Transcript
RM-board Instruction manual Ver.0.9.6
IXS Research Corp.
RM-board Instruction Manual Ver.0.9.6
Instruction for caution terms and marks This instruction manual shows some caution terms and marks in order to avoid accidents under incorrect use. This term and mark shows that user or other persons may have heavy injury when operating in ignoring this. This term and mark shows that user or other persons may die or have heavy injury when operating in ignoring this. This term and mark shows that user or other persons may suffer from die or heavy injury when operating in ignoring this.
Attention to your safety ■ Usage and handling
Ｋeep this board and
Don’t use water close to the
Don’t use metal materials close
software out of reach of
product and do not throw water
to the product. It may induce
children．
on it. It may induce
electric short, fire and electric
electric short, fire or electric
shock..
shock. ■ Electrical parts
When you plug for charging, it is important to plug it correctly.
Do not touch the electrical parts with wet hands.
If you do not so, it may induce electric short, fire or electric
When you touch the electric parts, please switch off before use.
It may induce an electric shock.
shock..
If you hurt yourself suddenly,
Do not use defected cable and
you should not turn off the
electric outlet.
power
of
the
board
unplugging the plug.
1
©2007,
iXs Research Corporation All right reserved.
by
RM-board Instruction Manual Ver.0.9.6
Assurance and After services Please read carefully 1.
2.
3.
4.
5.
6.
7.
8.
2
System matching and Responsibility 1.1. When you attach this board to other system such as a personal computer and when you install this software to a personal computer, the manufacturer doesn’t have the responsibility the matching with your systems. 1.2. If you want the matching between this board and your systems, we can support with charge. Range of warranty 2.1. Items which are not indicated on a product specification are out of assurance. 2.2. The update, revision and bug fix will be executed without any preliminary announces. 2.3. Accidents with customer’s modification and any other changes are out of manufacturer responsibility. Warranty period 3.1. Besides special contracts, the warranty period is one week after delivery. 3.2. The defected part should be send back by shipping, the customer will owe the charges. 3.3. Following cases are out of the warranty even if it is in the warranty period. 3.3.1. Accidents and injuries due to incorrect use. 3.3.2. Accidents and injuries due to any other software that the customer has installed. 3.3.3. Fire, disaster, catastrophic, gases and over voltage. 3.3.4. The modifications and any other changes by customers except for with manufacturer’s advices. Compensation for secondary damage The defect of the product caused by any secondary failure can be replaced free of charge or by a compensation of the damages. Precaution This product is not for everyday use. Hence, the customer has to take measures in order to prevent break-downs or failures caused by accidents. Repair 6.1. Customers should owe the repair fee expect during warranty period. 6.2. Manufacturer does not lend substitute product during repair. 6.3. When customers send a product back to the manufacturer for repair, customers should back up their data by themselves. Manufacturer may reset the whole data during repair without any back up. 6.4. Manufacturer will decline products which are polluted by radial rays, disease germ or any other pollution. 6.5. The repair is basically send back method without any other contract．Customers should owe the shipping、 charge from customers to manufacturer. Interruption of repairs 7.1 According to business policy, the manufacturer may decide to stop the production of some parts. In this case, We, Ixs Research, will disclose to the customer the date of the interruption of production. Copyright 8.1. Copyright of products and software which are used in this instruction manual belongs to each registered trademark. 8.2. This instruction manuals copyrights belongs to iXs Research Corporation.
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
Table of content 1.Introduction...........................................................................................................................4 2. System configuration ............................................................................................................4 2.1 Characteristics ................................................................................................................4 2.2 Connectors characteristics...............................................................................................5 2.2 Specifications ............................................................................................................7 3. Connection setting ................................................................................................................8 3.1 Connection with power supply ........................................................................................8 3.2 Connection with the servo ...............................................................................................9 3.3 Connection with the sensors with analog output ..............................................................9 3.4 Connection with LAN Cable..........................................................................................10 3.5 Connection with USB device..........................................................................................10 3.6 Connection with wireless LAN.......................................................................................11 3.7 Connection to the PC.....................................................................................................11 4. Access to RM Board............................................................................................................12 4.1 Network setting .............................................................................................................12 4.2 Saving into the FlashROM ............................................................................................13 5. Construction of the development environment....................................................................13 6. Installing on the robot.........................................................................................................13 7. Connection to RM-Eye........................................................................................................14 8. Connection to RCB-1, RCB-3(J) and PWM-board..............................................................15 9. Connection to iMCs01, iMCs03 and iMCs04.......................................................................15 Appendix 1. Circuit diagrams.................................................................................................16 Appendix 4. FAQ ........................................... エラー! ブックマークが定義されていません。
3
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
1.Introduction This is an instruction manual for RM-board. ＲM board has a ARM-920T core processor and a customized Linux (Kernel 2.6 series). It can drive up to 24ch RC servos and up to 8ch ADC. It is also equipped with LAN, USB2.0 and FPU. This manual is subject to modify without any notice, so please download the latest version from the website of the iXs research corporation.
2. System configuration 2.1 Characteristics Figure 1 shows the different part of RM-board.
USB Connector LAN Connector LED(From the top: LED4、LED5) Serial input port Main Switch
Output port
(From the left: CON3, CON2,
SW1 SW2
CON1) LED (From the top : LED1、 LED2、LED3)
Power Connector CON4(BATT) Input
port
for
servos
http://ixs.co.jp/en/download/manual/rm-eye _en_v1_0.pdf Figure 1 Name of the parts
4
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
2.2 Connectors characteristics Table 1 to 3 shows the function of each connector, switch and LED. Figure 1 CON1(Serial input-output port RS232C Level Pin
Function
1
TX1
2
RX1
3
GND
Figure 2 CON2(Serial input-output port RS232C Level Pin
Function
1
TX2
2
RX2
3
GND
Figure 3 CON3(Serial input-output port RS232C Level Pin
Function
1
TX3
2
RX3
3
GND
2.54 Pitch 1 Line Pin Header)
2.54 Pitch 1 Line Pin Header)
2.54 Pitch 1 Line Pin Header)
Figure 4 CON4(Power input port VH3 Connector) Pin
Function
1
GND
2
BATT (DC6～16V)
3
-
Figure 5 S0～S23(Servo input-output port 2.54 Pitch 1 Line Pin Header) Pin
Function
1
SIG
2
VDD(BATT と直結)
3
GND
Figure 6 AN0～AN7( Output port 2.54 Pitch 1 Line Pin Header)
5
Pin
Function
1
ANn (n=0,1,2,3,4,5,6,7)
2
VCC (5V)
3
GND
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
Figure 7 SW1～SW2( Universal Switch 1) State
Function
Push
LOW
Release
HIGH (3.3V) Figure 8 LED1(Power LED
Blue)
State
Function
Light on
Power ON
Light off
Power OFF Figure 9 LED2(CPU LED
Red)
State
Function
Light on
In action
Light off
Interruption Figure 10 LED3(MPU LED
Red)
State
Function
Light on
In action
Blinking
Command is running (Blinking each second)
Light off
Interruption
Figure 11 LED4～LED5(Universal LED
Green)
State
Function
Running time
High Impedance(light off)
HIGH output
Light on
LOW output
Light off
Figure 12 JP1(Firmware rewriting pin 2.54 Pitch 1 Line Pin Header)
6
State
Function
1-2 SHORT
Firmware writing mode
2-3 SHORT
Common running mode
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
2.2 Specifications Figure 8 shows the main characteristics of RM-board. Figure 8
Specifications
CPU Core
ARM920T 200MHz
Memory
SDRAM 32MB、FlashROM 8MB
LAN
10Base-T/100Base-TX/IEEE802.11b/g
USB
2.0 Full speed
PWM（For servo motor） 24ch (50Hz) [0-5V signal] ADC
8ch (10bit) [0～5V]
Serial port
3 pcs (RS232C Level)
Universal switch
2 pcs
Universal LED
2 pcs(green)
Input Power
DC6V～16V (Max. 2W：Board operating time)
Supply
However, servo can be inputted the same voltage. Board size
(W)76[mm] x (D)74[mm] x (H)15[mm] (includes protuberances)
Weight
about100[g]
Application
ssh server ftp server http server other main network application correspond to IPv6.
Development
GNU development environment gcc 3.4.4
environment
Linux Cross tool package Possible to develop under Windows, coLinux, VMWare, etc…
7
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
3. Connection setting 3.1 Connection with power supply When you want to connect RM-board to a power supply, connect the CON4 (BATT) with the special cable. Use batteries or a stabilized power supply in order to supply enough driving force for the servo motors. If you use a little capacity of electrical power, there is some risk of damage when the board will be reset. Moreover, confirm that the board is switch off when you connect it to a power supply. In addition, if you mistake in connecting the power pole + and –, the board may suffer damages. Before connecting the board, please make sure of the latter conditions. Main switch OFF / ON
Battery or a stabilized power supply DC6V～16V 3 2 1
CON4(BATT)
Figure 2 connecting with power supply When you have connected to the power supply, the voltage is implied to the servo motors. As a result, if the servo motors are correctly connected to a power supply, they will vibrate. After you have connected the electrical connector, RM-board will start when you will move to ON the main switch. When the RM-board starts, from the CON1 a start message and a Login property will appear on Linux. If you turn it off, all parameters on SDRAM will be eliminated. To save with RM-board, please refer to the chapter 4.2.
8
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
3.2 Connection with the servo You can connect up to 24 servo motors for robots or for RC on S0 to S23.
321 S23
S16
S15
S8
S7
S0
Figure 3 Connection with servo motor for robots or RC. 3.3 Connection with the sensors with analog output You can connect up to 8 sensors with a voltage range of 0 to 5V on the AN0 to AN7 ports. Example of AN7
AN0
Pressure-sensitive sensors
sensor
3 2 1
(FSR) Pressure-sensitive sensor (FlexiForce)
Bend sensor Infra-red distance sensor (PSD)
Figure 3 Connection with the sensor with analog output
9
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
3.4 Connection with LAN Cable You can connect to RM-board a store-bought LAN cable (CAT5 or CAT6). When you connect it directly to the PC, please use a cross cable or straight cable which is connected to a switching hub.
Figure 4 Connection with LAN cable 3.5 Connection with USB device You can connect to RM-board up to 2 USB device equipped with a USB type A connector. Normally, 1 port is for wireless LAN (refer to chapter 3.6).
Figure 4 Connection of the USB cable
10
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
3.6 Connection with wireless LAN. RM-board is included with a IEEE802.11b/g USB type of wireless LAN. Connect it to the USB connection port of the RM-board.
IEEE802.11b/g
Figure 5 Connection with the wireless LAN 3.7 Connection to the PC The CON1 of RM-board will appear on the serial console. If you connect the cable of CON1, the starting message of Linux and a login prompt will appear. Each setting can be executed.
Figure 6 Connection to PC
11
©2007,
iXs Research Corporation All right reserved.
12345
6789
CON1
1234
1 2 3
RM-board Instruction Manual Ver.0.9.6
Figure 9 Connection of serial pin Pin
Function
RM-board-
1
NC
-
RX 2
Connected with 4 in
1
220Ω 3
TX Connected with 2 in
4
220Ω
2 -
5
GND
3
6
NC
-
7
Connected with 8
-
8
Connected with 7
-
9
NC
-
4. Access to RM Board 4.1 Network setting To set the network with wireless LAN or wire LAN in the factory default, please follow figure 9. Figure 10 Item
Network setting Wire LAN
Wireless LAN
IP Adress
192.168.0.100
none
Subnet Mask
255.255.255.0
none
Default Gateway
192.168.0.1
none
DNS
none
none
To change the IP address, connect the CON1 with the special cable to the computer, then enter login for RM-Board. However, in order to set the memory of RM-Board inside the SDRAM, you need to set a value in the FlashROM area. Please refer to chapter 4.2 in order to save into the FlashROM.
12
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
4.2 Saving into the FlashROM RM-Board has been configured for the FlashROM and SDRAM domain. Linux and all kind of setting values have been arranged in FlashROM. The files that have been saved in SDRAM will be deleted when you will turn the power off. As a result, in order to save each setting values and executable files and others, you need to follow the below instructions. 1) Save the setting network. 2) Save the executable files (test).
5. Construction of the development environment 6. Installing on the robot
Figure 7 Installation on KHR-1
13
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
7. Connection to RM-Eye To connect RM-board and RM-eye, use the special cable and connect to the CON3 of RM-Board and to the CM3 of RM-Eye. Since the CN3 of RM-eye needs a cross, please connect RM-board and RM-eye with a cross cable.
It is necessary to connect Pin1 and Pin2 with a cross cable. CN3 123
CON3
1 2 3
RM-eye
Figure 8 Connection to RM-eye
14
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
8. Connection to RCB-1, RCB-3(J) and PWM-board. To connect RM-board and RM-eye, use the special cable and connect to the CON3 of RM-Board and to the CM3 of RM-Eye. To connect the serial output and input port of RCB-1, RCB-3(J) or PWM-board, to make a cross connection you need a junction cable (Shift Pin1 and Pin2).
RCB-1or RCB-3(J) or PWM-board It is necessary to connect Pin1 and Pin2 with a cross cable.
1 2 3
CON2
Figure 9 Connection to RCB-1, RCB-3(J) and PWM-board
9. Connection to iMCs01, iMCs03 and iMCs04 Use the special cable (USB_A-ZHA-60 cm) to connect iMCs01, iMCs03, iMCs04 USB controllers with RM-board. When you want to connect several iMC01, iMCs03, iMCs04, you can do it via an USB Hub.
iMCs01, iMCs03, iMCs04
Figure 10 Connection to iMCs01, iMCs03, iMCs04
15
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
Appendix 1. Circuit diagrams
16
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
17
©2007,
iXs Research Corporation All right reserved.
RM-board Instruction Manual Ver.0.9.6
2007 年 4 月
First publication
Contact (Please contact us by mail) iXs Research Corp. E-mail :
[email protected] Head office 4-17-14, Minamikase, Saiwai-ku, Kawasaki, Kanagawa 212-0055 Japan YOKOHAMA BRANCH 2-12-29, Minowa-cho, Kohoku-ku, Minowa-cho, Yokohama, Kanagawa 223-0051 Japan
It is forbidden to duplicate the content of this manual without permission The content of this manual may be change without prior notice.
18
©2007,
iXs Research Corporation All right reserved.
