Software for PC

Description :The X-Servosequencer is a functional and totally free program for PC that functions under the platform "Microsoft Windows ™ ". The main utility of the program, to part to serve as demonstration of use of the modules X-CS20F/232, is to be able to create in an easy way and fast sequences of movement for the 20 servos that can handle a module X-CS20F/232 of each one of the 10 that can be connected in waterfall.

These sequences can be kept in files of disk for its fast management , besides the program counts on complete utilities of calibration of ranks and precision of servos with 4 initial selections (2 of them pregrabadas for the servos FUTABA S-3003 and Hitech-325-HB) totally reprogramables by the user.

Also it is arranged controls for:

• Reidentify of modules and search of devices lost.

• Stop of emergency.

• Regrabación of positions of starter.

• Investment and desconection individual for each I serve.

• Time of variable sequence.

• Velocity with sequence movement possibilities to sequence or smooth movement with intermediate steps generated automatically.

• Terminal Logger of port.

Use: Al to initiate the program we can see in the screen 3 sections well differentiated just as is shown in the following image:

• It marks Red: Picture of control.
• It marks Blue: Controls of position of servos in real time.
• It marks Green: Board of sequences.

Cuadro de control: El cuadro de control sirve para:

Controls of position of servos in real time: Has 20 pictures of equal control for the control of each one of the 20 servos in which they have the following controls:

• The mark movement indicator a relative physical position showing it in a dial semicircular with needle and indicator of limit included.

• The sample position indicator a corresponding number al value in degrees in which is positioned the I serve.

• The button "exp " serves to pass the values of limit or most minimum margins and maximum of the I serve number 1 to the 19 pictures of control pertaining to the servos from 2 to 20.

• On top and in the middle of the bar of displacement an indicator of number is found of I serve and among parenthesis the number of command is indicated for direccionar the I serve through the X-CS20F/232.

• The label of I serve permits to introduce by means of double-click a text to identify the I serve for example if a robot is controlled would be able to be put the name of each extremity that controls each I serve.

• In it limiting maximum can be introduced the maximum value of movement that will indicate the bar of displacement to move the I serve.

• Doing click in the boton ON/OFF we can activate or to defuse the I serve, if is put in OFF the I serve loses the force and remains inactive.

• The bar of displacement permits the movement of the I serve in a simple way.
• Doing click in the button invert serves to invest the movement of the I serve, for the models of I serve with control invested.
• Inl imitate minimum can be introduced the most minimum value of movement that will indicate the bar of displacement to move the I serve.

Board of sequences: In this board they are shown the 20 servos, the time between sequences and the ident. of module to which the sequences belong. Each column of the board is a sequence of movement and the active sequence or selected is marked with the cell of head in color but dark with respect to the others.

By defect al to insert a new sequence in the board the values will be put that just then be selected in the controls.

Al to do click in a sequence (column) the controls was adjusted to what to have stored in that sequence, to modify the data of a sequence the one was selected that wants to be modified and then they will move the controls, remaining modified the sequence since that same instant.

Calibration : Al to do click in the menu calibration will be opened a window hit al picture of control (this window is fixed and cannot be modified his position neither so great) since which we will be able to carry out all the necessary adjustments to calibrate with success the type of I serve that we have connected al module X-CCS20F.

To carry out the calibration of an I serve the first thing is to select with which module we want to communicate us by means of the button of identification of the picture of controls of the main screen , then to do click on the menu calibration, with which the module X-CS20F is put in way of calibration, this will do that alone the I serve connected to the first exit (I serve number 1) function, and will be this same one the one that itself To calibrate the module.

In the menu calibration in the first place we see above all two buttons ON and OFF that cause they enter and to leave the way of calibration al module, this will be useful for small touches as we will see but ahead.

Immediately underneath we see a screen with information of duty cycle of the sign generated and values used by the circuit to generate it.

Later we have a graphic in which the pulse is shown generated and you mark of start 0º and end 180º.

Just underneath we can see a bar of displacement with which we can move the I serve connected in the connection numero 1 with an extraordinary precision.

Carrying out the calibration : Now giving for fact that we have connected well connected the module x-CS20F with the I serve for which we want to calibrate the module connected to his exit nº 1, we will proceed like continues to calibrate correctly the I serve:

He notes: we should keep in mind to have set the I serve on a graduate semicircle and to have placed a needle in his axis so that indicate the degrees of rotation of the position of the axis at the outset to be able to see the position.

• Moving the calibration displacement bar so that the I serve indicate 0 º exact.

• Doing click in the button " Inicio 0º " (START 0º) (itself edge as remains marked in the graphic)

• Moving by means of the calibration displacement bar to the position of 180º.

• Doing click in the button " Final 180º " (End 180º) (itself edge that remains the position marked)

Now in the screen that al is shown side of the buttons start 0º and end 180 º we can see the result of an I calculate simple and that gives us below all the exact time of time for a precision of 1º with the present adjustments , now with the small bar of underneath of the buttons start 0º and end 180º we will try to approach the value shown in the result of The operation and we will give for finished the calibration.

As the uControlador used in the X-CS20F has a precision of most minimum time of 200nS is possible that we cannot approach us al value shown in the result in the previous operation and with it that the control remain a little mismatched. To settle this problem now we press on the calibration way button OFF and the module remained in normal state, then we will be able to verify if the adjustment is correct without close the window of calibration , with which we can retouch so much as we want the values of precision and maximum and most minimum ranks. It is recommended to adjust the most minimum ranks and maximum so that the result of the operation be exact to some of the values shown by the small precision adjustment bar. If we want to cause to pass to state of calibration al alone module we have that I press the button of ON.

In the module X-cs20F remains registered the I finalize change carried out in the calibration and is not necessary to do any action to keep changes.

In the software X-SEQUENCER we can keep the adjustments carried out to calibrate other modules hardware without need to do it again, for it we will do click with the right button of the mouse on one of the 4 presets, we will introduce a name with which we will identify the preset and we press on accept with which remains engraving the present adjustment in the hard disk of the PC.

Tocalibrate a module X-CS20F since a preset so alone we have to do click with the left button of the mouse on the preset and the module at present selected remained calibrated with the adjustments of the preset.

Reidentificación of devices: The identification inside the bus rs232 (all the devices to it listens) permits to have the modules connected in waterfall with a total of To 10 devices on the whole.

To be able to select a module in concrete has a number of identification that by defect is 1 and there will be that to change in the following devices that be connected al bus. The method to change the number of identification of a module is simple and intuitive and so alone we have to introduce the number of the module al which want to change him the identification and to put the new number in the corresponding booth, immediately afterwards is pressured in the button Re-ident and the new one you go. is transmitted al module indicated, remaining al instant reidentificado.

Also it has a picture to find devices lost, that is to say that we do not know that identification they have (Alone to use it with an only module connected al bus RS232). Here so alone the new number should be introduced that want to put him and I press on the button "to Find" (Encontrar) remaining thus reidentify.

It notes: to avoid errors if we do not have very clear that numbers of you go. they have the modules is advised to connect only al the module that want reidentificar, thus we will avoid that but of one can have the same identification.

Emergency Stop: This utility permits to stop all the servos of all the so alone devices I press F12. Ctrl+F12 will show the button of stop in the first plan.