icon on the system tray (lower-right of the screen). 2. In the Detected Wireless Networks in Your Area dialog, the desired wireless network may be listed. a. Click on the desired wireless network. b. Click on the Connect button. c. Depending on the configuration of the network, a network password prompt may be displayed. Contact the Network Administrator for details. 3. If the desired wireless network is not listed, the network may not be broadcasting its SSID. In this case: a. Click the Change Advanced Settings link under Related Tasks in the dialog. b. Select the Wireless Network tab. c. Click the Add button. d. Enter the SSID for the network. The Network Administrator will provide the remaining configuration details for connecting to the network. 4.2 CONNECTING TO A WIRED NETWORK The CoroBot can be connected to a wired network as any standard desktop or laptop computer. This configuration offers higher reliability and improved freedom from electromagnetic interference. However, the robot should not be driven while connected in this manner; the CoroBot should be placed on blocks to prevent the wheels from touching the ground and driving away. Failure to do so may cause damage to the CoroBot. Version 1.1 (15 August 2007) Page 13 CoroBot User Guide 5 OPTIONAL ROBOTIC ARM The CoroBot can be purchased with or without the robotic arm pictured below in Figure 5-1. If purchased with the arm, the CoroBot arrives fully assembled. WARNING: Do not use the robotic arm as a method to carry the CoroBot. To carry the CoroBot supported only by the arm will damage the wiring and possibly separate the arm from the unit. Correct method to carry the CoroBot is by holding the upper and lower decks with two hands. 5.1 OVERVIEW OF ARM • 4 DOF • Touch sensor gripper • Parallel jaw gripper • Gripper opens 1.3” • Lift capacity is a minimum of 8 ounces Figure 5-1: Robotic Arm Version 1.1 (15 August 2007) Page 14 CoroBot User Guide 6 COROBOT CONTROL PANEL The CoroBot Control Panel is the interface used while driving the robot. This robot can be driven using a mouse or a force feedback joystick. For the purposes of this manual, the assumption will be made that the operations are performed using a mouse. At startup, most of the control panel is disabled, which means that the interface is not connected to the CoroBot. 1. Enter the machine name or the IP address of the CoroBot to which the control panel will attach. 2. Enter the port number which is 50000. 3. Press Connect. As services on the robot connect to the control panel, sections of the interface will become enabled. (This step may have a 5 to 10 second delay.) 4. The unit is operational if the image displayed from the camera is visible on the CoroBot Control Panel. Figure 6-1: CoroBot Control Panel 6.1 ARM The Arm section contains all of the information about the robotic arm. The shoulder, elbow, and wrist measurements are displayed in degrees. The gripper is displayed in millimeters. Note: The arm can also be controlled by a joystick. The Point-Of-View Hat switch controls the arm’s shoulder and elbow joints (up and down, outward, and inward). The joystick’s first slider opens and closes the gripper. Finally, the number 2 and 3 buttons control the wrist rotation (roll). The Arm section depicts a robot arm in red with green dots which represent the joints. The green dot on the last axis moves the entire arm. By clicking and dragging on the arm panel, the end effector is moved to a new location. Version 1.1 (15 August 2007) Page 15 CoroBot User Guide The Wrist section shows both positive and negative degrees for the wrist. To change the degree for the wrist, grab either end of the red bar and drag toward the center position. The degree field will show the updated degrees. The Gripper is touch sensitive. The parallel red lines represent how many millimeters apart the gripper jaws are at the moment. Use the mouse to drag the gripper jaws closer or farther apart. As the lines get closer, the jaws on the gripper get closer and eventually connect on an object or close completely. As the gripper applies pressure on an object, the outlined blue circle in the Gripper field turns completely blue indicating full pressure applied on the object. 6.2 CAMERA VIEW The camera view window allows for the CoroBot to be driven where the operator has limited or no visibility. When driving without actual sight of the CoroBot, use the Arm, Camera, and Drive sections simultaneously. The camera is floor mounted to allow for better visibility when picking an object up using the robotic arm. 6.3 DRIVE The Drive section depicts a CoroBot and up to two blue lines. The blue lines are the infrared lines of detection and are used to indicate approximate distances of obstacles. The lines are drawn if the IR sensors detect an obstacle in front or behind the CoroBot. Note: The CoroBot is not programmed to stop when the infrared sensor detects the robot is too close to an object. When the CoroBot is in motion, the blue line appears in the direction of motion. The Drive Enabled box indicates whether the CoroBot can be driven. The Drive is automatically enabled if the user uses the mouse to drive the CoroBot. This is done by clicking and dragging within the drive control. As the joystick is moved or the mouse is dragged, red arrows indicate the direction and speed of movement. If using a joystick, the Drive Enabled box still indicates whether the CoroBot can be driven. The Drive can be enabled by pressing button one, which is typically the trigger, on the joystick. Releasing the button disables the drive and acts as a dead man switch to ensure that the robot does not move if the joystick is accidentally moved. The Battery image will change colors as the energy is depleted. The Battery field displays the numerical value for the life of the battery. • Green battery indicates a full or mostly full charge. • Yellow battery is a warning that the battery is running low. • Red battery indicates the batteries need recharging. Note: When the battery is red, users should immediately save their work and either recharge the batteries or power down to switch to tethered power as soon as possible. 6.4 CONNECTION The Connection section is used for network communication connections. This information is used to tell the CoroBot where the computer is on the network. The IP address and Base Port information is entered. Once connected, the CoroBot is running on a wireless network and can travel as far from the controller as the wireless network reaches. Version 1.1 (15 August 2007) Page 16 CoroBot User Guide 7 TROUBLESHOOTING 7.1 POWER PROBLEMS 7.1.1 UNABLE TO TURN ON 1. Verify that the battery is charged or that the power cords are correctly attached. 2. Verify that the Power switch is positioned for tethered power or for battery power. 7.1.2 TURNS OFF UNEXPECTEDLY If the CoroBot turns off unexpectedly, ensure that all of the power cords are plugged in correctly and that the battery is charged. 7.2 BATTERY PROBLEMS 7.2.1 BATTERY CHARGER NOT OPERATING If the battery charger does not appear to be operating correctly, check the following before contacting CoroWare. 1. Verify that the red and green lights blinked when the charger was connected to the AC power. 2. Verify the Power Selector Switch is set to battery. 3. Contact CoroWare for assistance. 7.2.2 BATTERY DOES NOT HOLD CHARGE If the battery does not hold a charge, try recharging the unit. 1. Disconnect all the plugs and reconnect them. 2. Ensure that the Power Selector Switch is in the battery position. 3. Ensure that red and green lights are visible when the AC power is connected to the battery charger. 4. Let the battery charge for a full six hours uninterrupted. Note: The CoroBot can be operated using the tethered power cord while the battery is charging. 5. If the battery still does not hold a charge, contact CoroWare for service. 7.3 ROBOTIC ARM PROBLEMS 7.3.1 NOT OPENING/CLOSING PROPERLY 1. Verify that the sensors work with the test program. 2. If the gripper is still not operating properly, contact CoroWare. 7.3.2 GRIPPER SENSOR MALFUNCTIONING 1. Verify that the sensors work with the test program. 2. Contact CoroWare for additional information. 7.4 WIRELESS PROBLEMS 7.4.1 COROBOT DOES NOT RESPOND WHEN OPERATING IN WIRELESS MODE Ping the wireless IP by completing the following steps: Version 1.1 (15 August 2007) Page 17 CoroBot User Guide 1. Go to Run and type “cmd”. 2. In the Command window, type “ipconfig”. This should indicate the IP address of the CoroBot. 3. In the Command window, type “ping ”. a. If the ping command indicates receipt of a reply, then wireless is operating. b. If ping does not work (i.e., indicates that the request timed out, or that the request was unable to find the destination host), contact CoroWare. 7.5 CONNECTION PROBLEMS 7.5.1 UNABLE TO ESTABLISH CONNECTION WITH COROBOT 1. Bring up Internet Explorer. 2. Connect to IP address of CoroBot. 3. The following address points to the CoroBot: http://{enter IP address}:50000. For example, an acceptable address could be http://MyCoroBot:50000. Note: IE can hang for a few minutes at this point. Be patient and wait. a. If Robotics Studio screen displays, Robotics Studio is running. (Populates with a list of services running.) b. If Robotics Studio screen does not display, reboot Windows. c. If Robotics Studio still does not display, contact CoroWare for assistance. Version 1.1 (15 August 2007) Page 18 CoroBot User Guide 8 USING THE RESTORE DISK At some point, you may find it necessary to restore the CoroBot’s hard drive to the original factory condition. Taking this action will destroy any services, programs, or data on the CoroBot’s hard disk. WARNING: Before performing the restore, ensure that all data stored on the CoroBot is backed up. All information stored on the hard disk will be lost. To perform the restore operation, complete the following steps: 1. Locate a DVD-ROM drive, preferably with a USB connection. It is possible to use an IDE externally-powered DVD-ROM drive; the on-board power supply cannot power a DVD-ROM drive in addition to all of the robot’s components. 2. Connect the DVD-ROM drive to the robot. Insert the Recovery DVD provided with the CoroBot. 3. Connect a mouse, keyboard, and monitor to the CoroBot. 4. Boot the CoroBot from the Recovery DVD. 5. After a few minutes, the Main screen will be displayed, indicated by the CoroWare and CoroBot Imager message on the background. 6. Left-click the Menu button in the lower left of the screen. 7. Select the Self Imager option. The program may take a few minutes to load and initialize. 8. The Self Imager dialog is displayed. Under Input, select the File radio button. A file open dialog box is displayed. 9. Select the image file that corresponds to the CoroBot configuration originally installed. This image file will be on the root directory of the recovery DVD. 10. Click the Open button. 11. Under Output, select the Drive radio button. 12. Under Output Location, select “\Device\Harddisk0 (entire disk)”. WARNING: Be certain that you do NOT select a hard disk entry for a single partition. 13. Click the Start button. 14. The Self Imager displays a last warning. Click Yes, only if certain that all important files on the hard drive have been backed up. All information still contained on the hard disk will be lost. 15. Restoring the disk image will take some time. WARNING: A Cancel button is available; however, this will leave the hard disk in an indeterminate state. More than likely, the disk will have to be repartitioned and reformatted, or the restore process will have to be run again, if the Cancel button is pressed. 16. Once the imaging is completed, power down the CoroBot. 17. Remove the DVD-ROM drive. 18. Reboot the CoroBot. The robot is now in the original factory condition. Version 1.1 (15 August 2007) Page 19 CoroBot User Guide 9 WARRANTY The CoroBot comes with a 90-day limited warranty, plus 1 year of e-mail technical support, each as further described below. Complete and return the Warranty Registration Card to activate the CoroBot warranty and technical support. The CoroBot warranty is personal to the original purchaser, is non-transferable, and does not cover any damage to persons, materials, or property. This warranty is valid only for original parts supplied by CoroWare, and does not apply to any third party software or other third party products included in the CoroBot. CoroBot comes fully assembled, packaged, and distributed by CoroWare. CoroWare guarantees the CoroBot and optional robotic arm to be free of defects in workmanship and material for 90 days from the date of original purchase. CoroWare will provide e-mail technical support to the original purchaser of the CoroBot for one year from the date of purchase. CoroWare reserves the right to replace or repair, at our option, defective CoroWare parts or product, unless CoroWare reasonably determines that the failure or damage was caused by misuse, abuse, or modification of the CoroBot. All repairs by CoroWare are covered under the original warranty or 60 days from date of repair, whichever is longer. CoroWare may repair the CoroBot under this warranty with used or reconditioned parts, and all replaced parts become the property of CoroWare. In order to receive repairs covered by CoroBot warranty, you must contact CoroWare for a return authorization and follow CoroWare’s return policies and procedures. Shipping costs are not included. No additional warranties either express or implied, other than those listed above, shall apply. COROWARE EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES, INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND NON-INFRINGEMENT. No other warranty or guarantee given by any person or corporation with respect to CoroBot shall be binding on CoroWare. Some states may prohibit a disclaimer of warranties and you may have other rights that vary from state to state. COROWARE AND ITS LICENSORS AND SUPPLIERS WILL NOT, UNDER ANY CIRCUMSTANCES, BE LIABLE FOR ANY CONSEQUENTIAL, INCIDENTAL, SPECIAL, PUNITIVE, OR EXEMPLARY DAMAGES ARISING OUT OF OR RELATED TO THE COROBOT, EVEN IF COROWARE IS APPRISED OF THE LIKELIHOOD OF SUCH DAMAGES OCCURRING. BECAUSE SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY. UNDER NO CIRCUMSTANCES WILL RECOVERY OF ANY KIND AGAINST COROWARE OR ITS LICENSORS OR SUPPLIERS EXCEED THE PURCHASE PRICE OF THE COROBOT SOLD BY COROWARE AND THAT GIVES RISE TO THE CLAIM (DETERMINED AS OF THE DATE OF ANY FINAL JUDGMENT IN AN ACTION), REGARDLESS OF THE FORUM AND REGARDLESS OF WHETHER ANY ACTION OR CLAIM IS BASED ON CONTRACT, TORT, OR OTHERWISE. THE LIMITATIONS IN THIS COROBOT USER GUIDE WILL APPLY EVEN IF ANY LIMITED REMEDY FAILS OF ITS ESSENTIAL PURPOSE.] Version 1.1 (15 August 2007) Page 20 CoroBot User Guide 10 ONLINE FORUM SUPPORT In addition to the warranty and e-mail support, CoroWare has established a free open discussion forum. This forum is a wealth of information and knowledge where end users can post questions and respond to others. CoroWare will monitor this site and supply answers and advice as appropriate. The CoroWare Forum is located at: http://support.coroware.com/forums. Version 1.1 (15 August 2007) Page 21