Easy Learning with Icons

Visual Logic
Robot Programming
1st Edition published date :
Publisher
: Dongbu Robot Co., Ltd
Address
: 11th Fl Bucheon Techno Prk Bldg, 401, Yakdae-dong, Wonmi-gu, Bucheon-si, Gyeonggi-do, S Korea
Customer Inquiry : 032-329-5551
FAX
: 032-329-5569
No portion of this purblication may be reproduced or transmitted in any form without prior written authorization
from Dongbu Robot Co., Ltd.
Dongbu Robot Co.,Ltd All rights reserved

Contents
03
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Firmware

PART

01

Chapter 01

Donbu Robot DRC & Humanoid

Introuduction
Hovis Lite Introduction --------------------------------------

Chapter 02

Controller
Outline --------------------------------------------------------DRC Battery Installation Method ------------------------DRC Connection Method ---------------------------------DRC Interface ------------------------------------------------DRC Register Protocol -------------------------------------Using DRC Functions ---------------------------------------DRC Standard Test -----------------------------------------Servo Motor -------------------------------------------------Light Sensor --------------------------------------------------Sound Sensor ----------------------------------------------Distance Sensr (Analog, Digital) ------------------------Gyro Sensor --------------------------------------------------

Chapter 03

Parts List
Hovis Lite Structure Diagram -----------------------------Hovis Lite Parts List ------------------------------------------

Chapter 04

Assembly Diagram
Humanoid Assembly Diagram ---------------------------Using Humanoid DRC Functions -------------------------

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PART

03

Firmware

PART

02

DR-Visual Logic Programming

Chapter 01

DR-SIM --------------------------------------------------------

Chapter 02

DR-Visual Logic ----------------------------------------------

Chapter 03

Move -----------------------------------------------------------

Chapter 04

Motor ----------------------------------------------------------

Chapter 05

LED Button ---------------------------------------------------

Chapter 06
Chapter 07

Light -----------------------------------------------------------

Chapter 08

Sound2 --------------------------------------------------------

Chapter 09

Digital ----------------------------------------------------------

Chapter 10

Analog --------------------------------------------------------

Chapter 11
Chapter 12

Acc -------------------------------------------------------------

Sound1--------------------------------------------------------

IR Receive, Sound & Motion-------------------------------

DRC Register & Protoco ----------------------------------Appendix

Firmware

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03

Register -------------------------------------------------------------------Protocol -------------------------------------------------------------------Appencix-------------------------------------------------------------------

Useful Info ---------------------------------------------------Toubleshooting ----------------------------------------------------------Calibration (Robot 0 Point) -------------------------------------------Changing Motor ID ------------------------------------------------------

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PART

03

Firmware

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01

Introduction

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Introduction

01

PART

01

Donbu Robot DRC

& Humanoid
DRC
& Humanoid

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01

Introduction
Hovis Lite Introduction

Introducing Hovis Lite.

Choice of Colors
Use four different colored brackets to create your own unique
humanoid robot. Hovis Lite is the first robot in the world that
can be upgraded with external body case, omni wheel, and android terminal.

DR-Visual Logic ( Task Editor )

To program the robot based on the controller (DRC), Hovis Lite
is supplied with 24 modules and a graphic programming language tool DR-Visual Logic that uses drag & drop method. Even
the novice users without any prior knowledge of programming
language would find DR-Visual Logic easy to use.

DR-SIM ( Motion Editor )

DR-SIM is a robot motion editor that incorporates time frame
feature found in the video editors. DR-SIM allows the user to
create robot motions on screen, to capture motions from the
robot, view user created motion simulations on screen, and to
download and apply the created motion to the robot for execution.

Choice of four different colored brackets

Assemble up to 27 different types of robot
Upgradable by external body case type
Android terminal and programming interface included
Source supplied
Curriculum supplied

Related Site

10

Download Program/Manual :
www.hovis.co.kr/guide
www.dongburobot.com

English

Customer support

www.dongburobot.com

Quick Menu

For Service

For Services
Archives

Archives

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Controller

01

Overview
PART
PART

DRC Controller is the main component and brain of the Hovis Lite. Controller has variety of connectors and interfaces including 6 servo motor ports, 2 PSD sensor ports, Gyro sensor, and ZigBee interface. Light sensor and the sound sensor in builtin to the controller. DR-Visual Logic program is a visual robot programming language that uses DRC functions to program
the robot. Various sensors and 1~32 motors can be programmed and tested.

Motor

Distance sensor

Gyro sensor

Battery

Sound sensor

light sensor

CPU

ATMega 128

Size, Weight

108 x 58.5 x 33 (mm), 82 g

Operating Voltage

Tolerance Range : 6,5V ~ 10V, Recommended Voltage : 7.4V

Serial Speed

115,200 bps ~ 666,667 bps

Consumed Current

When IDLE : 50mA, Overall Max Current : 3A (PTC Fuse)

Interface

Button : 6ea, MIC : 2ea, LED : 7ea

External I/O

Servo Motor : 6ea, PSD Sensor : 2ea

Back Cover I/O

ZigBee : 1ea, Gyro Sensor : 1ea

Internal I/O

Sound Sensor : 2ea, Light Sensor : 1ea

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Controller

01

DRC Battery Installation

PART

PART

Battery Connected Directly

Battery
To supply power to the DRC, connect the battery to controller by the power connector found at bottom.

Battery Charging
Battery can be charged directly using the battery cable and the adapter. Another charging method is to connect the adapter
to the adapter connector found at top of the controller. Battery installed on the controller will start to charge automatically
when the adapter is connected to the controller.

Low Battery
Blink

12

Power LED will start to blink when the battery level

falls below 20%.

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Controller

01

DRC Connection
PART
PART

Motor

Distance sensor

Gyro sensor

Battery

Sound sensor

light sensor

Motor Connection
There are five ports around the controller

2 Distance Sensor Connection

There are two ports, one on each side.

3 Gyro Sensor Connection

Open the controller cover and install internally.

4 ZigBee Connection
Open the controller cover and install internally.

5 IR Receiver Connection
1 port, used for receiving remote control signal.

6 Download Connection
Ear phone Jack connection used to downolad program
from PC to the robot.

13

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Controller

01

DRC Interface
PART

PART

DRC controller has Input/Output buttons and LEDs at the front and motor and sensor ports at the back. Interface buttons at
the front are used to give input commands the LEDs are used to verify data output.

Main Button

Navi Key

LED

Sensor

14

Name

Short Cut

Standard Task Mode

Mode

Run Task

Ok

Confirm

(Left)

Battery Level

Check Mode

(Up)

DRC Self Test

Autonomous Movement
Mode

(Right)

Switch wired/wireless com

Remote Control Mode

(Down)

Motor ID Scan

Sound Demo Mode

Servo

HerkuleX Running

Program

DR-SIM/Visual Logic Running

EXEC

Task Running

TX

Data Transmit

RX

Data Receive

Spare

User Defined

Power

Power

Cds

Light Sensor

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Controller

01

DRC Register Map

Register

PART
PART

DRC has a registers which contains current controller state, settings, and various sensor related data.
For example, number of motors connected to the robot and their ID, error status, and current error codes are all part of current controller state. Controller settings include such data as Min/Max input voltage, Ack Policy, and etc. Sensor readings
such as luminosity detected by the light sensor and location of the detected sound are part of sensor data.

Controller register is divided into (Non-Volatile, EEPROM) register and (Volatile, RAM) register. Non-Volatile registers retain
data even when the power has been turned off and contain basic sestup values pertaining to the controller operation. Values in the Non-Volatile registers are copied to Volatile registers as soon as the power is turned on. Volatile registers contain
controller settings, state, and sensor values. Data in the Volatile registers have direct effect on the operation of the controller.

Knowing the content of the the registers and how the content changes allow the user to write more refined robot motion
progam using DR-Visual program. Knowledge about registers also help the user to read the the controller status and to
change the operatonal settings, making robot operation more convenient.

Protocol
Protocol is a predefined format or rules for commands that are given to read or write to registers. Protocol is defined not only
for read/write commands but also for other commands such as run commands for running saved tasks or sounds , reboot
command for rebooting the controller, and host of other commands.

Communication between the PC and the controller use such predefined protocols to send and receive packets. DR-SIM and
DR-Visual prgrams provided by Dongbu Robot were also created using such protocols. User should become familiar with
the protocols in order to controll the DRC using their custom made programs.

Refer to DRC Regisers and Protocols section in the manual for more information.

15

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Controller

01

DRC Funcitons
PART

1 Program Overview

Firmware : Internal program that cannot be modified by the user.

Task

PART

: User defined prgram that can be modified using the Task Editor (DR-Visual Logic).
At the time of release, basic humanoid Task Program is defined. Program can be modified by the user.

2 Operating Method
Basic functions in the firmware will start to operate when power is turned on and Navi key pressed. Pressing the Mode
button will run the saved task. From running a basic task, press the Navi key and OK after the task to select which mode to go into

Firmware (Cannot be changed by the user )

1 Navi button click

2 Mode or Navi click

3 Controller self test

Task Mode (Can be changed by the user)

1 Mode click

2 Navi click

3 Ok click
4 Robot control
test

16

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Controller

01

DRC Functions
PART
PART

3 Operation & Functions

Name

Main Button

Navi Key
(Firmware)

Navi Key

Operation & Functions

Mode

Mode Change

Start Task
For standard Task, Mode
mode)

OK

Confirm button

(L)

Battery level check

Battery level check

Navi key

Ok (to select operating

Shown by 3 left LED, low 1 LED, medium

2 LED, high 3 LED

Motor & sensor test using the controller

(Up)

Test

Method : (Up)

Button

Test according to motor response

from sensor Test : Motor/Light/Sound/Distance/Accel/Gyro

(R)

Wired/Wireless

Wired using Ear phone jack / Wireless using ZigBee

(Down)

Motor ID Scan

Rescan connnected motor ID

(L)

(Basic Task
for Humanoid)

Description

(Up)

(R)

(Down)

Check Mode

Autonomous Mode

Remote Control Mode

Sound Dem Mode

Mode

Ok : Check Mode : Individual motors, Arm/Leg

(L)

module connection and assembly check.

Mode

Ok : Autonomous Mode : Robot operates by

(Up)

itself.
Mode

(R)

Ok : Remote Control Mode: Run predefined motion

saved in the remote control.

Mode

(Down)

Ok : Sound Demo Mode : Run motions based

on sound input.

Servo

HerkuleX running

Program

DR-SIM/Visual Logic
running

EXEC

Mode chage/Task

TX

Data Transmit

Blinks when transmitting data, User spae when task in operation.

RX

Data Receive

Blinks when receiving data, user spae when task in operation.

Spare

User Defined

LED Blink

Error

LED_Power

Power

Power level

Blinks when battery level is below 20%

Sensor

CdS

Light Sensor

Light sensor

LED_mode

Blinks when HerkuleX Manager is in operation

Blinks when DR-SIM / Visual Logic is being used for editing.
LED on when downloading data or firmware
On while the task is running when Task mode is entered using
the mode button.

3 right side LEDs will blink when in error

17

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Controller

01

DRC Basic Test

PARTbasic tests through the test mode even when the robot is not assembled. Proceed with the moDRC is capable of running
tor and sensor test by turning on the power and pressing the (up) button. Sensor test is performed by checking the motor
response from the motors ID1 and 2 attached to left and right. Tests can be performed for motor, light sensor, sound sensor,

PART

distance sensor, and gyro sensor. Testing methods are as follows.

Light sensor and sound sensor tests are done by menu and OK as they are built in to the controller
For PSD, Acc/Gyro, pressing the (down) button will check to see if only one of the sensor is connected. Test will proceed if only one sensor is connected and stop if more than one sensor is connected.

1 Motor

: Connect motors to the left and right(No 1 on left, No 2 on right)

(Up)

(L) : left motor will move, (R) right motor will move, (Up) both motors will move .

2 Lighte Sensor : (Up)

(Menu) : Light sensor in operation, Both motors will move when Cds blocked

3 Sound Sensor : (Up)

(OK) : Sound Sensor in operation,

Clap from left, left motor will move,

Clap from right, right motor will move
Functions below will operate when (Down) button is pressed after connecting the sensor. Only the sensor to be tested
should be connected as testing will not work if more than one sensor is connected.

4 PSD Digital : (Up)

Connect digital distance sensor

When object moves within 10cm

(Down) PSD in operation

Both motors will move

When object moves beyond 10cm (cliff detection)

Both motors will stop

Cliff detection

5 PSD Analog : (Up)

Connect analog PSD sensor

(Down) PSD in operation

Both motors will turn in same direction. Farther the object, faster the motor movement
Movement will slow when object comes closer

When object is <10 cm, motors will move in

opposite direction.
Collision avoidance after wall/object detection

6 Acc

: (Up)

Connect Acc/Gyro

(Down) Acc in operation

Motors stopped when the controller angle is same as when the robot is standing straight.
Motor speed will vary depending on the angle. The greater the angle faster the movement.

7 Gyro

: (Up)

Connect Acc/Gyro

(Down) Acc in operation

(Down) Gyro in operation

No motore movement when the controller is not moving.

Motor moves at approximately the same speed as the revolving controller.

Follow the detailed test instructions below.

18

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Controller

01

DRC Basic Test : Servo Motor

PART
PART

Motor

Motor

1
Battery

1 Connect the battery

2 Turn on the power
3 Connect left motor : Make sure to connect Motor ID 1 .( Other motors will not operate.)
4 Connect right motor : Make sure to connect

Motor ID 2 .( Other motors will not operate.)

Place the motor outward to test. Simulates wheels turning.

Test Process
Turn on power, Press (Up) button to enter Test Mode
Press Navi Key (L) button.

Left motor will turn.

Press Navi Key (R) button.

Right motor will turn.

Press Navi Key (Up) button.

Both motors will turn in forward direction.

Motors are operating without error if they worked according to the directions above, Results of all following tests will be
shown by how the two motors behave. Do not disconnect the motors and continue on with sensor tests.

19

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Controller

01

DRC Basic Tes : Light Sensor

PART

Motor

Motor

PART

2
5

1
Battery

1 Connect Battery
2 Turn on the power
3 Connect left motor : Make sue to connect Motor ID 1. ( Other motors will not operate.)
4 Connect right motor : Make sure to connect Motor ID 2 .( Other motors will not work.)
This test simulates robot arms grabbing the air when the light disappears.

Test Process
Turn on power, Press (Up) button to enter Test Mode
Cover the Cds window with hand.

both motors will turn at the same time.

Light sensor is operating without error if the motors turned accordingly.End light sensor test.

20

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Controller

01

DRC Basic Test : Sound Sensor

PART
PART

Motor

Motor

2
Clap clap

Clap clap

1
Battery

1 Connect Battery
2 Turn on the power
3 Connect left motor : Make sure to connect Motor ID 1 .( Other motors will not operate)
4 Connect right motor : Make sure to connect

Motor ID 2 .( Other motors will not operate)

Motor near the direction of the clapping sound will turn.

Test Process
Turn on power, Press (Up) button to enter Test Mode .
Press (OK) button.
Clap from left side.
Clap from right side.

Sound Sensor in operation.

Left motor will turn.
Right motr will turn.

Sound sensor is operating without error if the motors turned accordingly. End sound sensor test.

21

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Controller

01

DRC Basic Test : PSD Digital Distance Sensor

PART

Motor

Motor

PART

3
5
1
Battery

psd sensor

1 Connect Battery
2 Turn on the power
3 Connect left motor : Make sure to connect Motor ID 1 .( Other motors will not operate)
4 Connect right motor : Make sure to connect

Motor ID 2 .( Other motors will not operate)

5 Connect PSD Digital Sensor

PSD Digital sensor uses certain distance as a base of measure and checks to see how far or near it is. It is normally used
to check the depth of the ground to detect steep drop (cliff) and stop the robot.

Test Process
Turn on power, Press (Up) button to enter Test Mode.
Connect the PSD line and press (Down) button.

PSD Digital Sensor in operation.

Move your hand or an object within 10cm from the senson.

Both motors will turn.

Move your had or an object away from the sensor to the distance > 10cm .

Both motors will stop.

* PSD Digital has only On/Off mode with certain distance as a base of measure.
PSD Digital Sensor is operating without error if the motors turned accordingly. End PSD Digital Sensor test.

22

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Controller

01

DRC Basic Test : PSD Analog Distance Sensor

PART
PART

Motor

Motor

1
Battery

psd sensor

1 Connect Battery
2 Turn on the power
3 Connect left motor : Make sure to connect Motor ID 1 .( Other motors will not operate)
4 Connect right motor : Make sure to connect

Motor ID 2 .( Other motors will not operate)

5 Connect PSD Analog Sensor

PSD Analog Sensor is able to measure the distance in realtime and control the motor speed according to the distance
from an object. Normally used to avoid obstacles by slowing down and chaning direction.

Test Process
Turn on power, press (Up) button to enter Test Mode. Connect PSD line and press (Down)button.
PSD Digital Sensor in operation.

Both motors will turn in same direction.

Place a hand or an object near the sensor and mover away.

Farther the object faster the motor movement.

Nearer the object the slower the motor movement.

When the object is less than 5cm away from the sensor, motors will turn in opposite direction.
PSD Analog Sensor is operating without error if the motors turned accordingly. End PSD Analog Sensor .

23

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Controller

01

DRC Basic Test : Acc/Gyro Sensor

PART
Motor

Motor

PART

Gyro sensor

1
Battery

1 Connect Battery
2 Turon on power
3 Connect left motor : Make sure to connect Motor ID 1 .( Other motors will not operate)
4 Connect right motor : Make sure to connect

Motor ID 2 .( Other motors will not operate)

Place the motors outward to simulate wheels turning.

5 Connect Acc/Gyro Sensor : Open the controller cover and connect the Acc/Gyro Sensor.
Test Process : ACC
Turn power on and press (Up) button to enter Test Mode. Connect Acc/Gyro and press (Down) button.
Acc sensor is in operation.
Motors stopped when the controller angle is same as when it is attached to the robot standing up straight.
Tilt the controller slowly.

Speed of the motor will vary with the angle of the tilt. Greater the angle the faster

the motr will turn.

Acc sensor is operating without error if the motors turned accordingly.

Test Process : Gyro

Press (Down) button one more time from the ACC test mode.

Gyro sensor is in operation.

Motors stopped when the controller is not moving.

Move the controller.

Motors will turn at approximately similar speed to the moving controller.

Acc/Gyro sensor is operating without error if the motors tunred accordingly. End Acc/Gyro sensor test. Both the Acc and
Gyro sensor is on a single chip board.

24

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Material

01

Hovis Lite Componets Diagram

PART
PART

1
2
3
4
5
6

Servo Motr : HerculeX DRS-0101

Bracket : Acts as connecting joint between servo motors
Joint
Harness : Cable
PSD Sensor : Measures Distance
IR Receiver : Remote Control Receiver

7 Controller DRC
8 Gyro Sensor : Adjusts position while walking
9 ZigBee : Communications Module
10 Battery
11 Remote Control

25

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Material

01

Hovis Lite Parts List

Quantity Per Item.

PART

26

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Material

01

Hovis Lite Parts List

Main

PART
PART

Bolt
&
Nut
&
Harness

27

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Material

01

Hovis Lite Parts List

Photo Of The Parts.

Bracket

Joint

Etc

28

PART

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Assemble

01

Humanoid Assembly Diagram

PART
PARTrobot are released with an ID number on each motor. When assembling the robot, make sure the
Servo motors in our humanoid
servos are assembled at the right location by referring to the ID placement diagram.
Robot will not operate properly when servo motors are placed incorrectly. Motor ID numbers are based on 20 axis robot.
Motors numbered 16~19 have the last ID numbers as they dummy motors and replacements.
Wiring is the most difficult part in assembling the robot. Please read the manual carefully to fully grasp the wiring concept and try
assembling one at a time. Refer to the humanoid robot assembly diagram for wiring details.

29

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Assemble

01

Humanoid Assembly Diagram

PART

Brackets act as joints and as connection beween the servos.

Brackets make up the shoulder, waist, hips, knees, and feet. Study the bracket assembly diagram before assembly.

PART

Assembly sequence is as follows Left Arm, Right Arm, Waist, Right Leg, Left Leg, Head, Controller, Battery

30

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Assemble

01

Humanoid DRC Function Instructions

PART
PART

Turning on the controller

Power

Batter Level Check

Entering Task

Blinks when battery level falls below 20%

Turn on the power and press (L) button to check the battery

Shown by left 3 LEDs

low 1 LED, medium 2 LED, high 3 LED

Press mode btton to enter basic task
Navi key

Ok button, select desired mode

Robot Operation
Assembly midpoint check
mode

Mode

(Down)

Mode

(L)

Mode

(Up)

Motor check mode

Autonomous Mode

sponse in 5s

Mode
Remote Control Mode

(R)

OK : Check assembly at various midpoints.

right arm, left arm, right leg, left leg, sensor

OK : Motor check mode

- motor torque released when checking, motor selected one at time.
Selected motor LED blinks.
- (Up) Motor ID ascending order, (Down) Motor ID descending order
- Warning alarm sounds if motor ID does not exist.
OK : Autonomous mode : robot moves by itself
- Clap, and the robot will move towards the direction of the clap for
number or claps (Clapping sound during the movement will be ignored)
- Robot will start basic movements if does not receive particular re- Basic movements : sit, stand,move forward,backward, change direction
- Obstacle avoidance(PSD sensor required)
- When fall, automatically stand up by oneself. (Gyro Sensor Needed)
OK : Remote Control Mode
Predefined movements in number keys (0~9)and in direction
keys(up,down,L, R, stop)

31

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Assemble

01

Humanoid DRC Function Instructions

PART

Program Download
PART
HerkuleX connection
DR-SIM/

Blinks when HerkuleX Manager is running

Blinks when DR-SIM / Visual Logic is being used to edit

Visual Logic Connection

Lit when dowonloading data or firmware

Apply Task to Robot

LED will stay lit when the task is running

Data Transmit

Data Receive
User Defined
Error

32

Motion of LED

Blinks when transmitting data, when task is running User Spare

area used
Blinks when receiving data, when task is running User Spare
area used

When error detected, all LEDs blink with alarm.

Declared LED
Servo

Program

EXEC

TX

RX
Spare
All LED blinks

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Assemble

01

Using Humanoid DRC Functions

Robot Motion

PART
PART

Mode

(L)

OK Enter Check Mode

When green RX LED comes on, press (L) or (R) button to select item to check.
(L) : Motor check mode
- Selects each individual motor and checks connection status and assembly.
- Red TX LED comes on when motor check mode entered.
- When Green LED on selected motor comes on, motor turns to center position (512). Rest of
the motors go into Torque Off state when LED goes off.
- Press (Up) & (Down) to select the motor ID( 0~15). Check the conntection status and location
of the motors.
First selected ID is 0(Right Shoulder).

Check Mode

- Press (Up) button to increase ID by 1, (Down) button to decrease by 1.

- Warning buzzer will sound if selected motor ID does not exist.
(R) : Midpoint Check Mode.
- Checks assembly state of arms, legs, and other parts by testing individual modules.
- Spare LED comes on when Midpoint Check Mode is entered.
- Motors in the selected module makes slow repeated movements to simulate straight and
bent posture.
- Press (Up) & (Down) button to select the arm and the leg.
- Sequence: Left arm, Right arm, Left leg, right arm. Left arm is the first selected module.
- If motor ID is missing from the selected module, buzzer will make same number of sounds
as the numbr of missing motor IDs.

Mode

(Up)

OK, enter autonomous mode.

- Robot makes autonomous movements without user intervention.

- Robot will select from the following movements in random; forward, front roll, left turn, right turn.
- In forward movement, robot will select from 10/20/30 steps in random. In left/right turn,
random selection from 12/24/36 steps.
- Robot will pause for brief time after completing the randomly selected movement before
starting next random movement.

Autonomous Mode

- Robot will be able to avoid obstacles if PSD sensor is installed in the ADC prot 1.
- If robot detects an obstacle, it will randomly select one of the following movements;
backward & left turn, left turn, back roll & left turn,
- backward roll & left turn is only possible if the robot detects an obstacle after moving
at least 10 steps forward.
- If an obstacle cannot be avoided even after making umber of left turs, robot will try
backeward & left turn.
- If acceleration sensor is installed, robot will get back up after falling.
- If robot detects a fall, it will stop current motion and switch to getting up mode.

33

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Assemble

01

Using Humanoid DRC Functions

Robot Motion

PART

PART
Mode
-> (R) -> OK, enter remote control model
- Controls the robot by remote control. Remote control receiver must be installed for this mode
to function.
- Up : Forward
- Down : Backward
- L : Left turn

Remote Control
Mode

- R : Right turn
- OK : Stop
- 1 : Roll forward
- 2 : Roll backward
- 3 : Push-up
- 4 : Boxing
- 5 : forward get up(Acceleration sensor must be installed, Only possible from supine position)
- 6 : backward get up(Acceleration sensor must be installed, Only possible from prone position)

Mode -> (Down) -> OK, enter sound demo mode.

- Robot reacts to the number and direction of the sound
- Sound detection on, when controller TX, RX, Spare LED is on
- During sound detection,
- Single sound detected : Random motion from roll forward, roll backward, push-up, boxing.
- Sound deteced twice : robot will lift the arm in the direction of the detected sound and wave.

Sound Dem Mode

If the sound was detected once from the left and once from the right, robot will wave the left
arm first and then the right arm.
- Three sounds detected : Robot will turn to the direction of the sound and walk 10 steps
forward. If the sound was from the left, robot will turn left and then walk forward.
Sound detection may not work 100% all the time due to background noise, echo
from the wall, and other environmental factors. Robot will detect loud and short
sounds like hand clapping more easily.

34

PART

DR-Visual Logic Programming

01
02
PA RT

PART
PART

35

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DR-Visual Logic Programming

05
02
PART

PART

36

PART

DR-Visual Logic Programming

01
02
PA RT

PART
PART

PART 02

DR-Visual Logic
Programming

37

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05
02

DR-Visual Logic Programming

DR-SIM & DR-Visual Logic
PART

DR-SIM Introduction
DR-SIM, also called motion editorPART
is an easy to use robot motion editing software tool. In addition to motion creation, editing,
and capturing actual robot motion, DR-SIM supports powerful simulation function that allows the user to simulate the motion
prior to applying it to the robot. DR-SIM also incorporates timeline feature similar to the ones found in video editing software.
Timeline allows the user to create motion based on time and to add multimedia effect to the motion by adding LED lighting
effect and sound in the timeline.

System requirement
Minimum Intel Pentium 800 Mhz
Windows XP, Windows Vista, Windows 7
Minimum 256 MB RAM
Hard Disk Space 300 MB required
USB Port
Macintosh(under development)

38

Follow Instructions

DR-Visual Logic Programming

From installation to running the program

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02
PART
PART

0 1 Installation File
Click on installation file.

0 2 Start installation wizard

Click Next button.

Click

39

0 3 Select installation folder

Click Next button.

Click

0 4 Confirm installation
Click Next button.

Click

0 5 Start installation
Starting installation. Wait untill the installation bar
ends.

40

0 6 Confirm installation
Click Close button
Software installation complete.

Click

0 7 Check executable file

Check for the executable file, desktop shortcut
icon and from Windows Start > All Programs >
Dongbu Robot > DR-SIM.
Click on the executable file to run the program.
If the porgram did not install properly, install the
Microsoft, Net Frame work 3.5 and try again.

41

Hello DR-SIM
First example of creating motion. Use DR-SIM tor create simple motion and run the motion simulation.
Connect to the robot and download the created motion file and then check the motion being applied by the robot.

0 0 Run program
Click on DR-SIM icon and run the program.

0 1 Full Screen
DR-SIM Full Screen.
Timeline is in the middle and motion editior at
botom. Motion is usually created or edited using
the timeline and 3D motion window.

2 Click

0 2 Basic Posture
Insert the basic posture in the robot motion
starting point or in the first frame.

1 Click

Place the posture in the 3D motion window as

basic posture Click first frame
Insert the
key frame at the top. Click on (Key icon)
Basic posture has been inserted in the key
frame.
If the posture in the 3D motion window is not a
basic posture, select it as basic posture from the
tool bar on the right.(Shortcut Alt + I)

42

0 3 3D Window

Click

To enlarge the 3D window, Menu > View >

Click on New 3D Window.
Click and drag to enlarge the new 3D window.

0 4 Motion Edit

1 Click

Click on the robot joint and thin yellow joint

movement line will appear. Click and hold left
mouse button on the line and drag.
Lift the left hand up left and the right hand up
front.

2 Drag

0 5 Insert Edited Motion

Click

Insert the motion edited in 3D window into desired

timeframe. After inserting the motion, click on the

at the top to view the simulation in the

3D window.

43

0 6 Inserted Frame Midpoint Check

To view the motion between two frames, click on
the timeframe section between the basic motion
and the edited motion.

Click

0 7 Connecting to Robot

2 Click

3 Click
1 Click

Use the USB to Serial converter cable to connect the robot to the USB port of PC or notebook
computer. Click Connect icon to make the
connection. Check the Com port if the connection does not occur. Click Torque On button
and try moving the robot arm or the leg by hand.
Torque is on if the robot does not move. Click on
Robot Play button and robot will move following the created motion,
This ends the first lesson on creating robot motion and play.

# Reference : COM Port Setting

If the connection to the robot does not occur, it
is most likely due to wrong Com port settings.
Right click on My Computer, click on Properties to open System Properties window, click
on Hardware tab to open the device manager.
Click Com port to view the list of configurable
Com ports. Select COM2 connected to the USB
and save. Com port connected to the robot should
now be open.

44

0 9 Reference : COM Port Setting

Select COM2 and save.
Robot and PC software should now connect.

1 Click

2 Click

45

User Interface

Instructions

Connect Robot

Short Cut
Mini Timeline

Timeline

3D Motion Window

Face LED

Sound

0 Instructions : DR-SIM detailed user instructions. Press F1 to view Help .

1 Short Cut : Collection of frequently used menus. Simulation Play, Insert Keyframe, and etc.
2 Mini Timeline : Shows the outline of whole timeframe.
3 Timeline : Created or edited motion can be placed by time.
4 3D Motion Window : Edit robot motion or view the motion simulation.
5 Face LED : Enables user to edit Face LED. Insert into timeframe after editing.
6 Sound : Select saved sound. Insert into timeframe after selcection.
7 Motor Setup Window : Configure values and LED settings by ID for all motors used in the robot.
8 Connect Robot: Shortcut for connecting to the robot. Used to download motion file to the
robot or to capture actual robot motion.

46

Motor Setup
Window

Help

Click Help on the menu bar to popup the help window. We recommend reading the Help files prior to using the DR-SIM
program. ( Click Help > ClickIndex > Click Timeline on left menu

Window shown below will open up

Com Setting : Instruction on setting up the COM port.

Main Window Major Functions : Instructions on how to use program functions.
Menu Bar
Quick Menu
Robot Control Setting
Timeline
3D Motion Window
Face LED
Servo Motor Values
Environment Setting

Tutorial
Creating Simple Motion : Explanation about sample motion creation.
Check our website for more motion samples.

47

Download
Edited motions are saved as a file. Saved motions files can be batch downloaded to the DRC controller (Existing files in the
DRC will be deleted). Downloaded files are ginve a number according to the order of download which then can be loaded
and used by DR-Visual Logic(Task Editor).

Save Robot Motion

To save the robot motion, File > Save As >
insert file name and save.

1 Click

2 Click
save
cancle

Click

0 1 Robot Control
With the robot and DR-SIM connected, click on
Robot Control icon.

0 2 Robot Control Window

Motion information download popup opens up.
Top section shows the directoy of saved motion
files. Left window shows motion list saved in the
PC. Files downloaded to the DRC will be listed by
number on the right window.

48

0 3 Open Saved File Folder

Click on the folder icon at the right side of the
folder directory to open up the folder search
popup window. Click to select the folder where
the motion files are saved.

2 Click

1 Click

0 4 Motion List
Left window shows the list of motions in the selected folder. Place the cursor on the list and click
the download icon.

1 Click
2 Click

0 5 Download
Robot motions will be downloaded one at a time.

49

0 6 Controller Motion List

Once all the motions are downloaded, motions will
be listed from number 0 in the controller motion list
window on the right side.
Numbers can be called up by index when
programming with DR-Visual Logic (Task Editor).
This ends the lesson in robot motion download.

50

Creating Motion - Step by Step

There are two different methods of creating motion. One method is to use the 3D motion window, motion can be created by
clicking on robot joints and using the motion lines. Another way is to capture the motion from the robot. Following lesson will
show how to create motion by using both methods.

0 1 New File
File > Click on New File.

Click

0 2 New Motion Window

Previous motion window will disappear and new
robot 3D motion window will open.

51

0 3 First Frame

2 Click

Insert teh basic posture into the first frame. Click

on the first frame and then click on the key frame
insert.

1 Click

0 4 New Motion Window

Click

Motion window can be opened up separtely and

enlarged to conveniently edit motion on screen.
Total of three 3D motion windows can be opened
at same time and placed side by side or top and
bottom to be used for editing.
View > Click on New 3D Motion Window.
Use the mouse to drag and elarge the newly
opened 3D popup window.

52

0 5 Enlarging Robot.
Robot in the edit window can be enlarged.
Click on an empty space and use the mouse
wheel to zoome in or out.
To change the angle, press and hold the right
mouse button and drag. To change the robot position, press shift + press and hold right
mouse button and drag.

1 Drag
2 Alt+Drag

0 6 Edit Arm Motion

Click

Lifting the arm. Click on the shoulder area and

yellow motion line will appear. Click and drag
along the motion line to lift the arm.

53

0 7 Insert Key Frame

Insert the lifted arm motion into the frame. Click
on the desired frame and then click on key icon
to insert the motion.

0 8 - 1 USB to Serial Converter

Start connection to the robot.
USB to Serial conversion cable that connects
robot to the PC/Notebook USB port.

54

0 8 - 2 USB port
Connection to the PCs with Serial Port in the
back can made using the serial cable but connection
to notebook computers without the serial port
requires USB to Serial converter.

0 8 - 3 Connecting to Robot
Connect the RS232c audio jack to the robot.

0 8 - 4 Robot Port
Looking at top of the DRC controller, you will find
serial port connecting to the PC, head side servo
motor port, and power port.
Photo shows all three ports connected.

0 8 - 5 Robot Connection Button

Click

Menu for making connection to the robot is

located at top right of DR-SIM window.
Click on Environment Setup button to configure
the COM Port.

55

0 9 Environment Setup
Environment Setup window shows DR-SIM
version, robot selection, and Communications
setting.

1 0 Robot Selection

Click

DR-SIM provides total of 6 different types of

humanoid robot. Most basic robot is the 16
axis humanoid.
Select the type of robot that was assembled.
Select Hovis Lite 16 DOF

1 1 COM Port Selection

PORT shows the COM Port numbers that can
be selected. Select one of the ports. If there is
no connection, go to the hardware properties in
windows and check the number of the COM port
that can be used.

Click

1 2 Connecting
Click on the Connect icon.

Click

1 3 Connection

1 Click

56

2 Click

As shown in the left photo, Torque button

becomes active when connection to the robot is
made. Click Torque On button to operate the
robot and click Play button to play current
motion.

1 4 Robot Motion for Capture

This lesson will show how to caputre and edit
motion from the robot.Click Torque Off
button and then manually manipulate the robot
to make desired motion.

1 5 - 1 Capture
Click Capture button.

Click

1 5 - 2 Show Captured Motion in 3D

Window
Captured motion is shown in the 3D motion
window as soon as capture button is clicked.

1 5 - 3 Insert Key Frame

Insert captured motion into the desired frame.
Click on the frame first and then click on the
key frame.

2 Click

1 Click

57

1 6 - 1 Different Motion
Manually make a different motion .

1 6 - 2 Capture
Capture.

Click
1 7 Check Motion
Compare the manually made motion with the
motion in the 3D motion window.

58

1 8 Capturing

Click

Capture the newly made motion

1 9 Insert Key Frame

Insert motion in the desired frame.

2 0 Delay Value
Robot may make a suden movement if there is
a large motion difference between the first and
the second motion key frame. To prevent such a
sudden movement, there is a way slow down the
first motion.
Click bottom of the frame and drag to the right
with left mouse button pressed. Such an action
will show up as photo on the left and Delay value
will be created.

1 Click
2 Drag

59

2 1 Screen Play

Click

Play the created motion in the motion window.

Click Play icon.

2 2 Play
Progress line shows the motion being played
progressing on the time frame.

2 3 Play On Robot

Click

Apply and play the motion on robot. Click Play

button located near top right.

2 4 Robot Motion
Left photo shows the motion created in 3D motion
window. middle and right photos show captured
motions.When played, motions will be played
consecutively.

60

DR-Visual Logic Programming

PA RT

02

DR-SIM & DR-Visual Logic

Installation

PART
PART

DR-Visual Logic Introduction

DR-Visual Logic is a Drag & Drop type graphic robot programming tool derived from the robot programming language developed by Dongbu Robot. DR-Visual Logic has been customized to work with Dongbu Robot DRC controller by modularizing the DRC functions. Drag & drop method using the mouse makes DR-Visual Logic easy to program even by the novices
and by using the provided C-like tab, text codes converted from the graphic program can be viewed immediately. As the
codes are similar to the C language, it will also help the novice programmers in learning the C language. DR-Visual Logic is
one of the easiest and yet powerful programming tools in the market and its versatility makes it equally popular with novice
and advanced users alike. Planned upgrade to the program to make it even more versatile and powerful includes upgraded
DRC function modules, motion modules, and integrated simulation

System Requirements
Minimum Intel Pentium 800 Mhz
Windows XP, Windows 7
Minimum 256 MB RAM
Hard disk space 300 MB required
USB Port
Macintosh (Under Development)

61

From installation to test

0 1 Installation File
Click on the installation file.

0 2 Start installation Wizard

Click Next button.

Click

62

0 3 Select Installation Folder

Click Next button.

Click

0 4 Confirm Installation
Click Next button.

Click

0 5 Start Installation
Starting installation. Wait for the progress bar to
end.

63

0 6 Finish Installation
Click Close button
Program installation complete.

Click

0 7 Check executable file

Check for the executable file, desktop shortcut
icon and from Windows Start > All Programs >
Dongbu Robot > DR-VisualLogic.
Click on the executable file to run the program.

64

Hello DR-Visual Logic

First Program Step by Step
Sample Progam Description
Robot has both arms spread out, lower one arm to the side of the body. 16 axis humanoid robot will spread out both arms
when all motors are aligned in the center. one of the arm will be lowered to the side of the body.

0 1 Assign Variable
Operating the robot is same as operating the
robot servo motor. Value has to be assigned so
that servo will be able to operate.
Click Data > Variable module

Click

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock.

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.
This means programming has started.

65

0 4 Entire Program
Photo to the left shows the entire progam
lowering the robot arm by moving the motor.

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C
language structure. Cursor will jump follwing the
clicked module, making it easy to see the
module changing to text.

0 6 Variable Setup
This section allows the servo motor to operate on
its own. Select Constant as the Variable Type. In
properties, set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next
moduel through the output connector.

Click

66

0 7 Apply to All Servos

2 Select

This section applies contact value 96 to all

servos.

3 Select

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied to
all connected servos.

1 Click

4 Input

0 8 Set Angle to All Servos

This section sets all servo motor angles to the

center.

Select Motion > Motor.

Select Mode : Positon. adjust angle.
Set Position : 512 . 512 means motor will be sent
to the center
Set Motor ID : 254 . 254 means it will be applied
to all connected servos.
Set Time : 100 . 1 unit = 11.2ms, 100 units would
be approximately 1.12s.
It means motors will be positioned at the desired
angle for 1.12s.

0 9 Delay
This section delays the motor for 1s before starting.

1 Click

2 Input

Select Flow > Delay module.

Set Time : 1.0 . It means delay of approximately
1s.

67

1 0 Setup Motor ID 0 (Right Shoulder)

1 Click

2 Select

Creating attention posture (Basic Posture)

When all robot motors are aligned to the center,
humanoid robot arms will be stretched out to the
side. Setup below lowers one arm to the side of
the body.

3 Input

4 Input

Select Motion > Motor.

Select Mode : Position.
Set Position : 235. 235 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Right shoulder motor has ID 0
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s.

5 Input

1 1 Delay

1 Click

2 Input

Setup below makes the motor wait for 1s before

starting.
Select Flow > Delay Module.
Set Time : 1.0 . Delay start by 1s.

1 2 Set Motor ID 1 (Right Arm)

1 Click

2 Select
3 Input

4 Input

5 Input

68

Select Mode : Postion.

Set Position : 235. 235 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 1. Right upper arm motor
connected to the should has motor ID 1.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s.

1 Click

2 Click

3 Click

1 3 Download
Compile after programming done
to robot
Run.

Download

Click Compile. Click download on the right if

there is no compilation error. Download to
robot. Click Run button (Arrow button) after the
download.

1 4 Robot Motion
Right arm will lower to the side from horizontally
stretched out position.

69

User Interface

New Programming Tab

Instruction Manual

Shortcut
Module Tab

Connerctor

Module Window

Pin Switch

Ctrl + Wheel

Minimap

Conversion Window

Propety Window

Remote control

1 Mini Map: Controlled by dragging, shows current position even in lengthy program, jump to any position.
2 Wheel Up/Down : Screen zoom in/out
3 Pin Switch : Shows pin names of the current module, disappears whenc clicked again.
4 Conversion Window : From Graphic to Text. Converts graphic programming source to text source, Similar to C language structure.

0 Shortcut : Group of shortcut icons for frequently used commands.

1 Module Tab : All modules
2 Module Window
3 New Programming Tab
4 Instruction Manual
5 Connector
6 Property Window
7 Downloader

70

Help
From the menu, click Tools > Help, Help window will popup as shown belw. We recommend users to read the Help files prior
to using the DR-Visual Logic. (Click: Help > Index > Timeline

Window below will open up)

Outline

Module Window

Organization
Module
Connector
Practise

Motion : Move(Saved robot motion), Motor(servo motor), LED, Sound

Sensor : Sound Sensor, Touch Sensor, Light Sensor,
Distance Sensor(Distance Sensor, PSD Digital, PSD Analog),
Dynamics Sensor(Accermeter, Zyro sensor)
Communication : IRReceive, ZigBee, Button
Data : Operator, Variable
Flow : Loop, While, Switch, Wait, Delay, Continue, Break

Screen Organization
Menu bar
Icon bar
Remote Control
Mini Map
Module Window

71

Programming Module
DR-Visual Logic is comprised of follwing modules.
Module Pack contains all programming modules required to create a program. Each module is supported by the DRC controller
function. Description: location of each part on humanoid robot and short description of the corresponding module.

Module
Pack

Picture

Module

Description

Move

Run saved robot motion

Motor

Position/speed control by each motor

Motion
LED

Sound

Head - run saved LED

Back - Control LED on controller
Sound Buzzer

Sound Sensor Internal, distinquishes Left & Right

Sensor

Touch

Recognize touch on head module

Light

Internal, back, measures light

Distance

Dynamics

IRRciever

Measures distance
Dynamics, Measures acceleration
and angular speed.

Recognize remote control data

Communi
cation

Button

72

Reconginze rear controller button.

Module
Pack

Picture

Module

Operator

Description

Operator

Data

Variable

Register data user declare variable/

constant

Loop

Endless loop/for statement

While

Continue loop while condition met.

Switch

Control branch, if-else

Flow
Wait

Delay

Continue
Break

Wait while condition met

Delay for set time

Return to beginning of loop

Exit loop

73

Programming Module > Regualr Module

All DR-Visual Logic modules are either regular or flow modules.
Regular modules are connected together and used sequentially.
All modules except for the flow modules are regular modules.

From the top. module icons represent Motion, Sensor, Communicaiton, and Data .

74

Programming Module > Flow Module

Flow modules connect to the regular modules and control the flow of the program with loop, switch, and etc. Unlike regular
modules, outline appers around the flow modules when they are connected to the regular modules.

Loop
Loop module commands repeat of certain section. Loop with For statement would repeat certain number of times whereas Loop with Forever
statement would repeat infinite times.

While
While module requires certain condition to be met
before proceeding to the next step. It is a loop
stateement with attached condition.

Switch
Switch module is similar to if-else statement. If the
condition is True, it will perform the top task and
if the condition is false it will perform the bottom
task.

75

Wait
If input condition is True, halt program execution
and wait. Program execution will continue if the
the condition becomes False.

Delay, Continue, Break

Three modules in the left are arranged like regular
modules without the graphic outline.
Delay module delays the program for certain
period. Continue module sends the execution
back to the beginning of the loop. Break module
exits the program from the loop.

76

Programming Module > Connector

Some modules have Input and Output values. Resulting value of the output connector becomes the input value of the next connected module. Modules with both Input/Output values will have connectors on both left and right side of the module. Refer to
below for example of connectors.

Connector

Help Balloon

Over

It is difficult to distinquish the connector just

by looking at the connector icon. To find out
the function of the connector, place the mouse
cursor on top of the connector and balloon will
appear with the name of the connector.

Opening Help Balloons

Click

To view the name of several connectors all at

once, click on the triangle icon at top left corner
of the module and connector names will appear
beside each connector. Click one more time to
close the balloons.

Connecting Connectors
To input the output value of the front module into
the input value of the following module, use the
mouse to drag and connect. Connecting line will
appear as shown in the left photo.

Drag

77

Programming Module > Connection Type

Connection Type
Module connections can be either serial type connection or row type connection.

Serial Type Connection

In serial type connection, modules are connected sequentially from left to right. The photo above shows arithmetic
calculation program. ((4xBlue)+(2xGreen))+(1xRed) calcuation shown as serial type connection.

Row Type Connection

Row type connection, modules are connected in rows using vertical spacing. The 2nd photo with row type
connection is same program as the 1st photo with serial type connection.

78

Property WIndow
Modules have their own properties and thses propeties must be given a value for program to work. UI in property window
includes list popup, radio button, number setting, and etc. Refer to the Help file for details on properties for each module,
property values, and limits.

Property Window
When motor module is clicked, property window
shows up on right side of the window. Motor has
speed and position control properties. To control
the position, select Position in Mode selector. To
control speed, select Velocity. Position, Motor
ID, Time values are adjusted in the detailed
settings below the Mode Selector.

79

Compile/Download
Once the programming is complete, it is compiled, downloaded to the robot and run. Downloader is a large icon located at
bottom left side of the programming window. More specific commands are found in the tools menu.

Downloader Icon
Downloader icon has three commands.
Compile command on the left, download
command on the right, and play command in
the middle shown by arrow like icon.

Tools Menu
Tools menu contains more specific related
commands.
Compile : Comile edited task..
Download : Download compiled task file.
Run : Run downloaded Task file.
Stop : Stops running the program.
Run to breakpoint : Program will run to
designated breakpoint and stop.
Stop Debug: Stops debugging process
Run in single steps : Runs program by module.

80

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02

DR-Visual Logic Programming

DR-SIM & DR-Visual Logic
PART
PART

Programming Individual Modules

Provided sample program is based on 16 axis humanoid robot with DRC controller platform. Sample program will require
reprogramming if it is to be used for 18,20 axis humanoid robot or other variations with change in modules or motions.
Before running the program, check the motor ID and robot sensor locations. Also, use the DR-SIM to check the saved motion
list and apply correct index values. Provided sample program is as follows.

Module
Pack

Module

Example
Move module loads the robot motion saved in the DRC controller and applies it to the program. Robot

Move

motion can be loaded by the number, and if required, names can be checked from DR-SIM. This
program will repeat running the motion creatd by DR-SIM on the robot indefinitely. This is a relatively
complicated program useful for reliability test or for demostration purposes.

Motion
Motor

This program creates dancing motion by controlling individual motors.

LED

This program will turn on/off the LED by pressing the button on DRC Controller.

Sound

This progam will output sound when input from remote control buttons(#1~8) is received.
Sound sensors are located inside the DRC on both sides. This program will make the robot respond to
the left clap by lifting the left arm and to the right clap by lifting the right arm (Sample # 2). Robot may
have difficulty distinquishing the direction of the clap when there is lots of background noise. It may

Sound Sensor respond by lifting both arms to a single clap from one direction or respond erratically. More refined
programming is required to make the robot to respond more reliably regardless of the background
noise. Refining the program by forcing a DELAY after registering the first sound so that it will not receive
anymore sound input will increase the reliability.

Sensor

This program makes the motor respond to the external luminosity. When luminosity deLight

creases, robot will lift up the left arm ( Covering the CDS sensor at back of the controller will
decrease the luminosity and robot will respond by lifting the left arm).
PSD Digital(Distance Sensor) : This program makes the robot walk backwards, turn right,

Distance

and then walk straight if it detecs a wall within certain distance.

PSD Analog(Distance Sensor) : This progam makes the robot turn left to avoid the wall.

Dynamics
Communi
cation

IRRciever
Button

Accerlateration : This program makes the robot stand if it falls forward, makes the robot
stand if it falls backward.
This program assigns different sound notes to the remote control buttons 1~8 and makes
the DRC controller play the sound.Buttons1~8 matches Do~Si. (With Sound)
LED at back of the DRC respond to the press of a button on DRC (with LED)

81

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02

DR-Visual Logic Programming

Programming Individual Module : Motion > Move

Move Example PART

Step by Step
Example Description
Move module loads the robot motion saved in the DRC controller and applies it to the program. Robot motion can be loaded

PARTcan be checked from DR-SIM. This program will repeat running the motion creatd
by the number, and if required, names
by DR-SIM on the robot indefinitely. This is a relatively complicated program useful for reliability test or for demostration
purposes.

* Motions and Motion numbers used in this example are not same as the provided basic motion. This example assumes
motion was created by DR-SIM and downloaded to the DRC. To download motion go to www.hovis.co.kr/guide

0 1 Assign Variable
Operating the robot is same as operating the robot servo motor. Value has to be assigned so that
servo will be able to operate.
Click Data > Variable module.

Click

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock.

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.
This means programming has started.

82

PA RT

0 4 Entire Program
DR-Visual Logic Programming

02

Loads the saved motion and duplicates

. Motion ready .

PART
PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language structure. Cursor will jump follwing the
clicked module, making it easy to see the module changing to text.

0 6 Variable Setup

2 Select
1 Click

This section makes the servo motor to operate on

its own. Select Constant as the Variable Type. In
properties, set constant value as 96.
When 96(0x60) is entered in the servo TorgControl register, servo becomes ready to operate.
This value is sent to the torque value of the next
moduel through the output connector.

3 Input

83

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02

0 7 Apply to All Servos

DR-Visual Logic Programming
This section applies contact value 96 to all servos.

1
2

PART

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos..

PART

0 8 Motion Ready

2
3
4

When the motion is loaded, robot may make a

sudden movement or motion change from the
current position. If the difference between the
current position and the start of the motion is
drastically different, it may cause stress to the
motors or pose danger to the user. To prevent
such an occurence Motion Ready is used to
give time for motion to start.
Select Motion > Move .
Select Play/Stop : Play .
Select Motion Index : 2. Load motion No 2. As a
reference, motion No 2 in this progam makes the r
obot sit and stand. It does not necessarily have to
be No 2. User can select another motion No to use.
Select Motion Ready : True . When True is selected,
robot will slowly change to starting position of the moiton.

0 9 Delay

84

To prevent the motion from starting before Motion

Ready ends, set Delay value to 1.5s.

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02

DR-Visual Logic Programming

1 0 Loop
1

Set Forever infinite loop.

PART
PART

1 1 Motion Movement

If Motion Ready value is set to False, motion will

run from start to finish.
Select Motion Ready : False .

Reference: View Motion

To view the list of motions in the controller, connect to the robot and click robot setting from
DR-SIM.
No 2 motion Robot sits and stands.

Click

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02

1 2 Check Motion Movement

DR-Visual Logic Programming

Loop refers to continuous repetition. It takes time

for the actual motion to complete after Move
command has been issued, but loop with single
move module will continue to run and give motion
command even while the previous motion is still
running. The lag in actual motion will result in
difference between the number of motion commands
given by the move module and the number of actual
motions. To correct this difference, loop will need
to wait for the motion to complete before repeating
the process.Playing Motion is found within
Variable > MPSU RAM Data.
Playing Motion is a variable that checks
whether the motion is in process. Loop will wait
for the current motion to end if wait is added to
the Playing Motion.

3
PART

4 Drag
PART

Select Data > Variable Module.

Select Type : MPSU RAM Data
Select MPSU RAM : Playing Motion
Add Wait module to the output connector.

1 3 Wait
Wait untill the motion ends.
Go to the begining and repeat when motion
ends.

1 Click

2 Click

3 Click

1 4 Compile, Download, Run

Click left icon to compile. If no compile error is
found, click right icon and download to robot.
After the downoad is complete, click the arrow
like run button in the middle to apply the program to the robot.

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1 5 Robot Motion
DR-Visual Logic Programming

02

Robot wiil continuously repeat sit and stand motion.

PART
PART

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02

DR-Visual Logic Programming

Programming Individual Module : Motion > Motor
PART

Motor Description

Motor module has two types of oerating modes. Positions control mode and Speed control model.

PART

Position Control Mode

Position control mode changes the position of the

selected motor to desired position.
Position has value range between -127~1152.
Servos are released from the factory with default
value range of 21~~1002. Values beyond the
default range is possible with adjustment to min/
max motor values and position adjustment
values. Motor has regular position value of 512
which is used as a standard position value when
assembling. When all Hovis motors have position
value of 512, Hovis will be in standing position
with both arms stretched out 90 degrees to the
side. Refer to the diagram below to view position
range and regular position.
Motor ID is the ID of the servo to be controlled.
Time refers to the time it takes for servo to reache
the goal position. 1tick = 11.2ms. 100 tick would
take the servo 1.12s to reach the goal position.

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2 Speed(Velocity) Control Mode

DR-Visual Logic Programming

02

Speed control mode puts the selected servo in

continous roation with specific speed.

PART
PART

Velocity has value range of -1023~1023, Larger

the value, larger the output with increased rotation
speed. Sign of the value determines the direction
of the rotation.
Motor ID is the ID of the servo to be controlled.
Time refers to the time it takes for servo to reache
the goal position. 1tick = 11.2ms. When set to 100
tick, servo would take 1.12s to gradually reach the
goal speed.

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02

DR-Visual Logic Programming

Programming Individual Module : Motion > Motor
PART

Example Step by Step

Example Description
Robot motions are usually made by
controlling each individual servos and cosolidating their response. But, controlling each
PART
servo is a compliecated procedure which is why tools such as the DR-SIM (Motion Editior) is usually used.
Instead of using the Motion Editor, this example will use the Task Editor to control each individual servos to produce a continuous motion. The end result of the program will be a very interesting wave dancing robot.

0 1 Assign Variable
Operating the robot is same as operating the
robot servo motor. Value has to be assigned so
that servo will be able to operate.

Click

Click Data > Variable module.

0 2 Start
Click and drag the connecting line located at left
side of the module to the Start Point and dock.

Drag

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.
This means programming has started.

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0 4 Entire Program
DR-Visual Logic Programming

02

Entire program controlling the motors.

PART
PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text

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DR-Visual Logic Programming

02
PART

PART

0 6 Variable Setup

2 Select
1 Click

3 Input

92

This section makes the servo motor to operate on

its own. Select Constant as the Variable Type. In
properties, set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

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02

0 7 Apply to All Servos

DR-Visual Logic Programming

2
1
3

PART
PART

This section applies contact value 96 to all servos.

Select Variable > Type : Servo RAM.
Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos..

0 8 Set Angle to All Servos

2
3
4

Set all servo motor angles to the center.

Select Motion > Moter .
Select Mode : Positon . Set angle.
Set Position : 512 . 512 sets servo angle to the
center
Set Motor ID : 254 . apply to all servos
Set Time : 100 . 1tick = 11.2ms, 100 tick = 1.12s.
Move to set angle for1.12s.

0 9 Motor ID 0 (Right Shoulder) Setup

2
1

1st stage : Initial position

Make attention posture(Basic posture)
When all servo motors are aligned to the center,
humanoid robot will be standing with both arms
stretched out to the side. This stretched out arm
posture need to be returend to the basic attention
posture to make applying motion easier.
Select Motion > Motor
Select Mode : Position
Set Position : 235 . 235 turns the the motor so
that the right arm in horizontal position can be
lowered to vertical position.
Set Motor ID : 0. Right shoulder motor has ID 0.
Set Time : 100. Motor will turn to set angle in
1.12s.

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02

1 0 Motor ID 1 (Right Arm) Setup

DR-Visual Logic Programming

2
1
3

PART

PART

Select Mode : Postion .

Set Position : 235 . 235 turn the horizontal arm to
vertical position.
Set Motor ID : 1. Right upper arm motor connected to the shoulder has ID 1.
Set Time : 100 . Motor will turn to set angle in
1.12s.

1 1 Motor ID 3(Left Shoulder) Setup

2
1
3
4

Select Mode : Position.

Set Position : 789. 789 turns the the motor so that
the let arm in horizontal position can be lowered
to vertical position.
Set Motor ID : 3. Left shoulder motor has ID 3.
Set Time : 100. Motor will turn to set angle in
1.12s.

1 2 Motor ID 4(Left Arm) Setup

2
1
3

94

Select Mode : Postion .

Set Position : 789 . 235 turn the horizontal arm to
vertical position.
Set Motor ID : 4. Left upper arm motor connected
to the shoulder has ID 4.
Set Time : 100 . Motor will turn to set angle in
1.12s.

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1 3 Delay
DR-Visual Logic Programming

02

Delay 1.5 s.

PART
PART

1 4 Motor ID1(Right Arm) Setup

2
3

2nd Stage : Set arm angle to 45 degrees.

Set arm angle to 45 degrees to prepare the robot for the
dance.
Select Motion > Moter.
Select Mode : Position.
Set Position : 374 . 374 changes the right arm angle to
45 degrees.
Select Motor ID : 1. Right upper arm motor has ID 0.
Set Time : 10. Motor will turn to set angle in 0.112s.

1 5 Motor ID 4(Right Arm) Setup

Set left upper arm motor ID 4 to 45 degrees.
Select Motion > Moter.
Select Mode : Position.
Set Position : 650 . 650 changes the left arm angle to 45
degrees.
Select Motor ID : 4. left upper arm motor has ID 0.
Set Time : 10. Motor will turn to set angle in 0.112s.

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1 6 Delay
DR-Visual Logic Programming

02

Delay 1s.

PART

PART

1 7 Motor ID 1(Right arm) Setup

3rd Stage : Set arm angle to 90 degreees.

Set arm angle to 90 degrees to start the robot on the

wave dance.

Setup Motion > Motor.

Select Mode : Position.
Set Position : 512. 512 50 changes the lright arm angle
to 45 degrees. 512 is also the center position of the motor.
When all motors are set to the center position, robot
will stretch out both arms to the side.
Set Motor ID : 1. Right upper arm motor connected
to the shoulder has ID 1
SetTime : 10. Motor will turn to set angle in 0.112s.

1 8 Motor ID 4(Left Arm) Setup

Set arm angle to 90 degreees.

Set arm angle to 90 degrees to start the robot on the
wave dance.

3
45

96

Setup Motion > Moter.

Select Mode : Position.
Set Position : 512. 512 50 changes the left arm angle to
45 degrees. 512 is also the center position of the motor.
When all motors are set to the center position, robot
will stretch out both arms to the side.
Set Motor ID : 1. Left upper arm motor connected
to the shoulder has ID 4
SetTime : 10. Motor will turn to set angle in 0.112s.

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1 9 Delay
DR-Visual Logic Programming

02

Delay 1s.

PART
PART

2 0 Motor ID 4(Left Arm) Setup

1
2

4th Stage : Wave 1 stage

Select Motion > Moter.

Select Mode : Position.
Set Position : 449. 449 changes the left arm
angle to the start of the wave dance.
Set Motor ID : Left upper arm motor connected to
the shoulder has ID 4
Set Time : 40 . Motor will turn to set angle in
0.448s.

Start the wave from the left arm.

2 1 Motor ID 5(Lower Left Arm) Setup

2
3
4

Lower left arm wave.

Select Motion > Moter.
Select Mode : Position.
Set Position : 681.
Set Motor ID : 5. Lower left arm motor has ID 5.
Set Time : 40 . Motor will turn to set angle in
0.448s.

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2 2 Delay
DR-Visual Logic Programming

02

Delay 0.3s.
Short delay as dance has started.

PART

PART

2 3 Motor ID 2(Lower Right Arm) Setup

2
3

5th Stage : Wave 2 Stage

Lower right arm wave.
Select Motion > Motor.
Select Mode : Position .
Set Position : 589.
Set Motor ID : 2. Lower rigt arm motor has ID 2.
Set Time : 40 . Motor will turn to set angle in
0.448s.

2 4 Motor ID 4(Left Right Arm) Setup

2
3

98

Change the motor angle slightly to give wave effect.

Select Motion > Motor.
Select Mode : Position .
Set Position : 608 .
Set Motor ID : 4 .
Set Time : 40 . Motor will turn to set angle in
0.448s.

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02

2 5 Motor ID 5(Lower Left Arm) Setup

DR-Visual Logic Programming

PART
PART

2
3
4

Change the motor angle slightly to give wave effect.

Select Motion > Motor.
Select Mode : Position .
Set Position : 416.
Set Motor ID : 5 .
Set Time : 40 . Motor will turn to set angle in
0.448s.

2 6 Delay
Delay 0.3s.
Short delay as dance has started.

2 7 Motor ID 1(Upper Right Arm) Setup

6th Stage : Wave 3 Stage

Select Motion > Motor.

Select Mode : Position .
Set Position : 416.
Set Motor ID : 1 .
Set Time : 40 . Motor will turn to set angle in
0.448s.

Return motor to original position.

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2 8 Motor ID 2(Lower Right Arm) Setup

DR-Visual Logic Programming

02

PART

2
3

PART 4

Return motor to original position.

Select Motion > Motor.
Select Mode : Position .
Set Position : 608.
Set Motor ID : 2.
Set Time : 40 . Motor will turn to set angle in
0.448s.

2 9 Motor ID 4(Upper Left Arm) Setup

2
3
4

Return motor to original position.

Select Motion > Motor.
Select Mode : Position .
Set Position : 435.
Set Motor ID : 4.
Set Time : 40 . Motor will turn to set angle in
0.448s.

3 0 Motor ID 5(Lower Left Arm) Setup

2
3
4

100

Return motor to original position.

Select Motion > Motor.
Select Mode : Position .
Set Position : 512.
Set Motor ID : 5.
Set Time : 40 . Motor will turn to set angle in
0.448s.

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3 1 Delay
DR-Visual Logic Programming

02

Delay 0.3s.
Short delay as dance has started.

PART
PART

3 2 Motor ID 1(Upper Right Arm) Setup

7th Stage : Wave 4 Stage

Select Motion > Motor.

Select Mode : Position .
Set Position : 575.
Set Motor ID : 1.
Set Time : 40 . Motor will turn to set angle in
0.448s.

End Wave.

3 3 Motor ID 2(Lower Right Arm) Setup

1
2
3

End Wave.
Select Motion > Motor.
Select Mode : Position .
Set Position : 343.
Set Motor ID : 2.
Set Time : 40 . Motor will turn to set angle in
0.448s.

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3 4 Motor ID 4(Left Upper Arm) Setup

DR-Visual Logic Programming

02

2
3

PART

PART

End Wave.
Select Motion > Motor.
Select Mode : Position .
Set Position : 512.
Set Motor ID : 4.
Set Time : 40 . Motor will turn to set angle in
0.448s.

3 5 Delay
Delay 0.3s.
Short delay as dance has started.

3 6 Motor ID 1(Right Upper Amr) Setup

2
3

102

8th Stage : Wave 5 Stage

Externd both arms to the side .
Select Motion > Motor.
Select Mode : Position .
Set Position : 512.
Set Motor ID : 1.
Set Time : 40 . Motor will turn to set angle in
0.448s.

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3 7 Motor ID 2(Lower Right Am) Setup

DR-Visual Logic Programming

02

PART
PART

2
3

Externd both arms to the side .

Select Motion > Motor.
Select Mode : Position .
Set Position : 512.
Set Motor ID : 2.
Set Time : 40 . Motor will turn to set angle in
0.448s.

3 8 Delay
Delay 0.5s

3 9 Motor ID 1(Upper Right Arm) Setup

9th Stage : Lower arm to 45 degrees

Return to attention posture, change arm angle to
45 degrees first.

Select Motion > Motr.

Select Mode : Position.
Set Position : 374.
Set Motor ID : 1.
Set Time : 10 .

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02

4 0 Motor ID 4(Left Upper Arm) Setup

DR-Visual Logic Programming

PART

PART

Return to attention posture, change arm angle to

45 degrees first.

Select Motion > Motor.

Select Mode : Position.
Set Position : 650.
Set Motor ID : 4.
Set Time : 10 .

4 1 Delay
Delay 0.2s .

4 2 Motor ID 1(Upper Right Arm) Setup

2
3

104

10th Stage : Dance Complete

Return to attention posture.
Select Motion > Motor.
Select Mode : Position.
Set Position : 235.
Set Motor ID : 1.
Set Time : 10 .

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02

4 3 Motor ID 4(Upper Left Arm) Setup

DR-Visual Logic Programming

PART
PART

Return to attention posture.

Select Motion > Motor.

Select Mode : Position.
Set Position : 235.
Set Motor ID : 4.
Set Time : 10 .

4 4 Delay
Delay 0.2s .

1 Click

2 Click

3 Click

4 5 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to
robot. Click Run button (Arrow button) after the
download.

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4 6 Robot Motion
DR-Visual Logic Programming

02

Wave dance will start from the left arm.

PART

PART

106

DR-Visual Logic Programming

PA RT

02

Programming Individual Module : Button, LED

PART
PART

Button, LED Example Step by Step

Example Description
This example uses the buttons on DRC controller to turn on/off LED.
In order to program the button and the LED, user should have an understanding of how the button and the LED work.

16 = 24
Hexadecimal
Binary

0
0 0 0 0

Right

Button

EX)

Right
Down

Left

2
0 0 1 0
0
0 0 0 0

4
0 1 0 0

Down
Up

Ok
Mode

0
0 0 0 0
8
1 0 0 0

h
h

Button
DRC has 6 buttons and pressed button is expressed by a 1 Byte. 1 Byte is made up of 8 Bits so 1Byte is able to carry 8
1s and 0s. 6 bits are required to express pressed (1) and released (0) status of 6 DRC buttons. As shown in the diagram
above, each button is matched with a single bit. Pressed button is expressed in 1s and 0s and it is shown in hexadecimal
format at bottom right side of the button module. Pressed right; button has value of 00100000 or 20h when converted to
hexadecimal format (h refers to hexadecimal). Pressed down button has value or 00001000 or 08h in hexadecimal format.
For something more complicated, pressed up+down button has value of 00001100 or 0Ch in hexadecimal format.

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DR-Visual Logic Programming

02
PART

0
1
2
3
4
5
6
7

B G R
0
0
0
0
0
0
0
0

0
0
0
0
1
1
1
1

PART

0
0
1
1
0
0
1
1

0
1
0
1
0
1
0
1

True = 1 , False = 0

Blue

False : 0
True : 4

Green False : 0
True : 2
Red

False : 0
True : 1

led( )
led( 4 X Blue + 2 X Green + 1 X Red )

LED
DRC has seven LEDs but only three can be controlled by the task mode. Three bits are required to express on/off status of
the three LEDs; Red, Green, Blue. As shown in the diagram above, each LED (Red, Green Blue) is matched with a bit in an
ascending order from the lowest bit of the byte to the highest. LED lights up when the LED value is used as an input of the
LED module. All LEDs are turned off when the input value is 0(00000000) and they are turned on when the input value is
7(00000111). Blue in binary format is 4, Green 2, and Red 1. When on/off state of each individual LED is determined by the
value (true, false) of the variables Blue, Green, and Red, it is possible to control the LEDs by their variable names using 4 x
Blue + 2 x Green + 1 x Red as the input of the LED module. For example, when Blue and Green is true and Red false, it
becomes 4 x Blue + 2 x Green + 1 x Red = 6. 6 in binary format is 00000110. Green and Blue LED will light up when this
value is used as an input of the LED module.
Use the basic principals from above to program the Buttons and LEDs.

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0 1 Assign Variable
DR-Visual Logic Programming

02

Click Data > Variable module.

PART
PARTClick

0 2 Start
Click and drag the connecting line located at left
side of the module to the Start Point and dock.

Drag

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.
This means programming has started.

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0 4 Entire Program
DR-Visual Logic Programming

02

Entire program using the buttons and LED.

PART

PART

0 5 Viewing C-Like

Click

110

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

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0 6 Initialize as False
DR-Visual Logic Programming

02
1 Click

2 Select

All LEDs are initialized False (Off).

Select Data > Variable .
Select Type : Contant .
Select Constant Type Bool . True or False data
type.
Select Constant Value : False

PART
PART

Use the connector to connect False to the variables.

3 Select
4 Select

0 7 Red Variable

Select Data > Variable .

Select Type : Variable .
Variable Name : Red .
Red LED off when False, on when True.

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0 8 Green Variable
DR-Visual Logic Programming

02
1

PART

Select Data > Variable .

Select Type : Variable .
Variable Name : Green .
Green LED off when False, on when True

PART

0 9 Blue Variable

2
1

Select Data > Variable .

Select Type : Variable .
Variable Name : Blue .
Blue LED off when False, on when True

1 0 BtnEnd Variable

2
1

112

BtnEnd Variable maintains False value while the

button remains released but changes from False
> True as soon as the button is pressed and the
motion ends.
Value changes back from True to False as
soon as the button is released.
Select Data > Variable .
SelectType : Variable .
Variable Name : BtnEnd .

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1 1 Assign Variable
DR-Visual Logic Programming

02

Assign False as the initial vlaue of Red, Green,

Blue, BtnEnd.

PART
PART

1 2 Loop
Forever infinite repetition.

1 3 Up Button

2
1

Create a button module. This module becomes

True when the selected button is pressed and
False under other conditions. When Up Button is
selected, True when Up Button is pressed and
False under other conditions.
Select Communication > Button module.
Set Button Value : Up .
Value is 04h in hexadecimal format. 04h will be
shown in the module.

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1 4 BtnEnd
DR-Visual Logic Programming

02

BtnEnd value is intialized as false. It beocmes True

with not opertaor attached to the back.
Copy and paste the btnEnd variiablef from the front.

PART

PART

1 5 ! Operator

2
1

Use ! operator to change the BtnEnd value to the

opposite.

3
Select Data > Operator module.
Select Operartor Type : Logic.
Select Logical Operator : ! .

1 6 And Operator

2
1

114

When Up button is pressed, BtnEnd false

(Becomes True by applying !) becomes True and
executes the conditional statement behind.
Select Data > Operator module.
Select Operartor Type : Logic.
Select Logical Operator : && .

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1 7 Up Button Pressed
DR-Visual Logic Programming

02

When Up button is pressed and BtnEnd is false,

condition behind is executed.

PART
PART

1 8 If Switch
Runs the upper part when True.

1 9 Red Output
Copy and paste Red variable from front.

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2 0 ! Operator
DR-Visual Logic Programming

02

When Red is True it becomes False and vice versa.

PART

PART

2 1 Red Input
When Red variable value is true it becomes false
and vice versa. Changed value is saved.

2 2 True Setup

With the programmed motion been finished after

press button, the BtnEnd should be changed
from false to true.

Select Data > Variable module.

Select Type : Contant.
Select Constant Type: Bool
Bool: True or False data type.
Select Constant Value : True

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2 3 BtnEnd to True
DR-Visual Logic Programming

02
PART
PART

Input True value in the BtnEnd .

When BtnEnd value is true and loop is running,
pressed up button will not satisfy the conditional
statement and Red variable value will not change
further.

2 4 Red LED
Red LED will light when up button is pressed
once and go off when it is pressed once more.

2 5 Right Button
When Right is pressed.

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2 6 Green LED
DR-Visual Logic Programming

02

Green LED will light when right button is pressed once

and go off when it is pressed once more.

PART

PART

2 7 Down Button
When down button is pressed.

2 8 Blue LED
Blue LED will light when right button is pressed once
and go off when it is pressed once more.

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2 9 LED Value
DR-Visual Logic Programming

02

PART
PART

As explained above, LED lights up depending on the

input value of the LED module. Diagram on the left
shows the connected modules according to the input
formula ( 4 x Blue + 2 x Green + 1 x Red )
Set constant value : 4 .
( 4 x Blue + 2 x Green + 1 x Red )

3
4

Select Data > Variable module.

Select Type : Contant .
Select Constant Type: int .
Set Constant Value : 4.

3 0 Blue
( 4 x Blue + 2 x Green + 1 x Red )
Copy the Blue variable from front.

3 1 Multiplication

( 4 x Blue + 2 x Green + 1 x Red )

Slect Data > Operator module.
Select Operartor Type : Arithmetic.
Select Arithmetic Operator : X .

Connect constant 4 and Blue variable module to the

two input connectors of the multiplication module.

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02

3 2 Constant 2
DR-Visual Logic Programming

( 4 x Blue + 2 x Green + 1 x Red )

Select Data > Variable module.
Select Type : Contant .
Select Constant Type: int .
Set Constant Value : 2.

PART

PART

3 3 Green
( 4 x Blue + 2 x Green + 1 x Red )
Copy the Green variable from front.

3 4 Multiplication

( 4 x Blue + 2 x Green + 1 x Red )

Slect Data > Operator module.

Select Operartor Type : Arithmetic.
Select Arithmetic Operator : X .
Connect constant 2 and Green variable module to
the two input connectors of the multiplication module.

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02

3 5 Addition
DR-Visual Logic Programming

PART
PART

( 4 x Blue + 2 x Green + 1 x Red )

Select Data > Operator module.

Select Operartor Type : Arithmetic.
Select Arithmetic Operator : + .
Connect the output from the multiplication modules
in #31 & 34 to the two input connectors of the
addition module.

3 6 Red
( 4 x Blue + 2 x Green + 1 x Red )
Copy Red variable from front.

3 7 Addition

( 4 x Blue + 2 x Green + 1 x Red )

Slect Data > Operator module.

Select Operartor Type : Arithmetic.
Select Arithmetic Operator : X .

Connect output from the addition module in #35

and Red variable module to the two input connectors
of the addition module.

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3 8 LED
DR-Visual Logic Programming

02

Select Motion > LED module.

Select Mode : Controller LED .
Input the values from the previous calculations
into the LED value to turn on each individual LED.

PART

PART

3 9 LED Value Output Calculation

( 4 x Blue + 2 x Green + 1 x Red )
Shown as connected modules.

4 0 Button Released State

When the motion associated with the button
press ends, BtnEnd variable changes to True.
Since the motion associated with the button
press does not run when BtnEnd variable is True,
it is possible to make single button press run the
associated motion only once. BitEnd variable has
to be initialized to False when the button is
released. Following program shows how to initialize the button.
Select Motion > Button module.
Button Value : None.
Released button state.

122

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4 1 BtnEnd is True
DR-Visual Logic Programming

02

When BtnEnd is True .

Copy BtnEnd variable from front.

PART
PART

4 2 && Operator

2
3

Just released button state satisfies both released

button state and BtnEnd True .
Select Data > Operator module.
Select Operartor Type : Logic.
Select Logical Operator : &&

4 3 If Conditional Statement
Run if just released button state is True.

123

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4 4 False Value
DR-Visual Logic Programming

02

Change BtnEnd from True to False.

PART

PART

Select Data > Variable module.

Select Type : Contant .
Select Constant Type : Bool
Bool: True or False data type.
Constant Value : False.

4 5 Change BtnEnd to False

Input False value to BtnEnd .
Copy BtnEnd variable from front.

4 6 Initialize Button When Released

From the just releaed button state, initialize BtnEnd to false .

124

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PA
RT

4 7 Compile, Downolad, Run

DR-Visual
Programming
2 ClickLogic
3 Click

02

Click Compile. Click download on the right if

there is no compilation error. Download to robot. Click Run button (Arrow button) after the
download.

PART
PART

Red
4 8 Robot Motion

Green

Up button: Red
Right button: Green
Down button: Blue
LEDs will light up when pressed and go off when
pressed once more.

Blue

125

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02

DR-Visual Logic Programming

Programming Individual Module : Sensor > Light Sensor
PART

Light Example Step by Step

Example Description
This example uses the light luminosity
to operate the robot motors.
PART
Robot will lift the left arm when luminosity decreases.

0 1 Assign Variable
Operating the robot is same as operating the
robot servo motor. Value has to be assigned so
that servo will be able to operate.
Click Data > Variable module.

Click

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock.

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and
change color as seen in the photo to the left.
This means programming has started.

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0 4 Entire Program
DR-Visual Logic Programming

02

Entire program showing the light sensor to operate

the robot motors.

PART
PART

0 5 Viewing C-Like
Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module changing
to text.

Click

0 6 Setup Constant

2
1

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

127

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0 7 Apply to All Servos

DR-Visual Logic Programming
This section applies contact value 96 to all servos.

2 Select

02
PART

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied to
all connected servos.

3 Select

PART

1 Click

4 Input

0 8 Set Angle to All Servos

2
1
3
4
5

This section sets all servo motor angles to the

center.
Select Motion > Motor.
Select Mode : Positon. adjust angle.
Set Position : 512 . 512 means motor will be sent
to the center
Set Motor ID : 254 . 254 means it will be applied
to all connected servos.
Set Time : 100 . 1 unit = 11.2ms, 100 units would
be approximately 1.12s.
It means motors will be positioned at the desired
angle for 1.12s.

0 9 Setup Motor ID 0 (Right Shoulder)

2
1
3
4

128

Creating attention posture (Basic Posture)

When all robot motors are aligned to the center,
humanoid robot arms will be stretched out to the
side. Setup below lowers one arm to the side of
the body.
Select Motion > Motor .
Select Mode : Position.
Set Position : 235. 235 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Right shoulder motor has ID 0
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s.

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02

1 0 Setup Motor ID 1 (Right Arm)

DR-Visual Logic Programming

1
3
PART
PART

Select Mode : Postion.

Set Position : 235. 235 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 1. Right upper arm motor connected
to the should has motor ID 1.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s.

1 1 Setup Motor ID 3(Left Shoulder)

2
1
3
4

Select Motion > Motor.

Select Mode : Position.
Set Position : 789. 789 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Left shoulder motor has ID 3
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s.

1 2 Setup Motor ID 4 (Left Arm)

2
1
3
4

Select Mode : Postion.

Set Position : 789. 789 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 4. Right upper arm motor connected
to the should has motor ID 4.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s.

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1 3 Delay
DR-Visual Logic Programming

02

This section makes the robot wait untill the robot

is at attention posture and ready to run the next
module.
Select Flow > Delay module.
Set Time : 1.5 . Unit is in seconds.
Delay 1.5s.

1
PART

PART

1 4 Loop

2
1

Select Flow > Loop module.

Select Condition: Forever.
Infinite loop.

1 5 Light Sensor

2
1
3

130

Select Sensor > Light module.

Select Compare : < . Smaller than certain value.
Set Value : 200. Luminosity 200.
Module output is True if the luminosity is smaller
than 200 and False if larger than 200.

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1 6 Switch IF Conditional Statement

DR-Visual Logic Programming

02

Run applicable section depending on True or

False value.

PART
PART

1 7 Setup Motor ID 0(Right Shoulder)

3
4

Lift right arm if the luminosity is less than 200(True),

If the luminosity is greater than 200(False) keep
current posture with the arm lowered.
Select Motion > Motor.
Select Mode : Position .
Set Position : 700 . 700 lifts the arm.
Set Motor ID : 0 . Right shoulder moto ID is 0
Set Time : 20 .

1 8 Set Motor ID 0(Shoulder)

3
4
1

Uncover the controller cds sensor and the robot

will go back to the attention posture.
Select Motion>Motor.
Select Mode : Position .
Set Position : 235 . 235 lowers the arm to the side.
Set Motor ID : 0 . Right shoulder motos has ID 0.
Set Time : 40. Arm comes down at slower pace
than when it was going up.

131

1 Click
PA
RT

DR-Visual
Programming
1 8 Download
2 ClickLogic
3 Click

02

Click Compile. Click download on the right if

there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download.

PART

PART

1 9 Robot Motion
Robot is at attention posture under the bright light.
Robot will lift the right arm when the controller
cds is covered.
Robot will lower the arm when the cds is uncovered.

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02

DR-Visual Logic Programming

Programming Indivdual Module : Sensor > Sound Sensor
PART
PART

Sound Sensor Example Step by Step

Example Description
Sound Sensor is located inside the DRC controller on both sides.
This example will make the robot lift the left arm with left side clap and right arm with the right side clap.

0 1 Assign Variable
Operating the robot is same as operating the robot
servo motor. Value has to be assigned so that
servo will be able to operate.
Click Data > Variable module.

Click

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and
change color as seen in the photo to the left.
This means programming has started..

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0 4 Entire Program
DR-Visual Logic Programming

02

Use the sound sensor to operate robot motors.

PART
0 5 Viewing C-Like

PART

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

0 6 Setup Constant

2 Select
1 Click

3 Input

134

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel through the output connector.

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0 7 Apply to All Servos

DR-Visual Logic Programming
This section applies contact value 96 to all ser-

02

vos.

1
2

PART
PART

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos.

0 8 Set Angle to All Servos

This section sets all servo motor angles to the

center.

Select Motion > Motor.

Select Mode : Positon. adjust angle.
Set Position : 512 . 512 means motor will be sent
to the center
Set Motor ID : 254 . 254 means it will be applied
to all connected servos.
Set Time : 100 . 1 unit = 11.2ms, 100 units would
be approximately 1.12s.
It means motors will be positioned at the desired
angle in 1.12s.

0 9 Setup Motor ID 0 (Right Shoulder)

2
1
3
4
5

Creating attention posture (Basic Posture)

When all robot motors are aligned to the center,
humanoid robot arms will be stretched out to the
side. Setup below lowers one arm to the side of
the body.
Select Motion > Motor .
Select Mode : Position.
Set Position : 235. 235 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Right shoulder motor has ID 0
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s.

135

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1 0 Setup Motor ID 1 (Right Arm)

DR-Visual Logic Programming

02

2
PART

3
PART

Select Mode : Postion.

Set Position : 235. 235 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 1. Right upper arm motor connected
to the should has motor ID 1.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s..

1 1 Setup Motor ID 3(Left Shoulder)

1
2
3

Select Motion > Motor .

Select Mode : Position.
Set Position : 789. 789 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Left shoulder motor has ID 3
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s..

1 2 Setup Motor ID 4(Left Arm)

2
3

136

Select Mode : Postion.

Set Position : 789. 789 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 4. Right upper arm motor connected
to the should has motor ID 4.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s.

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1 3 Delay
DR-Visual Logic Programming
This section makes the robot wait untill the robot

02

is at attention posture and ready to run the next

module.
Select Flow > Delay module.
Set Time : 1.5 . Unit is in seconds.
Delay 1.5s.

PART
PART

1 4 Loop

Select Flow > Loop module.

Select Condition: Forever.
Infinite loop.

1 5 Sound Sensor

2
3

Select Sensor > Sound Sensor module.

Select Compare : >. Larger than certain value.
Set Value : 0 . Range of the sound loaction is
from -2 to 2. Negative number denotes sound
is from the left and the Positive number from the
right.
Value > 0 denotes that sound is from the right. If
the detected sound is from the right side, Output
is True or False otherwise.

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1 6 Switch IF Conditional Statement

DR-Visual Logic Programming

02

Run applicable section depending on True or

False value.
True if the sound is from the right or False otherwise.

PART

PART

1 7 Setup Motor ID 1(Right Arm)

2
3
4
5

True if sound heard from the right side. Robot will

lift right arm.
Select Motion > Motor .
Select Mode : Position .
Set Position : 700 . 700 lifts the right arm.
Set Motor ID : 1 . Upper right arm motor ID is 1.
Set Time : 20 .

1 8 Setup Motor ID 1(Right Arm)

2
3
4
5
1

138

False if no sound is detected or if the sound is

from different location. Maintain attention posture
with arms lowered to the side.
Select Motion > Motor.
Select Mode : Position.
Set Position : 235 . 235 maintains attention posture. Lowers the arm to the side if it was lifted up.
Set Motor ID : 1 . Upper right arm motor ID is 1.
Set Time : 40 . Arm comes down at slower pace
than when it was going up.

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02

1 9 Sound Sensor
DR-Visual Logic Programming

PART
PART

2
3

Select Sensor < Sound Sensor module.

Select Compare : <. Larger than certain value.
Set Value : 0 . Range of the sound loaction is
from -2 to 2. Negative number denotes sound
is from the left and the Positive number from the
right.
Value < 0 denotes that sound is from the left. If
the detected sound is from the left side, Output
is True or False otherwise.

2 0 Switch IF Conditional Statement

Run applicable section depending on True or
False value.
True if the sound is from the left or False otherwise.

2 1 Setup Motor ID 4 (Left Arm)

2
3
4

True if sound heard from the left side. Robot will

lift left arm.
Select Motion > Motor .
Select Mode : Position .
Set Position : 324 . 324 lifts the left arm.
Set Motor ID : 4 . Upper left arm motor ID is 4.
Set Time : 20 .

139

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2 2 Setup Motor ID 4 (Left Arm)

DR-Visual Logic Programming

02

False if no sound is detected or if the sound is

from different location. Maintain attention posture
with arms lowered to the side..

PART

Select Motion > Motor.

Select Mode : Position.
Set Position : 789 . 789 maintains attention posture. Lowers
the arm to the side if it was lifted up.
Set Motor ID : 4. Upper left arm motor ID is 4.
Set Time : 40 . Arm comes down at slower pace
than when it was going up.

4
PART

1 Click

2 Click

3 Click

2 3 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download.

140

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2 4 Robot Motion
DR-Visual Logic Programming

robot will lift the left arm with left side clap and

02

right arm with the right side clap.

PART
PART

Clap clap

Clap clap

141

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02

DR-Visual Logic Programming

Programming Individual Module : Sensor > Sound Sensor(Advanced)

Sound Sensor(indepth) Example Step by Step

Example Description
Sound Sensor is located inside the DRC controller on both sides.
First sound program made the robot lift its left or right arm in response to the location of the clapping sound.
Robot may have difficulty distinquishing the direction of the clap when there is lots of background noise. It may respond
by lifting both arms to a single clap from one direction or respond erratically. More refined programming is required to
make the robot to respond more reliably regardless of the background noise. Refining the program by forcing a DELAY
after registering the first sound so that it will not receive anymore sound input will increase the reliability.

0 1 Variable Setup

Click

Operating the robot is same as operating the robot

servo motor. Value has to be assigned so that
servo will be able to operate.
Click Data > Variable module.

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.This means
programming has started..

142

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0 4 Entire Program
DR-Visual Logic Programming

02

Program increases the sensitivity of the sound

sensor to make the robot response more reliable.

PART
PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

0 6 Setup Constant

2 Select
1 Click

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

3 Input

143

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0 7 Apply to All Servos

DR-Visual Logic Programming

02

This section applies contact value 96 to all servos.

1
2
3

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos.

0 8 Set Angle to All Servos

This section sets all servo motor angles to the

center.

Select Motion > Motor.

Select Mode : Positon. adjust angle.
Set Position : 512 . 512 means motor will be sent
to the center
Set Motor ID : 254 . 254 means it will be applied
to all connected servos.
Set Time : 100 . 1 unit = 11.2ms, 100 units would
be approximately 1.12s.
It means motors will be positioned at the desired
angle in 1.12s.

0 9 Setup Motor ID 0 (Right Shoulder)

2
1
3
4
5

144

Creating attention posture (Basic Posture)

When all robot motors are aligned to the center,
humanoid robot arms will be stretched out to the
side. Setup below lowers one arm to the side of
the body.
Select Motion > Motor .
Select Mode : Position.
Set Position : 235. 235 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Right shoulder motor has ID 0
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s.

PA RT

1 0 Setup Motor ID 1 (Right Arm)

DR-Visual Logic Programming

02

2
PART
PART

Select Mode : Postion.

Set Position : 235. 235 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 1. Right upper arm motor connected
to the should has motor ID 1.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s...

1 1 Setup Motor ID 3 (Left Shoulder)

1
2
3

Select Motion > Motor .

Select Mode : Position.
Set Position : 789. 789 turns the motor so that that
the arm stretched out horizontally will be lowered
to vertical down position.
Set Motor ID : 0. Left shoulder motor has ID 3
Set Time : 100. Motor will turn to the desired
angle in approximately 1.12s..

1 2 Setup Motor ID 4 (Left Arm)

2
3

Select Mode : Postion.

Set Position : 789. 789 lowers the horizonally
stretched arm to vertical down position.
Set Motor ID : 4. Right upper arm motor connected
to the should has motor ID 4.
Set Time : 100 . Motor will turn to the desired
angle in apporoximately 1.12s..

145

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1 3 Delay
DR-Visual Logic Programming
This section makes the robot wait untill the robot

02

is at attention posture and ready to run the next

module.
Select Flow > Delay module.
Set Time : 1.5 . Unit is in seconds.
Delay 1.5s.

1 4 Loop

2
1

Select Flow > Loop module.

Select Condition: Forever.
Infinite loop.

1 5 Sound Sensor

2
3

Select Sensor > Sound Sensor module.

Select Compare : > .
Set Value : 1 .
Median sound value is 0. However, setting the
value to 1 will decrease the sensitivity so that only
the sound larger than 1 (loud noise from the right)
will be registered. This will prevent the robot from
responding to the background noise or lifting
both arms.

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1 6 Switch IF Conditional Statement

DR-Visual Logic Programming

02

Proceed only if the previous condition is True.

PART
PART

1 7 Setup Motor ID 0 (Right Shoulder)

2
3

Lift right arm if True; the sound loation value is

greater than 0. There are times when the other
arm may start to move due to background or
motor noise. This program prevents the other
arm from moving when one arm is already in
mototion.
Select Motion > Motor module.
Select Mode : Position .
Set Position : 512. Both arms streched out.
Set Time : 20
Robot arms llift up to 90 degrees angle from the attention
posture.

1 8 Delay

Whle the arm is moving, other arm may start to

move or the moving arm may respond again to
the background noise. Delay is added to prevent
such occurences while the arm is in motion.
No other motion is allowed during the 0.5s of
Delay except for the right arm.

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02

1 9 Motor ID 0 (Right Shoulder) Return to

DR-Visual Logic Programming
Attention Posture.

Lower the arm back to attention posture.

Select Motion > Motor module.
Select Mode : Position .
Set Position :235. Return to attention posture
Set Time:40.
Return right arm to attention posture.

2 0 Delay

Add Delay to prevent any other motion after returning to attention posture.
When 1.5s Delay value is added. Robot will not
move or register sound during the delay. Robot
will respond to sound again after the Delay.

2 1 Continue
Return to the beginning of the loop after 1.5s Delay.

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2 2 Summary
DR-Visual Logic Programming

02

Just completed program blocked certain external

stimulus from being registered by the robot. This
increased the reliability of the robot response to
the sound coming from the right direction.

PART
PART

2 3 Sound Sensor (2nd)

Setup second sound sensor. Left arm will respond

to the sound coming from the left.

3
Select Sensor > Sound Sensor module.
Compare : < .
Value : -1 . Respond when smaller than -1.

2 4 Switch IF Conditional Statement

Proceed only if the previous condition is True.

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2 5 Setup Motor ID 3 (Left Shoulder)

DR-Visual Logic Programming
True if the sound location value is less than -1.Lift
left arm to steched out position.

02

Select Motion>Motor module.

Set Mode : Position .
Set Position: 512 .
Shoulder angle is 789 when in attention posture.
Arm becomes streched out to the side when the
angle changes from 789 to 512.
Set Time: 20.

2 6 Delay
Whle the arm is moving, other arm may start to
move or the moving arm may respond again to
the background noise. Delay is added to prevent
such occurences while the arm is in motion.
No other motion is allowed during the 0.5s of
Delay except for the right arm.

2 7 Motor ID 3 (Left Shoulder) Return to

Attention Posture.

1
3

150

Set Motor ID 3 Position to 789 and return to attention posture.

PA RT

02

2 8 Delay
DR-Visual Logic Programming

Add 1.5s Delay value to prevent other motions.

Motor ID 3 does not have Continue as Moto ID

0 since this is the end of the loop and progrm
will automatically go back tothe beginning of the
loop.

PART
PART

2 9 Left Arm Response

When robot registers a clap from the left, it will
lift the left arm and then go back to the attention
posture. Delay value makes the robot respond
only to the first clap it registers. All other sounds
all claps will be ignored. This refinement allows
the robot to resopond more reliably in noisy
environment.

1 Click

2 Click

3 Click

3 0 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download..

151

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3 1 Robot Motion
DR-Visual Logic Programming

robot will lift the left arm with left side clap and

02

right arm with the right side clap.

Clap clap

Clap clap

152

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02

DR-Visual Logic Programming

Programming Individual Module : Sensor > Digtal Distance Sensor

Digital DistancePART
Sensor
PART Example Step by Step
Example Description
Analog sensor is capable of detecting the actual distance from an object whereas digital sensor uses specific distance as
a reference to judge how far or near it is from the reference distance. Robots with wheels use the sensor for cliff detection
more often than for object avoidance and humanoid robots with moving legs use the sensor for object avoidance rather than
for cliff detection. This example will use the sensor for object detection and avoidance. Compare the program and the result
with the analog sensor program. When the robot nears the wall, it will move backwards, change direction and move forward
again. This example requires digital distance sensor to be installed at ADC port #1 (left).

0 1 Assign Variable
Operating the robot is same as operating the robot
servo motor. Value has to be assigned so that
servo will be able to operate.

Click

Click Data > Variable module.

0 2 Start
Click and drag the connecting line located at left
side of the module to the Start Point and dock

Drag

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.This means
programming has started..

153

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0 4 Entire Program
DR-Visual Logic Programming

02

Entire program using the digital sensor.

PART

PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C
language structure. Cursor will jump follwing the
clicked module, making it easy to see the module
changing to text.

0 6 Setup Constant

2 Select
1 Click

3 Input

154

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

PA RT

02

0 7 Apply to All Servos

DR-Visual Logic Programming
This section applies contact value 96 to all servos.

1
2

PART
PART

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl.
Set Servo ID : 254. 254 means it will be applied
to all connected servos.

0 8 Motion Ready

2
3
4

Robot goes through a prepatory stage before

starting the next motion. This prepatory stage allows
the robot to move slowly to the the initial position
of the motion to be run. This prevents stress or
damage from sudden change in motion.
IF Motion Ready is True prepare for next motion.
Run next motion if False.
Select Motion > Move module.
Select Play/Stop : Play.
Set Motion Index : 0 . walk forward
Select Motion Ready : True.
Motion Ready Stage

0 9 Delay

Set delay to 1.5s to prevent next step from staring

before Motion Ready ends.

155

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1 0 Loop
DR-Visual Logic Programming

02

Select Loop: Forever

Infinite loop.

PART

PART

1 1 Setup Digital Distance Sensor

2
3

Digital sensors have different measuing distance.

Setup with 20cm as standard.
Select Sensor > Distance Sensor module.
Select Sensor Type : Digital Infrared.
Select Port : 1.
Set Value : 1 . farther than 10cm.

1 2 If Conditional Statement
Proceed if True, go to next conditional statement if
False.

156

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1 3 Forward
DR-Visual Logic Programming

02

Robot will move forward since the distance is

greater than10cm.
When False is selected as Motion Ready value,
robot will proceed with forward motion.

PART
PART

1 4 Motion Movement Check

2
3
1

Loop refers to continuous repetition. It takes time

for the actual motion to complete after Move
command has been issued, but loop with single
move module will continue to run and give motion
command even while the previous motion is still
running. The lag in actual motion will result in
difference between the number of motion commands
given by the move module and the number of
actual motions. To correct this difference, loop will
need to wait for the motion to complete before
repeating the process.Playing Motion is found
within Variable > MPSU RAM Data. Playing Motion
is a variable that checks whether the motion is in
process. Loop will wait for the current motion to end
if wait is added to the Playing Motion.
Select Data > Variable Module.
Select Type : MPSU RAM Data
Select MPSU RAM : Playing Motion
Add Wait module to the output connector.
Data > Variable.
Type : MPSU RAM Data.
MPSU RAM : Playing Motion.

1 5 Wait
Wait untill the motion ends.
Go to the begining and repeat when motion
ends.

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02

1 6 Motion Near The Wall

DR-Visual Logic Programming

2
3

1
PART

PART

When the robot is less than 10cm from the wall,

program will make the robot walk backwards and
change direction.
Select Sensor > Distance Sensor module.
Select Sensor Type : Digital Infrared .
Select Port : 1.
Set Value : 0 . Within 10cm distance.

1 7 If Conditional Statement
Run statement within True if less than 10cm from the
wall.

1 8 For Loop

1
2
3
4
5

Repeat certain motion untill the condition is met.

Motion #1 is a walk backwards motion. walk
backwards motion makes the robot take one step
backward each using left and rigt feet.
Robot can be moved to the desired location by
adding For statement to the motion to repeat the
motion desired number of times.
Select Flow > Loop module.
Select Condition : For .
Set Variable Name: i .
Set Variable Range(Start) 1 .
Set Variable Range(End) 2 .
Repeat motion twice.

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1 9 Walk Backwards
DR-Visual Logic Programming
#1is a walk backwards motion.

02

Robot will run the walk backwards motion if False

is selected.

PART
PART

2 0 Check Motion
Use Playing Motion to check the robot motion.
When the motion ends, return to the start of the
For statement.

2 1 Repeat Backwards Motion Twice

Program makes the robot repeat the walk backwards
motion twice.

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2 2 Right Turn
DR-Visual Logic Programming

02

Robot motion #3 makes the robot change direction to

the right. Right turn motion can be controlled by using
the For statement . Seletct motion #3, set For statement
from 1-3 and program as above.

PART

PART

2 3 Entire Program
Program make the robot walk froward when the
distance to the wall is greater than 10cm . If the
distance is less than 10cm, robot will repeat the
backward and right turn motion according to the For
statement and avoid the obstacle.

1 Click

160

2 Click

3 Click

2 4 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download.

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2 5 Robot Motion
DR-Visual Logic Programming

02

When detects a wall within 10cm, it will walk

backwards, change direction to the right and
start walking forward again.

PART
PART

10cm

161

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02

DR-Visual Logic Programming

Programming Individual Module : Sensor > Analog Distance Sensor
PART

Analog Distance Sensor Example Step by Step

Example Description
This example program is an obstacle
avoidance program that uses analog sensor to make the robot avoid hitting an obstacle by
PART
turning to the left. Hovis Lite has two type of distance sensors, analog and digital. Digital sensor uses specific distance (10cm)
as a reference and it can only determine if an object is within or beyond the reference range. On the other hand, analog sensor
is capable of detecting an object within 6~80cm range. This example requires PSD sensor to be installed at ADC port #1 (left).

0 1 Assign Variable
Operating the robot is same as operating the robot
servo motor. Value has to be assigned so that
servo will be able to operate.

Click

Click Data > Variable module.

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.This means
programming has started..

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0 4 Entire Progam
DR-Visual Logic Programming

02

Entire program using the analog sensor to make

the robot avoid hitting an obstacle.

PART
PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

0 6 Setup Constant

2 Select
1 Click

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl
register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

3 Input

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02

0 7 Apply to All Servos

DR-Visual Logic Programming
This section applies contact value 96 to all servos.

1
2

PART

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos.

PART

0 8 Motion Ready

2
3
4

Robot goes through a prepatory stage before

starting the next motion. This prepatory stage
allows the robot to move slowly to the the initial
position of the motion to be run. This prevents
stress or damage from sudden change in motion.
IF Motion Ready is True prepare for next motion.
Run next motion if False.
Select Motion > Move module.
Select Play/Stop : Play .
Set Motion Index : 0 . walk forward
Select Motion Ready : True .
Motion Ready Stage

0 9 Delay

164

Set delay to 1.5s to prevent next step from staring

before Motion Ready ends.

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1 0 Loop
DR-Visual Logic Programming

02

Select Loop: Forever

Infinite loop.

PART
PART

1 1 Setup Analog Sensor

Setup with 20cm as standard.

Select Sensor > Distance Sensor module.

Select Sensor Type : Analog Infrared
Select Port : 1.
Select Compare : >= . True if equal to or greater
than standard.
Set Value : 20 . 20cm .

4
5

1 2 If Conditional Statement
Proceed if True or go to the next conditional
statement if False.

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1 3 Forward
DR-Visual Logic Programming

02

Robot will move forward since the distance is

farther than 20cm.
When False is selected as Motion Ready value,
robot will proceed with forward motion.

PART

PART

1 4 Motion Near The Wall

2
3
4
5

Robot will make a left turn if it detecs an obstacle within

20cm.
Select Sensor > Distance Sensor module.
Select Sensor Type : Analog Infrared .
Select Port : 1.
Select Compare : < . True if less than standard.
Value : 20 . 20cm .

1 5 If Conditional Statement
Run statement within True if less than 20cm from the
obstacle.

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1 6 Left Turn
DR-Visual Logic Programming

02

Robot motion #2makes the robot change direction to

the left. Robot will run the left turn motion if the Motion
Ready value is False.

PART
PART

1 7 Motion According to Distance

If the distance to the obstacle is greater than 20cm,
robot will keep moving forward. If the distance is less
than 20cm, robot will make a left turn.

1 8 Motion Movement Check

2
3

Loop refers to continuous repetition. It takes time

for the actual motion to complete after Move
command has been issued, but loop with single
move module will continue to run and give motion
command even while the previous motion is still running.
The lag in actual motion will result in difference
between the number of motion commands given
by the move module and the number of actual
motions. To correct this difference, loop will need
to wait for the motion to complete before repeating the
process.Playing Motion is found within Variable
> MPSU RAM Data. Playing Motion is a variable
that checks whether the motion is in process.
Loop will wait for the current motion to end if wait
is added to the Playing Motion.
Select Data > Variable Module.
Select Type : MPSU RAM Data
Select MPSU RAM : Playing Motion
Add Wait module to the output connector.

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1 9 Wait
DR-Visual Logic Programming

02

Wait untill the motion ends.

Go to the begining and repeat when motion
ends.

PART

PART

1 Click

2 Click

3 Click

2 0 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download..

2 1 Robot Motion
Robot will walk forward and then make a left turn if it
detects an obstacle within 20cm distance.

20cm

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02

DR-Visual Logic Programming

Programming Individual Module : Sensor > Dynamics Sensor
PART
PART

Acceleration Sensor Example Step by Step

Example Description
Use the Acceleration sensor to make the robot stand when it falls forward or backward.
Acceleration sensor is attached to a module type board that also has Gyro sensor attached to it. Sensor module can be installed inside
the controller by opening the controller back cover .

When the robot is in prone position (lying face down), Z axis - acclerates and its value is approximately - 4096.
When the robot is in supine position ( lying on the back ), Z axix + accelerates and its value is approximately 4096. ( 4096 is approximately 1g force of gravity value. )

169

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0 1 Assign Variable
DR-Visual Logic Programming

02

Operating the robot is same as operating the robot servo motor. Value has to be assigned so that
servo will be able to operate.

PART Click

Click Data > Variable module.

PART

0 2 Start
Click and drag the connecting line located at left
side of the module to the Start Point and dock

Drag

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.This means
programming has started..

170

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02

0 4 Entire Program
DR-Visual Logic Programming
Entire program using the accleration sensor to
make the robot stand after falling.

PART
PART

0 5 View C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

0 6 Setup Constant

2 Select
1 Click

This section allows the servo motor to operate

on its own.
Select Constant as the Variable Type. In properties,
set constant value as 96.
When 96(0x60) is entered in the servo TorgControl register, servo becomes ready to operate. This
value is sent to the torque value of the next moduel
through the output connector.

3 Input

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0 7 Apply to All Servos

DR-Visual Logic Programming

02
1
PART

This section applies contact value 96 to all servos.

Select Variable > Type : Servo RAM.

Select Servo RAM : TorqCtrl .
Set Servo ID : 254. 254 means it will be applied
to all connected servos.

4
PART

0 8 Loop
Select Flow > Loop module.
Select Condition: Forever.
Infinite loop.

0 9 Acceleration Setup (Prone)

2
3
3

Acceleration has value of 0 when the robot is standing

up straight.
When the robot is in prone position it has value of
-4096 and +4096 when in supine position.
If the accleration value is near -4096, it can be
assumed that the robot has fallen forward. Set
-3500 as standard value.
if the value is less thant -3500, robot is assumed to
have fallen forward.

Select Sensor > Dynamic Sensor module.

Select Sensor Type : Acceleration
Select Axis : Z .
Select Compass : < .
Set Value : -3500 .

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1 0 If Conditional Statement
DR-Visual Logic Programming

02

Robot gets up backward when True, Proceed to

next conditional statement if False.

PART
PART

1 1 Run Up Backwards Motion

2
3
4

Insert Up Backwards motion when the robot is in

prone position.
Motion #5 is up backward motion.
Select Motion > Move module.
Select Play/Stop : Play .
Set Motion Index : 5
Select Motion Ready : True
Prepatory stage for motion.

1 2 Delay
Set delay to 1.5s to prevent next step from staring
before Motion Ready ends.

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1 3 Run Up Backwards Motion

DR-Visual Logic Programming
When False is selected as Motion Ready value, robot

02

will run the up backwards motion.

PART

PART

1 4 Setup Gravity Acceleration (Supine Position)

2
3

Gravity acceleration has value of 0 when the robot

is standing up straight.
When the robot is in prone position it has value of
-4096 and +4096 when in supine position.
If the accleration value is near 4096, it can be
assumed that the robot has fallen backward. Set
3500 as standard value.
Select Sensor > Dynamic Sensor module.
Select Sensor Type : Acceleration
Select Axis : Z .
Select Compass : > .
Set Value : 3500 .

1 5 If Conditional Statement
Robot gets up if True.

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1 6 Motion Ready
DR-Visual Logic Programming

02
1
PART
PART

3
4

Robot goes through a prepatory stage before

starting the next motion. This prepatory stage allows the robot to move slowly to the the initial
position of the motion to be run. This prevents
stress or damage from sudden change in motion.
IF Motion Ready is True prepare for next motion. Run next motion if False
Select Motion > Move module.
Select Play/Stop : Play .
Select Motion Index : 4 . Motion # 4, robot gets up
forward.
Select Motion Ready : True .
Motion ready stage.

1 7 Delay
Set delay to 1.5s to prevent next step from staring
before Motion Ready ends.

1 8 Run Up Forward Motion

When False is selected as Motion Ready value, robot
will run the up forward motion.

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1 9 Getting Back Up
DR-Visual Logic Programming

02

Robot determines if it has fallen by referencing the Z

axix acceleration value and runs the appropriate motion
to get back up.

PART

PART

2 0 Motion Movement Check

Loop refers to continuous repetition. It takes time
for the actual motion to complete after Move
command has been issued, but loop with single
move module will continue to run and give motion
command even while the previous motion is still
running. The lag in actual motion will result in difference
between the number of motion
commands given by the move module and the
number of actual motions. To correct this difference,
loop will need to wait for the motion to complete
before repeating the process.Playing Motion is
found within Variable > MPSU RAM Data.
Playing Motion is a variable that checks whether
the motion is in process. Loop will wait for the
current motion to end if wait is added to the
Playing Motion.
Select Data > Variable Module.
Select Type : MPSU RAM Data
Select MPSU RAM : Playing Motion
Add Wait module to the output connector.

2 1 Wait
Wait untill the motion ends.
Go to the begining and repeat when motion
ends.

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2 2 Entire Program
DR-Visual Logic Programming

02

Robot detremines if it has fallen backwards or forward

and runs the appropriate motion to get back up.

PART
PART

1 Click

2 Click

3 Click

2 3 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download.

177

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2
2 4 Robot Motion
DR-Visual Logic
Programming

02

If the robot is in prone position, it gets back up

backwards. If it is in supine position, it gets back
up forward.

PART

PART

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02

DR-Visual Logic Programming

Programming Individual Module : IRReceive, Sound & Motion
PART
PART

IRReceive, Sound & Motion Example Step by Step

(Explain by Sound examples, skip the explaination of motion examples, Data Match for Remote Controller)
Data figure from IR Recieve Module shall match the key from on the right side of remote controller.

Hovis remote control keymap is as shown in the picture to the right.

IR Receive module data values correspond to numbers in the right
key.
For example, if the top right power button is pressed, Data 0 is
received by the DRC. Robot can be programmed to take certain
action when ever the power button is pressed by setting the Data to
0 in the IR RECEIVE module and connecting to Switch module input

179

Channel setting

DR-Visual Logic Programming

Bothe
the Remote control channel and DRC channel is user selectable but selected channel in DRC must match
PA RT

the remote controller channel in order for DRC to receive data from the remote control. Remote control channel

02

can be selected by pressing 1~0 number + OK button simultaneously. DRC channel is selected by changing the
RmcChannel value in MPSU Ram Data. RmcChannel values corresponding to remote control numbers are as follows.
PART

PART

180

Remote Control Button

RmcChannel Value

0+OK

97(0x61)

1+OK

98(0x62)

2+OK

99(0x63)

3+OK

100(0x64)

4+OK

101(0x65)

5+OK

102(0x66)

6+OK

103(0x67)

7+OK

104(0x68)

8+OK

105(0x69)

9+OK

106(0x6A)

DR-Visual Logic Programming

Example Description

This
PAexample
RT associates remote control number button to a music note and outputs Do,Re,...Do (1~8) notes.

02

Note pictch is dependent on the value of the Note Pitch in Motion > Sound module. DRC controller has total of 38 pitches
from 0~37 and it is able to ouptut total of 3 octaves.

PART
PART
0 0 Sound Property Window
Select Motion > Sound module.
Mode has Melody & Note. Melody selects and
plays one of the saved edited notes.
Note Mode is selected to use the 36 note pitches.
Refer to the table below
Note Pitch from 0~37 can be selected. Note
pitches comprise total of of 3 octaves.
Note Length refers to the beat. Thirty-second
note to the whole note can be selected.
Refer to the table below

Note Pitch

No.

Note

NA

No.

10

11

12

Note

Do

Do#

Re

Re#

Mi

Fa

Fa#

Sol

Sol#

La

La#

Si

No.

13

14

15

16

17

18

19

20

21

22

23

24

Note

Do

Do#

Re

Re#

Mi

Fa

Fa#

Sol

Sol#

La

La#

Si

No.

25

26

27

28

29

30

31

32

33

34

35

36

37

Note

Do

Do#

Re

Re#

Mi

Fa

Fa#

Sol

Sol#

La

La#

Si

Do

181

Note Length

DR-Visual Logic Programming

PA RT
No.

Raw
Data

12

18

24

36

48

72

96

144

192

(ms)

38.4

76.8

115.2

153.6

230.4

307.2

460.8

614.4

921.6

1228.8

Note

32
note

16
note

16 dot
PART

8
note

8 dot
note

4
note

4 dot
note

2
note

2 dot
note

Whole
note

02

PART

note

0 1 Assign Variable
Select Data > Variable module.

Click

0 2 Start

Drag

Click and drag the connecting line located at left

side of the module to the Start Point and dock

0 3 Start Programming
When the module and the Start Point is docked
properly, module will become active and change
color as seen in the photo to the left.This means
programming has started..

182

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0 4 Entire Program
DR-Visual Logic Programming

02

Entire program using the remote control and the

buzzer.

PART
PART

0 5 Viewing C-Like

Click

Click the C-like tab near the top right and task
programming window will open as shown in the
photo to the left. This is the task window of the
entire program. Codes are very similar to the C
language structure so studying the codes will
help the user become familiar with the C language
structure. Cursor will jump follwing the clicked
module, making it easy to see the module
changing to text.

183

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DR-Visual Logic Programming

02
PART

PART

0 6 Setup Constant

1 Click

2 Select

Declare variable of the scale to be played.

Select Data > Variable .
Select Type : Constant .
Set Constant Value : 0 .

3 Input

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PA RT

02

0 7 Variable Name
DR-Visual Logic Programming

2
1

Declare the name of the scale variable to be

played.
Select Data > Variable .
Select Type : Variable .
Set Variable Name : scale .

PART
PART

0 8 While Statement Exception

Exits if remote control button 0 is pressed loger

than set time.

Select Communication > IRReceive module.

Set Length : 1.000 . 1s button press.
Set Data : 0 . Power button press.
When the power button is pressed longer than 1s,
output of the module is True. False if less than 1s.

0 9 Setup ! operator
! converts true / false value to opposite. Output
value of IRReceive module is converted to opposite
value and used as input value of the while
statement.

185

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1 0 While Loop
DR-Visual Logic Programming

02

Repeat depending on previous condition.

If True, continue to repeat next step.By going
through the ! operator, repeat if the ouput value
of the IRReceive module is false, exit loop if true.
Exit loop if the power button is presed longer
than 1s.

PART

PART

1 1 Initialize Remote Control Input Variable.

Select variable showing that remote control input
was received.

2
1

Select Data > Variable module.

Select Type : Contant .
Select Constant Type: Bool: True or False data
type
Select Constant Value : False

1 2 Remote Control Input Initial Variable.

2
1

186

Select Data > Variable .

Select Type : Variable .
Variable Name : rmcReceived
rmcReceived is a variable showing that remote
control button 1~8 input was received within the
loop. Intitalized as False at beginning of the loop.
Play note if the checked value towards the end of
the loop is True.

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1 3 Remote Control Button 1

DR-Visual Logic Programming

02

Check if remote control button 1 was pressed.

PART
PART

Select Communication>IRReceive module

Set Length : 0.000 .
Set Data : 1 . Refers to Button1.

1 4 IF Conditional Statement
Run if True.

1 5 Save Do Note
As explanined previously, Note Pitch ( 3 octaves )
number 25 referst to Do note.
Change the Scale value to Do
Select Data>Variable module.
Select Type : Contant
Select Constant Type: int.
Set Constant Value : 25 . 25 refers to Do.

187

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1 6 scale
DR-Visual Logic Programming

02

Declare variable name of the scale to be playes

as Scale.
Select Data > Variable .
Select Type : Variable .
Set Variable Name : scale .

PART

PART

Receive previous constant value 25 using input

connecter .

1 7 Save Remote Control Input Confirm

Valule

2
If rmcRecieved value is True, it denotes one of the
remote control button (1~8) was pressed.

Select Data > Variable module.

Select Type : Contant .
Select Constant Type : Bool .
Select Constant Value : True .

2
1

Select Data > Variable .

Select Type : Variable .
Set Variable Name : rmcReceived.

188

1 8 Save Remote Control Input Confirm

Value

Receive previous connstant value True using input

connertor.

PA RT

1 9 1 -> Do Note
DR-Visual Logic Programming

02

Program saves note Do in the scale when reomote

control button 1 is pressed.

PART
PART

2 0 2 -> Re Note
Program saves note Re in the scale when reomote
control button 2 is pressed.
Scale = No 27 is Re note.

2 1 3 -> Mi Note
Program saves note Mi in the scale when reomote
control button 3 is pressed.
Scale = No 29 is Mi note.

189

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2 2 4 -> Fa note
DR-Visual Logic Programming

02

Program saves note Fa in the scale when reomote

control button 4 is pressed.
Scale = No 30 is Fa note.

PART

PART

2 3 5 -> Sol Note

Program saves note Sol in the scale when reomote
control button 5 is pressed.
Scale = No 32 is Sol note

2 4 6 -> Ra Note
Program saves note Ra in the scale when reomote
control button 6 is pressed.
Scale = No 34 is Ra note .

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2 5 7 -> Si Note
DR-Visual Logic Programming

02

Program saves note Si in the scale when reomote

control button 7 is pressed.
Scale = No 36 is Si note.

PART
PART

2 6 8-> Do Note
Program saves note Do in the scale when reomote
control button 8 is pressed.
Scale = No 37 is Do note .

2 7 Whe rmcReceived is True

When rmcReceived is True, input saved scale

value where pitch value was previously saved
into note to ouput note.
Select Data > Variable module.
Select Type : Contant .
Select Constant Type: Bool.
Select Constant Value : True.

3
4

191

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2 8 When rmcReceived is True

DR-Visual Logic Programming

02

rmcReceived variable name is identical.

PART

PART

2 9 Comparison Operator ==
Select Data > Operator module
Select Operator Type : Compare .
Select Compare Operator: == .
rmcReceived = = refers to true ,
shows rmcReceived is equal to true .

3 0 Switch IF Conditional Statement

Run if True.

192

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3 1 scale -> note

DR-Visual Logic Programming

02

Input Scale value into Note.

Make variable scale module.

PART
PART

3 2 Sound Play

1
2

Input Scale value into note to play sound.

Select Motion > Sound module.
Set Note Length : 3. detnotes eighth note. Lasts
153.6ms .
Different scale values were saved depending on
the input from the remote control buttons. When
the scale value is recevied by Note Pitch
correspoding note will play.

3 3 BuzzTime

1
2
3

Buzz Time in MPSU RAM Data decides if the note

is playing and waits.
When buzzer starts to sound, BuzzTime acquires
certain value which decreases by 1 every 6.4ms.
If the value is other than 0, buzzer is still sounding
and if the value is 0, buzzer has stopped. Refer
to Raw Data in note length table for initial BuzzTime
values.
Select Data > Variable .
Select Type : MPSU RAM Data .
Select MPSU RAM : BuzzTime .

193

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3 4 Wait
DR-Visual Logic Programming

02

Wait untill Buzztime value becomes 0, In othe words,

wait untill the sound ends.

PART

PART

3 5 Note Output Process

When rmcReceived is True, value saved in scale is
used as input to Sound module which then outputs
corresponding note.
BuzzTime to checks the end of the note and goes
back to the begining.

1 Click

2 Click

3 Click

3 6 Compile, Download, Run

Click Compile. Click download on the right if
there is no compilation error. Download to robot.
Click Run button (Arrow button) after the download..

194

PA RT

02

3 7 Robot Motion
DR-Visual Logic Programming
Press Remote control buttons(1~8) to play notes.
End task by pressing the power button for more
than 1s.

PART
PART

Click

Click

195

PART
Apendix

PART

PART

196

PART
Apendix

PART
PART

197

PART
Apendix

PART

PART

Appendix

198

PART
Apendix

DRC Register & Protocol

Register
PART
PART

Non-Volatile Register Map

Controller registers contain current status and opertational data of the controller and it is comprised of Non-Volatile
and Volatile registers. Reading or changing the register data using command protoclols eable the user to control the
controller and use the DR-Visual Logic to program the robot.

Non-Volatile Register (EEP Register) Map

Non-Volatile registers retain data even when the controller power has been turned off and contain basic values pertaing
to the controller operation. Values in the Non-Volatile registers are copied to the volatile registers as soon as the controller power is turned on. Any changes made to the Non-Volatile registers will not afffect the opertaion of the robot untill the
changed values are copied to the Volatile registers after reboot or after power has been turned off and back on.

Address
Address refers to the register address. In order to read/write to the register, packet must contain the relevant
register address.
Default
Factor default values. Rollback command is used to the change the cotents of the Non-Volatile regsters back
to factory default values.
Valid Range
Valid data range register can have. Error will occur when the data is being copied to the the Volatile register if the
input data exceeds valid rage and the data will be turncated to fit within the valid range of the volatile register.
RW
RO(Read Only) refers to registers where data can only be read from but not written to. Error will occur if an attempt is made to write to the RO registers. RO Registers contain such data as the controller model number,
firmware version, and sensor data. RW registers can be read from and written to.
e(Reg_Name) : Refers to Reg_Name of Non-Volatile Register(EEP Register)
r(Reg_Name) : Refers to Reg_Name of Volatile Register(RAM Register).

199

Addr

Type

Bytes

Default

Valid Range

RW

Comments

Model No1

0x05

RO

Model No2

0x54

RO

Version1

0x01

RO

Version2

0x22

RO

Baud Rate

0x10

Refer 08page

RW

PC-Controller, Com speed between Controller-Servo

Special Function

0x00

0x00~0xF3

RW

Flag for using DRC for special

function

Reserved

0x00

ID

0xFD

0x00~0xFD

RW

Controller ID(0xFE: Can be used

as Broadcasting ID) ID cannot
be assigned)

Ack Policy

0x01

0x00~0x02

RW

Reply to packet according to

policy

Torque Off Policy

0x03

0x00~0x7F

RW

Torque off according to policy

10

Alarm LED Policy

0x7F

0x00~0x7F

RW

Alarm LED blink accordking to

policy

11

Status Check Policy

0x01

0x00~0x01

RW

Decide whether to check value

of servo angle

12

Min. Voltage

0x5F

0x00~0xFE

RW

Minimum voltage(0x5F : 7.1V)

13

Max. Voltage

0x88

0x00~0xFE

RW

Maximum voltage(0x88 : 10.0V)

14

Max.Temperature

0xDF

0x00~0xFE

RW

Max temperature(0xDF : 85C)

15

Remocon Channel

0x61

0x61~0x6A

RW

IR remote control channel code

16

Servo Ack Wait Tick

0x04

0x00~0xFE

RW

Minimum wait time for Servo Ack

(0x04 : 6.4ms)

17

Zigbee Ack Wait

Tick

0x50

0x00~0xFE

RW

Zigbee Ack wait time (0x50 :

128ms)

18

LED Blink Period

0xBB

0x00~0xFE

RW

Warning LED blink peirod(0xBB

: 300ms)

19

ADC Fault Check

Period

0x0138

0x0000 ~
0x7FFF

RW

Temperature/Voltage Error
Detection Period
(0x0138 : About 500ms)

21

Packet Garbage
Check Period

0x007D

0x0000
~0x7FFF

RW

Packet Corruption Detection

Period (0x7D : About 200ms)

Controller mode No.

Firmware version

Address 0-6 contains basic controller and communications data . Address 7-22 contains controller function data. Data
in address 7-22 are copied to Volatile register when the controller is rebooted.

200

Volatile Register Map

Volatile Register(RAM Register MAP)
Volatile Register contains controller operation settings, controller status, and sensor data values. Data values contained in
the Volatile registers have direct influence on operation of the controller. Rebooting the controller initizalizes the data in the
Volatile register. Even if the register values were changed to change the controller settings, values in the Volatile registers
will revert back to the initial setting when the controller is rebooted.

Addr

Type

Bytes

Valid Range

RW

Comments

ID

0x00~0xFD

RW

Ack Policy

0x00~0x02

RW

Torque Off Policy

0x00~0x7F

RW

Alarm LED Policy

0x00~0x7F

RW

Status Check Policy

0x00~0x01

RW

Min. Voltage

0x00~0xFE

RW

Max. Voltage

0x00~0xFE

RW

Max. Temperature

0x00~0xFE

RW

Remocon Channel

0x61~0x6A

RW

Servo Ack Wait Tick

0x00~0xFE

RW

10

Zigbee Ack Wait Tick

0x00~0xFE

RW

11

LED Blink Period

0x00~0xFE

RW

12

ADC Fault Check Period

0x0000~0x7FFF

RW

14

Packet Garbage Check Period

0x0000~0x7FFF

RW

16

Status Error

0x00~0x7F

RW

Status error, Refer to 11 page

17

Error Codes [0] ~ [4]

Refer to 52 page

RW

Most recent 5 error codes

22

LED Control

0x00~0x07

RW

LED value when running Task

(0x01:Red, 0x02:Green, 0x04: Blue)

23

User Timer Tick

0x00~0xFF

RW

User configurable timer(100[ms]/tick)

24

Connected Program

0~3

RW

Currently connected PC program

25

Zigbee Channel

11~26

RW

Zigbee communication channel

26

Zigbee PANID

0x0000~0xFFFF

RW

WPAN ID ZigbBee belongs to

28

Zigbee SADDR

0x0000~0xFFFF

RW

Zigbee ID

30

Zigbee DSTADDR

0x0000~0xFFFF

RW

Matching Zigbee ID

32

Zigbee ACKREQ

0~2

RW

Decide whether to request ACK after

RF communication

33

Zigbee BACKOFF

0~2

RW

Decide whether to apply Random

delay after RF communication.

34

Servo Count

0~32

RO

Number of connected motors

35

Servo ID[0]~[32]

33

0x00~0xFE

RO

ID of each motor (0xFE means motor

does not exist)

Data copied from non-volatile register

when controller is booted.

201

202

Addr

Type

Bytes

Valid Range

RW

Comments

68

Playing Motion

0x00~0x01

RO

Check whether Motion running

69

Playing Task

0, 1, 3

RO

Check whether Task running

70

Charger Connected

0~1

RO

Check whether charger connected

71

Buzzer Scale

0x00~0x25

RO

Buzzer ptich

72

Buzzer Time

0~192

RO

Buzzer sound time(6.4[ms]/tick)

73

Button Status

0x00~0x3F

RO

Button Status

74

Remocon Length

0~240

RO

Remote control button press ime(125[ms]/tick)

75

Remocon Data

0x00~0x1D,0xFE

RO

Remote control button number

76

Input Voltage Value

0x00~0xFE

RO

Input Voltage Raw Data, 8bit

77

Temperature Value

0x00~0xFE

RO

Current temperature Raw Data, 8bit

78

Light Sensor Value

0x00~0xFE

RO

Light sensor value Raw Data, 8bit

79

ADC Port 1 Sensor Type

0~2

RO

Sensor type connected to ADC port 1

80

ADC Port 2 Sensor Type

0~2

RO

Sensor type connected to ADC port 2

81

ADC Port 1 Sensor Value

0x0000~0xFFFF

RO

Sensor output value connected to ADC port 1

83

ADC Port 2 Sensor Value

0x0000~0xFFFF

RO

Sensor output value connected to ADC port 2

85

ACC/GYRO Connected

0~1

RO

Acc/Gyro sensor connection status

86

ACC X Value

-4096~4095

RO

Acc sensor X axis Raw Data, 13bit

88

ACC Y Value

-4096~4095

RO

Acc sensor Y axis Raw Data, 13bit

90

ACC Z Value

-4096~4095

RO

Acc sensor Z axis Raw Data, 13bit

92

GYRO X Value

-32768~32767

RO

Gyro sensor X axis Raw Data, 16bit

94

GYRO Y Value

-32768~32767

RO

Gyro sensor Y axis Raw Data, 16bit

96

GYRO Z Value

-32768~32767

RO

Gyro sensor Z axis Raw Data, 16bit

98

Sound Detection Flag

0~250

RO

Number of successive sound detections

(Cleared after 1s)

99

Sound Direction

-2~2

RO

Direction of detected sound(- Left, + Right)

100

Reserved

101

Tick

0~60000

RO

System tick, 1.6[ms]/INT

103

DRT-HWW1 Connected

0~1

RO

DRT-HWWI connection status

104

DRC-004TO Connected

0~1

RO

DRC-004TO connection status

105

Reserved

106

Servo Status Error & Detail [0]~[31]

64

0x00~0x80 * 64

RO

Status value of connected motor

170

Servo Position[0]~[31]

64

0x0000~0x7FFF

RO

Position value of connected motor

234

DRT-HWWI Status Error

0x00~0x80

RO

Status Error of DRT-HWW1 connected motor

235

DRT-HWWI Status Detail

0x00~0x7F

RO

Detailed Status DRT-HWW1 connected motor

236

DRT-004TO Status Error

0x00~0x80

RO

Status Error DRT-004TO connected motor

237

DRT-004TO Status Detail

0x00~0x7F

RO

Detailed Status DRT-004TO connected motor

Touch status value of connected

buzzer module

Reserved

Detailed Register Description

Model No 1, Model No 2(EEP Register 0, 1 Address)
DRC model name expressed in 2 byte binary format.Cannot be changed by the user.

Version 1, Version 2(EEP Register 2, 3 Address)

DRC firmaware version. If not the latest version, download and update from the website. Can not be changed by the user

Baud Rate(EEP Register Address #4)

Datat value determining the UART communication speed between the PC & DRC and DRC & DRS. Communication speed
according to the data values are as follows. Communication speed will be set at default value of 115,200 bps if the data
value entered is not in the value list below,

Baud Rate

Register Value

57,600

34

115,200

16

200,000

250,000

400,000

500,000

666,667

Special Function(EEP Register Address #5)

EEP Register Address #5 is used when DRC-005T is to be used for special function. Decision to use the special function
is set by writing 1 or 0 to each bit. Default value is 0x00 (No functions used). Functions corresponding to each bit is shown
below.

203

Bit

Value

Mode

0x01

Custom Sensor Mode

0x02

TTL Communication Mode

0x04

Reserved

0x08

Reserved

0x10

Reserved

0x20

Reserved

0x40

Reserved

0x80

Reserved

* Custom Sensor Mode: This mode is for using custom sensors with
DRC-005T. DRC-005T has 4pin sensor ports on each side which can
normally be used with only limited type of sensors. However, by using
custom sensor mode, it is possible to connect other type of sensors to
these ports providing sensors use 5V input power. Ports on each side
can accept 1 analog and 1 digital sensor for total of 4 custom sensors (2
digital and 2 analog). Analog sensor values r(ADC Port 1 Sensor Value)
and r(ADC Port 2 Sensor Value) are expressed in 10 bits (0~1023), digital
sensor values r(ADC Port 1 Sensor Type) and r(ADC Port 2 Sensor Type)
are expressed by 0~1. Sensor port pin map is as shown in the photo.

* TTL Communication Mode: PC and DRC-005T uses RS-232C 5~10V communications level. However, it is
possible to control the DRC-005T like a PC using 3.3V TTL level instead of RS-232C level by setting the DRC-005T communication mode to TTL communication mode. Zigbee connection pin is used to communicate with DRC-005T using TTL
level. Zigbee connection pin is as shown below.

ID(EEP Register Address #7, RAM Register Address #0)

DRC ID. Default value is 253(0xFD). if several DRCs are given distinct IDs, it is possible to connect them to the same
communications line and control them similar to controlling several DRSs. To prevent malfuction, each DRC connected to
the same communications line should have distinct ID.

204

ACK Policy(EEP Register Address #8, RAM Register Address #1)

Data value determines whether to send ACK Packet when Request Packet is from PC to DRC.
0 : Do not send reply to any Request Packet.
1 : Send reply to only those Request Packets requesting reply such as Read Command and few others.
2 : Reply to all Request Packets.
When STAT Request Packet is received, send reply regardless of ACK Policy.
Do not reply to REMOCON Regardless of ACK Policy.
Do not reply when pID is 254(0xFE, Broadcast pID) with an exception of STAT command.
Refer to 22page for detailed explanation of response to individual ACK Packet ACK Policy.

Torque Off Policy(EEP Register Address #9, RAM Register Address #2)
Determines whether to release(off) the torque to the connected servo motors when error is detected.
(r(Torque Off Policy) & r(Status Error)) is True, all connected servo motors will have the torque released(off). Servos with
torque off will not be able to move.
r(Status Error) Error state has to be cancelled first to turn the motors back to Torque On state.
& is a Bitwise AND operator.When peforming A & B operation, binary representation of A & B are compared and the
result is shown as 1 only if both A and B has 1 in the binary format. Exampe) 00101110 & 10110110 = 00100110

Alarm LED Policy(EEP Register Address #10, RAM Register Address #3)
Determines whether to blink warning LED when error detected.
(r(Alarm LED Policy) & r(Status Error)) is True, TX, RX, Spare LED on controller will blink and the warning LED blinkd perid
is determined by the r(LED Blink Period).
Original function of the TX, RX, Spare LED will be ignored while the LEDs are blinking error warning.
r(Status Error) has to be cancelled first in order for TX, RX, Spare LED to return to their normal function.

Status Check Policy(EEP Register Address #11, RAM Register Address #4)
Determines whether controller should continuouisly read the current servo position. When r(Status Check Policy) is set at 1,
Controller will continuously read the current servo position and servo status and update the r(Servo Status Error & Status
Detail[0]~[31]) and r(Servo Position[0]~[31]). Controller will not perform the update if r(Status Check Policy) is set at 0.

Minimum Voltage(EEP Register Address #12, RAM Register Address #5)

Refers to minimum input voltage Raw Data. If the DRC input voltage r(Input Voltage Value) is below r(Minimum Voltage),
0 bit Exceed Input Voltage Limit will be selected in the r(Status Error) and 0x01(Low Voltage) will be added to r(Error
Codes[0]~[4]).
Default value is 0x5F(App 7.1V). Refer to to the conversion chart (page 48) to see the relationship to actual voltage.

Maximum Voltage(EEP Register Address #13, RAM Register Address #6)

Refers to maximum input voltage. If the DRC input voltage r(Input Voltage Value) is above r(Maximum Voltage), 0 bit
Exceeded Input Voltage Limit will be selected int the r(Status Error) and 0x02(High Voltage) will be added to r(Error
Codes[0]~[4]).
Default value is 0x88(App 10.0V). Refer to to the conversion chart (page 48) to see the relationship to actual voltage.

205

Maximum Temperature(EEP Register Address #14, RAM Register Address #7)

Refers to maximum operating temperature Raw Data. If DRC temperature r(Temperature Value) exceeds r(Maximum Temperature), 1 bit Exceed Temperature Limit will be selected in r(Status Error) and 0x03(Hight Temperature) will be added to
r(Error Codes[0]~[4]).
Default value is 0xDF( 85). Refer to to the conversion chart (page 50) to see the relationship to actual temperature.

Remocon Channel(EEP Register Address #15, RAM Register Address #8)

Refers to remote control channel. Remote control has value range from 0x61 to 0x6A with 10 selectable channels. Actual
remote control channel must match the r(Remocon Channel) for remote control commands to be recognized,

Servo Ack Wait Tick(EEP Register Address #16, RAM Register Address #9)
Wait to receive Servo Ack after sending cut request to the servo connected to the DRC. No reply received judgment is
made if Servo Ack is not received by the DRC within the prescribed time based on the estimated size of the Servo Ack,
Servo Ack wait Tick refers to the wait time for the shortest Servo Ack (9 byte) with the wait time increasing as the length of
the Servo Ack increases. 1 tick is equal to 1.6ms and the default value is 0x04 (approximately 6.4ms).

Zigbee Ack Wait Tick (EEP Register Address #17, RAM Register Address #10)
Maximum waiting time for receiving reply packet (ACK Packet) from the Zugbee module connected to DRC. It the return
packet (ACK Packet) is not received within the maximum waiting time, it is assumed no reply will be received. 1tick = 1.6ms,
Default value is 0x50( 128ms).

LED Blink Period(EEP Register Address #18, RAM Register Address #11)
Alarm LED blink rate when LED blinks according to the r(Alarm LED Policy) when error detected. LED will be on for r(LED
Blink Period) and off for r(LED Blink Period) with continous repetition. 1tick = 1.6ms., Default value is 0xBB(Appx 300ms).

ADC Fault Check Period(EEP Register Address #19, RAM Register Address #12)
Input voltage and temerature check period. If input voltage and the temeratrure exceeds maximum limit for longer than
r(ADC Fault Check Period), it is assumed that error has occured. 1tick= 1.6ms, Default value is 0x0138( 500ms).

Packet Garbage Check Period(EEP Register Address #21, RAM Register Address #14)
Incomplete or garbage packet check period. If incomplete packet is received or if complete packet is not received within
r(Packet Garbage Check Period), incomplete packet will be deleted and #2 bit Invaild Pacekt will be selectd in r(Status
Error) . Depending on where the packet was coming from, 0x41(Zigbee module incomplete reply packet)or 0x51(Servo
incomplete reply packet), or 0x61(PC incomplete request packet) will be added to r(Error Codes[0]~[4]).

206

Status Error(RAM Register Address #16)

Shows the controller error states. Total of 7 bits are used to show different error state values. r(Alarm LED Policy) and r(Torque
Off Policy) also have the same error format as below. Alarm LED will start to blink if error state expressed by 1 bit in r(Alarm
LED Policy) occurs. Torque will be released on all connected servos if error state expresedd by 1 bit in r(Torque Off Policy)
occurs.

Bit

Value

Type

0x01

Exceed Input Voltage limit

0x02

Exceed Temperature limit

0x04

Invalid Packet

0x08

Servo Missing

0x10

EEP REG distorted

0x20

Servo Status Error

0x40

Flash Data Distorted

0x80

Reserved

Error Codes[0]~[4](RAM Register Address #17)

Shows the detailed error codes when error occurs. Total of 5 bytes are used to save most recent 5 error codes. When error occurs, error code is saved in [0] and previous error codes saved in [0]~[3] are pushed back 1 byte to [1]~[4]. For
details, refer to error code list in (page 52).

LED Control(RAM Register Address #22)

Controls the LED whien running Task. Register can have values from 0x00~0x07, LED comes on when each bit is 1 and
goes off whe each bit is 0. Table below shows the LED controlled by each bit. LED control has no meaning when Task is
not running and the each bit is always 0.

Bit

Value

LED

0x01

TX(Red)

0x02

RX(Green)

0x04

Spare(Blue)

User Timer Tick(RAM Register Address #23)

Timer controlled by the user, if value other than 0 is used, number will decrease by 1 every 100ms. It is used to set the
delay time when running Task.

207

Connected Program(RAM Register Address #24)

Register shows the program currently connected and communicating with the PC.
0 : Not connected to the program
1 : Connected to HerkuleX Manager
2 : Connected to DR-SIM
3 : Connected to DR-Visual Logic

Zigbee channel (RAM Registor Address #25)

Holds frequency channel Zgbee module is currently using to communicate with. Selectable channels are from 11~16 with
15 being the default factory value. Register value is 0 if Zigbee module is not connected.

Zigbee PANID(RAM Register Address #26)

Register shows ID of the WPAN (Wireless Personal Area Networt ) Zigbee module is currently connected to. Zigbee module will have
factory default value of 0xBADA when first connected to DRC. Register value will be 0xFFFF if Zigbee moodule is not connected.

Zigbee SADDR(RAM Register Address #28)

Zigbee module has Short Address of 2 bytes and Long Address of 8 bytes. DRC uses the Short Address for communicating
and Short Address is also used to distinguish each individual Zigbee module connected to same WPAN. Zigbee module will have
factory default value of 0xBEAD when first connected to DRC. Register value will be 0xFFFF if Zigbee moodule is not connected.

Zigbee DSTADDR(RAM Register Address #30)

Refers to Short Address of the Zigbee module receiving the packet when packet is sent to another module on the same
WPAN. Zigbee module will have factory default value of 0xBEAD when first connected to DRC. Register value will be
0xFFFF if Zigbee moodule is not connected.
If packet is sent with register value of 0xFFFF, sent pacekt will be broadcasted and every Zigbee module connected to
the same WPAN will receive the packet.

Zigbee ACKREQ(RAM Register Address #32)

WIreless commnunication maybe disrupted by another wireless equipment or an obstacle. When sending wireless signal
from Zigbee module to another module. requesting ACK packet from the receiving module will increase the reliability by
resending the packet if reply packet is not received. However, requesting ACK packet increases the communications time
so it is not recommended when packets are being sent at lesss than 100ms intervals. Receive reply packets when r(Zigbee
ACKREQ) is 1 and do not receive reply packets when r(Zigbee ACKREQ) is 0. Factory default value saved in Zigbee module
is 1. Register will have value of 2 if Zigbee module is not connected.

Zigbee BACKOFF(RAM Register Address #33)

WIreless communication from Zigbee module to another module may not be possible while another equipment or Zigbee
module is using the same wireless frequency. Setting r(Zigbee BACKOFF) to 1 will make the module wait for random amount of
time before trying to establish commnication again. Similar to r(Zigbee ACKREQ), r(Zigbee BACKOFF) increases communication
reliability as well as the communication time. Module will retry communication without waiting if r(Zigbee BACKOFF) is 0. Factory
default value saved in Zigbee module is 1. Register will have value of 2 if Zigbee module is not connected.

208

Servo Count(RAM Register Address #34)

Shows the total number of servo motors with distinct ID connected to the cotroller. Maximum of 32 servo motors can be
connected. If number of motors exceed 32, #5 bit Servo Status Error will be selected in r(Status Error) and 0x33 (Too
Many Serovs Connected) will be added to r(Error Codes[0]~[4]).

Servo ID[0]~[32](RAM Register Address #35)

33 byte space containing ID of the currently connected servo motors. Total of r(Servo Count) byte contains servo motor
ID from Servo ID[0] to ID[r(Servo Count)-1]. 0xFE(Broadcasting ID) is saved in the extra space. Even though 32 is the
maximum number of servos allowed, 33 bytes are used to satisfy the rule of saving 0xFE in Servo ID[r(Servo Count)] even
when r(Servo Count) is 32.

Playing Motion(RAM Register Address #68)

Flag showing whether the motion saved in the DRC is running. 1 = running, 0 = not running.

Playing Task(RAM Register Address #69)

Flag showing wether the task saved in the DRC is running. 1= running, 3= running in debug mode, 0 = not running.

Charger Connected(RAM Register Address #70)

Flag showing whether the battery charge is connected to the DRC by DC jack. 1= connected, 0 = not connected.

Buzzer Scale(RAM Register Address #71)

Shows the pitch of the note currently being played by the buzzer. 3 octaves of buzzer tones can be expressed in semi-tone
units. Maintains 0 value when buzzer is not playing. # in front of the pitch denotes octave.

Value

Pitch

Value

Pitch

Value

Pitch

Value

Pitch

rest

10

3Ra

20

4Sol

30

5Fa

3Do

11

3Ra#

21

4Sol#

31

5Fa#

3Re#

12

3Si

22

4Ra

32

5Sol

3Re

13

4Do

23

4Ra#

33

5Sol#

3Re#

14

4Do#

24

4Si

34

5Ra

3Mi

15

4Re

25

5Do

35

5Ra#

3Fa

16

4Re#

26

5Do#

36

5Si

3Fa#

17

4Mi

27

5Re

37

6Do

3Sol

18

4Fa

28

5Re#

3Sol#

19

4Fa#

29

5Mi

209

Buzzer Time(RAM Register Address #72)

Shows the remaining play time of the buzzer note being played. 1tick = 6.4ms. There are total of 10 different note lengths that
can be used to make buzzer melody or be used to play the note in the task. For example, to run 8 minute note, value of 24 is
written in the Buzzer Time and this value will decrease by 1 every 6.4ms untill it becomes 00. Buzzer will sound for 153.6ms.

Button Status(RAM Register Address #73)

Shows the state of 6 buttons. State of each button is expressed by 1 bit, pressed button is 1, released button is 0. For
example, when OK button and Left button is pressed simulatneously r(Button Status) is 0x12.

Bit

Value

Button

0x01

Mode

0x02

OK

0x04

Up

0x08

Down

0x10

Left

0x20

Right

Remocon Length(RAM Register Address #74)

Shows the length of time remote control button is being pressed. Once the button signal is received, normal value of 0
increases by 1 every 125ms . For example, r(Remocon Length) value of 3s button press is 24. Maximum r(Remocon Length)
value of 240 allows up to 30s button press to be recognized.

Remocon Data(RAM Register Address #75)

Key value of the pressed remoted control button. Each remote control button has distinct key value assigned. Key value is
254(0xFE) when there is no button signal.

210

Hovis remote control keymap is as shown in the picture to the left. IR Receive module data values correspond
to numbers in the left key.
For example, if the top left power button is pressed, Data 0 is received by the DRC. Robot can be programmed
to take certain action when ever the power button is pressed by setting the Data to 0 in the IR RECEIVE module
and connecting to Switch module input.
Bothe the Remote control channel and DRC channel is user selectable but selected channel in DRC must match
the remote controller channel in order for DRC to receive data from the remote control. Remote control channel
can be selected by pressing 1~0 number + OK button simultaneously. DRC channel is selected by changing the
RmcChannel value in MPSU Ram Data. RmcChannel values corresponding to remote control numbers are as follows.

Remote Control Button RmcChannel Value

0+OK

97(0x61)

1+OK

98(0x62)

2+OK

99(0x63)

3+OK

100(0x64)

4+OK

101(0x65)

5+OK

102(0x66)

6+OK

103(0x67)

7+OK

104(0x68)

8+OK

105(0x69)

9+OK

106(0x6A)

211

Input Voltage Value(RAM Register Address #76)

Shows the ADC(Anlog-to-Digital Conversion) value of the input voltage in RAW DATA. Refer to the coversion chart in (page
48) to view the relationship to actual voltage value.

Temperature Value(RAM Register Address #77)

Shows the ADC(Anlog-to-Digital Conversion) value of the current temperature in Raw Data. Refer to the conversion chart
in (page 50) to view the relationship to actual temperature.

Light Sensor Value(RAM Register Address #78)

Shows the amount of light coming into the light sensor attached to the DRC.The larger the r(Light Sensor Value) value,
brighter the operating environment.

ADC Port 1 Sensor Type(RAM Register Address #79)

Shows the type of sensor attached to the ADC Port 1 .
0 : No sensor attached.
1 : Analog infrared distance sensor (PSD) attached.
2 : Digital distance sensor attached.
3 : Shows that DRX-0001M is connected.

ADC Port 2 Sensor Type(RAM Register Address #80)

Shows the type of sensor attached to ADC Port 2.
0 : No sensor attached.
1 : Analog infrared distance sensor (PSD) attached.
2 : Digital distance sensor attached.
3 : Shows that DRX-0001M is connected.

ADC Port 1 Sensor Value(RAM Register Address #81)

Shows the value of the sensor attached to ADC Port 1.
When r(ADC Port 1 Sensor Type) is 0 : 0, no sensor attached.
When r(ADC Port 1 Sensor Type) is 1 : Detected distance (cm unit) shown as value of 3~40.
When r(ADC Port 1 Sensor Type) is 2 : Output of the digital distance sensor shown as 0 or 1. 1 if object is at distance of >10cm, 0 if < 10cm.
When r(ADC Port 1 Sensor Type) is 3 : 0 as it is not a sensor.

ADC Port 2 Sensor Value(RAM Register Address #83)

Shows the value of the sensor attached to ADC Port 2.
When r(ADC Port 2 Sensor Type) is 0 : 0, no sensor attached.
When r(ADC Port 2 Sensor Type) is 1 : Detected distance (cm unit) shown as value of 3~40.
When r(ADC Port 1 Sensor Type) is 2 : Output of the digital distance sensor shown as 0 or 1. 1 if object is at distance of >10cm, 0 if < 10cm.
When r(ADC Port 2 Sensor Type) is 3 : 0 as it is not a sensor.

Acc/Gyro Connected(RAM Register Address #85)

Flag shows whether the Acc/Gyro sensor module is attached. 1 if attached. 0 if not attached.

212

Acc X Value, Acc Y Value, Acc Z Value(RAM Register Address #86,88,90)

Acc sensor X, Y, Z axis value in Raw Data. Acc sensor measures the accleration being applied to the controller.
Direction of the acceleration sesor axis are shown below in the diagram. Each axis has value range from
-4096~4095. 265 is 1g(Grvitational accleration, 9.8m/s2). Use the following formula to convert Raw Data to g unit.
Accleration(g) = (Raw Data) / 265

Gyro X Value, Gyro Y Value, Gyro Z Value(RAM Register Address #92,94,96)

Gyro sensor X, Y, Z axis value in Raw Data. Gyro sensor measures the rotational speed of the controller. Point the right
thumb towards the direction of the gyro sensor axis and fold the remaining figers into the palm to find the (+) direction of
the axis rotation. In other words, (+) direction of the rotation is conuter clockwise direction when looking down the axis.
Each axis of the Gyro senson has value range of -32768~32767. About 16.38 is 1/s( 1 rotation per 1s). Use the following
formula to convert Raw Data to /s unit.
Angle speed(/s) = (Raw Data) / 32768 X 2000

213

Sound Detection Flag(RAM Register Address #98)

Shows the number of successive sounds detected by DRC. r(Sound Detection Flag) is incremented by 1 for when sound is
detected by DRC and then goes back to 0 if no more sound is detected in 1s. If another sound is detected in 1s, r(Sound
Detection Flag) is again incremented by 1, and then DRC waits for another sound detection for 1s.

Sound Direction(RAM Register Address #99)

Shows the direction of the most recent sound detected when r(Sound Detection Flag) is greater than or equal to 1.
-2 : Sound detected from 90 to the left.
-1 : Sound detected from 45 to the left.
0 : Sound detected from the middle.
1 : Sound detected from 45 to the right.
2 : Sound detected from 90 to the right.
Value is 0 when r(Sound Detection Flag) is 0.

Tick(RAM Register Address #101)

Timer Tick is the basic standard for all DRC operation related to time. Starts from 0 and then goes back to 0 after reaching
60000.

Servo Position[0]~[31](RAM Register Address #170)

2*32 byte space containing the position of the the connected servos. Position value of the servo with r(Servo ID[n]) ID is
saved in the r(Servo Position[n]). Position value is updated continuously in real-time if r(Status Check Policy) is 1.Space
above r(Servo Count) is filled with 0s.

Touch Status(RAM Register Address #100)

Shows the head touch status when head module DRT-HWW1 is connected. Value is 1 when head touch is detected and
0 otherwise. Value remains 0 when DRT-HWW1 is not connected.

Tick(RAM Register Address #101)

DRT-HWW1 Connected(RAM Register Address #103)
Shows DRT-HWW1 connection status. Value is 1 when DRT-HWW1 is connected and 0 when DET-HWW1 is not connected.

DRC-004TO Connected(RAM Register Address #104)

Shows DRC-004TO connection status. Value is 1 when DRC-004TO is connected and 0 when DET-HWW1 is not connected.

214

Servo Status Error & Detail[0]~[31](RAM Register Address #106)

2*32 byte storage containing status of currently connected servo motors. r(Status Error) and r(Status Detail) values in servo
motor RAM Register of the servo corresponding to r(Servo ID[n]) are saved in r(Servo Status Error & Detail[n]). If r(Status
Check Policy) value is 1, r(Servo Status Error & Detail[n]) values are updated continuously to show the current status of
connected servos. Space above the number of connected servos r(Servo Count) are filled with 0s and if status cannot be
updated due to lack of communication with the connected servo, value of the 1st byte (Status Error) of r(Servo Status Error
& Detail[n]) changes to 0x80 to show communication error.

Servo Position[0]~[31](RAM Register Address #170)

2*32 byte storage containing position of currently connected servo motors. r(Calibrated Position) value in servo motor Ram
Register of the servo corresponding to r(Servo ID[n]) is saved in r(Servo Position[n]). If r(Status Check Policy) value is 1,
r(Servo Position[n]) value is updated continuously to show the current position value of the connected servo. if r(Status
Check Policy) value is 1. Space above the number of connected servos r(Servo Count) are filled with 0s.

DRT-HWW1 Status Error(RAM Register Address #234)

Storage containing r(Status Error) value of DRT-HWW1. If r(Status Check Policy) value is 1, value is updated continuously to
show error status of the connected DRT-HWW1. If r(DRT-HWW1 Connected) value is 0 (DRT-HWW1 disconnected), register
value continues to remain as 0 and if status cannot be updated due to lack of c ommunication, value changes to 0x80 to
show communication error.

DRT-HWW1 Status Detail(RAM Register Address #235)

Storage containing r(Status Detail) value of DRT-HWW1. If r(Status Check Policy) value is 1, value is updated continuously
to show detailed status of the connected DRT-HWW1. If r(DRT-HWW1 Connected) value is 0 (DRT-HWW1 disconnected),
register value continues to remain as 0.

DRC-004TO Status Error(RAM Register Address #236)

Storage containing r(Status Error) value of DRC-004TO. If r(Status Check Policy) value is 1, value is updated continuously
to show error status of the connected DRC-004TO. If r(DRC-004TO Connected) value is 0 (DRC-HWW1 disconnected),
register value continues to remain as 0 and if status cannot be updated due to lack of communication, value changes to
0x80 to show communication error

DRC-004TO Status Detail(RAM Register Address #237)

Storage containing r(Status Detail) value of DRC-004TO. If r(Status Check Policy) value is 1, value is updated continuously
to show detailed status of the connected DRC-004TO. If r(DRC-HWW1 Connected) value is 0 (DRC-004TO disconnected),
register value continues to remain as 0.

215

PART
Apendix

DRC Register & Protocol

Protocol
PART

Protocol Format

PART

Overview

Packet controlling the DRC is divided into Request packet used when communicating from PC to DRC and reply packet
Ack Packet from DRC to PC.

Setup
Commuications settings are as follows.
Baud Rate : 57,600 / 115,200 / 0.2M / 0.25M / 0.4M / 0.5M / 0.667M
Data Bit : 8
Stop Bit : 1
Parity : None
Flow Control : None
Communication speed of the Com port attached to the PC or USB to Serial Cable maybe limited by the hardware or the
driver. Check the Baud Rate if there is problem in communication. Default DRC factory value is 115,200bps.

Packet Structure
Item

Header

Packet Size

pID

value

0xFF

0xFF

7~223

0~0xFE

bytes

CMD

Check
Sum1

Check
Sum2

Refer to details Refer to details Refer to details

1

Optional
Data
Refer to details
MAX 216

1. Header(2 Byte)
Beginning of the packet. Composed of 2 bytes 0xFF & 0xFF.

2. Packet Size(1Byte)
Total byte size of the packet from Header to the Optional Data. Maximum Packet Size is 223. Packet Size exceeding 223
bytes will cause error.

3. pID(1Byte)
ID of the DRC to be controlled. Care is required When pID is 254(0xFE), as all DRC rceiving the packet becomes control
target. pID larger than 254 will cause error.
To distinguis from register r(ID), ID within the packet will be shows as pID.

216

4. CMD(1Byte)
In the request packet, CMD refers to command to be peformed by DRC. In the reply packet, CMD refers to the command
received by the DRC.There are total of 14 commands in the request packet and 13 in the reply packet. To distinguish the
reply packet CMD from the CMD in the request packet, 0x40 Bitwise OR operation is performed on the request packet CMD.
For example, 0x51 is the reply packet CMD to the request packet EEP_WRITE(0x11) CMD. Refer to the Command Set in page
20 for complete CMD list and page 22 to view detailed description of each CMD.
There are also 9 types of request packets that can be relayed to the servos connected to the DRC. DRC will check the
request packets before relaying them to the servo motors and once reply is received from the servos, it will be relayed to
the PC. Refer to the servo manual for more information on servo request and reply packets.

5. Check Sum1, Check Sum2(2 Byte)

Check Sum1, 2 is a 2 byte space used to check integrity of the transmitted data. When there is n byte of Optional Data,
Check Sum is calculated as follows.
Check Sum1 = (Packet Size ^ pID ^ CMD ^ Data[0] ^ ^ Data[n-1]) & 0xFE
Check Sum2 = (~(Packet Size ^ pID ^ CMD ^ Data[0] ^ ^ Data[n-1])) & 0xFE
~ is a Bitwise NOT operator, when ~A is performed, all bits in A are negated.. Example) ~(01101101)becomes 10010010.
^ is a Bitwise AND operator, when A ^ B is performed, each bit of A and B are compared and only the same bits become 1.
Exampe) 00101110 ^ 10110110 becomes 01100111.

6. Optional Data(0~216Byte)
Optional data that changes according to the CMD type. Refer to the detailed command description in page 22 for more
information on Optional Data.

217

Command Set
List of commands that go in the CMD section of the protocol. There are 14 types of CMDs in the (Request Packet) and
13 types of CMDs in the reply packet (ACK Packet). When Request Packet is sent from the PC to DRC, DRC will perform
the task requested in the received packet and send the result or status back to the PC in the form of ACK Packet. Refer
to the pag 22 to view more detailed information on Request Packet & ACK packet forms and formats.

1. Request Packet(PC to DRC)

218

Name

Cmd

Remark

EEP_WRITE

0x11

Change Length number of values in EEP Register Address

EEP_READ

0x12

Request Length number of values fromEEP Register Address

RAM_WRITE

0x13

Change Length number of values from RAM Register Address

RAM_READ

0x14

Request Length number of values from RAM Register Address Length

CON_CHECK

0x15

Scan to check the the ID of servos connected to the controller

PLAY_MOTION

0x16

Run saved Motion

PLAY_TASK

0x17

Run saved Task

PLAY_BUZZ

0x18

Run saved head LED & Buzzer

STAT

0x19

Request controller error status and most recent error code

ROLLBACK

0x1A

Rest all variables to factory default value

Rest values will be applied after power is turned off and back on.

REBOOT

0x1B

Request reboot

ZIGBEE

0x1C

Send control command related to Zigbee connected to the controller

REMOCON

0x1D

Send Remote Control Data

SERVO_FW_
UPDATE

0x1E

Enter Servo F/W update mode

2. ACK Packet (DRC to PC)

Name

Cmd

Remark

EEP_WRITE

0x51

Retun r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

EEP_READ

0x52

Return Len number of values from EEP Register Address

r(Ack Policy) is Read Only, Reply when All

RAM_WRITE

0x53

Rturn r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

RAM_READ

0x54

Return Len number of values from RAM Register Address

r(Ack Policy) is Read Only, Reply when All

CON_CHECK

0x55

Return servo IDs found by scan

r(Ack Policy) is Read Only, Reply when All

PLAY_MOTION

0x56

Return r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

PLAY_TASK

0x57

Reply and reply format depends on Instruction

(Refer to 34page)

PLAY_BUZZ

0x58

Return r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

STAT

0x59

Return r(Status Error) & r(Status Error Codes[0])

Always reply regardless of r(Ack Policy)

ROLLBACK

0x5A

Return r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

REBOOT

0x5B

Return r(Status Error) r(Status Error Codes[0])

Reply when r(Ack Policy) is All

ZIGBEE

0x5C

Reply and reply format depends on Instruction

(Refer to 43page )

REMOCON

No reply packet.

SERVO_FW_
UPDATE

0x5E

Return r(Status Error) & r(Status Error Codes[0])

Reply when r(Ack Policy) is All

219

Detailed Command Description - EEP_WRITE

1-1. EEP_WRITE - Request Packet(0x11)
Item

Packet
Size

pID

CMD

Data[0]

Data[1]

Data[2]

Data[Length+1]

Value

7+2+Length

0~0xFE

0x11

Address

Length

EEP Data[0]

EEP
Data[Length-1]

Change Length number or values from EEP Register Address. Optional Data contains Address, Length, and Length number
of data. Optional Datal length is (2+Length) byte. Total Packet size is standard 7byte + (2+Length)byte = (9+Length) byte.
When DRC receives this particular packet, Values in Non-Volatile register address from Address to (Address+Length-1)
are changed from EEP Data[0] to EEP Data[Length-1].
Any changes made to the Non-Volatile memory does not have direct affect on the operation of the DRC. Values changed
by the EEP_WRITE will be copied to the Volatile register when the DRC is rebooted by the REBOOT CMD or when the power
is turned off and back on.

Example
Request Packet to change the e(Alarm LED Policy) of the DRC with r(ID)253 to 0x3
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

0x0A(10)

0xFD

0x11

0xD2

0x2C

0x0A

0x01

0x3F

CS1, CS2 is abbreviation of Check Sum1 & Check Sum2.

e(Alarm LED Policy) address is 10 and the data length is 1. EEP Data[0] is 0x3F. Packet Size is (9+Length)=10. Check Sum1
& Check Sum2 are calculated according to the formaula in page 19.

220

Detailed Command Description - EEP_READ

1-2. EEP_WRITE - Ack Packet(0x51)

Format
Item

Packet
Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x51

r(Status Error)

r(Error Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x51 by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x11.

Reply Condition
EEP_WRITE reply is sent only when r(ACK Policy) is 2(Reply to all packets). Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent even if r(ACK Policy) is 2.

Example
Reply Packet after receiving request packet to change the e(Alarm LED Policy) of the DRC with r(ID)253 to 0x3
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x51

0xA4

0x5A

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

221

2-1. EEP_READ - Request Packet(0x12)

Format
Item

Packet
Size

pID

CMD

Data[0]

Data[1]

Value

7+2

0~0xFE

0x12

Address

Length

Read Length number of values from EEP Register Address . Optional Data contains Address, Length, and Length number
of data. Optional Datal length is (2+Length) byte. Total Packet size is standard 7bytes + (2+Length)byte = (9+Length) byte.
When DRC receives this packet, values from Non-Volatile register address from Address to (Address+Length-1) are sent
by the reply packet.

Example
Request packet to read e(Min Voltage), e(Max Voltage), e(Max Temperature) values from DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x12

0xE8

0x16

0x0C

0x03

e(Min Voltage) address is 12, length is 3. Packet Size is 9.

Check Sum1 & Check Sum2 are calculated according to the formaula in page 19.

222

2-2. EEP_READ - ACK Packet(0x52)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2+Length+2

r(ID)

0x52

Address

Length

Item

Data[2]

Data[Length+1]

Data[Length+2]

Data[Length+3]

Value

EEP Data[0]

EEP
Data[Length-1]

r(Status Error)

r(Error Codes[0])

Values in the Non-Volatile register address from Address to (Address+Length-1) are sent contained in EEP Data[0]to EEP
Data[Length-1]. r(Status Error) & r(Error Codes[0]) values are sent as well. Address, Length, Length number of values,
and r(Status Error) & r(Error Codes[0]) are contained in the Optional Data. Optional Data length is (2+Length+2) bytes. Total
packet size is standard 7 bytes + (4+Length) = (11+Length) bytes. pID contins the r(ID) of the replying DRC, CMD becomes
0x52 by applying 0x40 Bitwise OR operation to the Request Packet CMD 0x12.

Reply Condition
EEP_READ reply is sent when r(ACK Policy) is 1(Reply to only Read command), 2(Reply to all packets).Exception to this
rule is when pID of the request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to Request packet to read e(Min Voltage), e(Max Voltage), e(Max Temperature) values from DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x0E(14)

0xFD

0x52

0xA6

0x58

0x0C

0x03

Item

Data[2]

Data[3]

Data[4]

Data[5]

Data[6]

Value

0x5F

0x88

0xDF

0x00

0x00

Send 3 bytes of data from Address 12 contained in Data[2]~Data[4]. e(Min Voltage) in Data[2], e(Max Voltage)in Data[3] ,
e(Max Temperature) in Data[4]. Send current status and the most recent error code contained in Data[5] and Data[6]. When
there is no error, both Data[5] and [6] contain 0x00.

223

Detailed Command Description - RAM_WRITE

3-1. RAM_WRITE - Request Packet(0x13)
Format
item

Packet
Size

pID

CMD

Data[0]

Data[1]

Data[2]

Data[Length+1]

Value

7+2+Length

0~0xFE

0x13

Address

Length

RAM
Data[0]

RAM
Data[Length-1]

Change Length number or values from RAM Register Address. Optional Data contains Address, Length, and Length number of data. Optional Datal length is (2+Length) byte. Total Packet size is standard 7byte + (2+Length)byte = (9+Length)
byte. When DRC receives this particular packet, Values in Volatile register address from Address to (Address+Length-1)
are changed from RAM Data[0] to RAM Data[Length-1].

Example
Request Packet to change the r(Status Error) & r(Error Codes[0]~[4]) of the DRC with r(ID)253 to 0x00
item
Value

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x0F(15)

0xFD

0x13

0xF6

0x08

0x10

0x06

Header
0xFF

0xFF

item

Data[2]

Data[3]

Data[4]

Data[5]

Data[6]

Data[7]

Value

0x00

0x00

0x00

0x00

0x00

0x00

r(Status Error) address is 16, As 6 bytes of data after the address has to be changed. Address is 16, Length is 6, and RAM
Data[0]~RAM Data[5] is 0x00. Total Packet Size is (9+Length)= 15. Check Sum1 & Check Sum2 are calculated according
to the formaula in page 19.
Both r(Status Error) & r(Error Codes[0]~[4]) are R/W registers but because registers contain current MPSU status, values
cannot be changed arbitrarily .The choice of values for these 6 byte registers are to use current values or to change them
all to 0x00. If any other values are used Invalid Packet(#2 bit) will be selected in r(Status Error) and 0x73(r(Status Error)
and Invalid write command will be added to r(Error Codes[0]~[4]).

224

3-2. RAM_WRITE - ACK Packet(0x53)

Format
item

Packet
Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x14

r(Status Error)

r(Error
Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x53 by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x13.

Reply Condition
RAM_WRITE reply is sent only when r(ACK Policy) is 2(Reply to all packets). Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent even if r(ACK Policy) is 2.

Example
Reply to Request Packet to change the r(Status Error) & r(Error Codes[0]~[4]) of the DRC with r(ID)253 to 0x00
item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x53

0xA6

0x58

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

225

Detailed Command Description - RAM_READ

4-1. RAM_READ - Request Packet(0x14)
Format
Item

Packet
Size

pID

CMD

Data[0]

Data[1]

Value

7+2

0~0xFE

0x14

Address

Length

Read Length number of values from RAM Register Address . Optional Data contains Address, Length, and Length number
of data. Optional Datal length is (2+Length) byte. Total Packet size is standard 7bytes + (2+Length)byte = (9+Length) byte.
When DRC receives this packet, values from Volatile register address from Address to (Address+Length-1) are sent by the
reply packet.

Example
Request packet to read e(Min Voltage), e(Max Voltage), e(Max Temperature) values from DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x14

0xE6

0x18

0x05

0x03

R(Min Voltage) address is 5, length is 3. Packet Size is 9.

Check Sum1 & Check Sum2 are calculated according to the formaula in page 00.

226

4-2. RAM_READ - ACK Packet(0x54)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2+Length+2

r(ID)

0x54

Address

Length

Item

Data[2]

Data[Length+1]

Data[Length+2]

Data[Length+3]

Value

RAM Data[0]

RAM
Data[Length-1]

r(Status Error)

r(Error Codes[0])

Values in the Volatile register address from Address to (Address+Length-1) are sent contained in RAM Data[0]to RAM
Data[Length-1]. r(Status Error) & r(Error Codes[0]) values are sent as well. Address, Length, Length number of values,
and r(Status Error) & r(Error Codes[0]) are contained in the Optional Data. Optional Data length is (2+Length+2) bytes. Total
packet size is standard 7 bytes + (4+Length) = (11+Length) bytes. pID contins the r(ID) of the replying DRC, CMD becomes
0x54 by applying 0x40 Bitwise OR operation to the Request Packet CMD 0x14.
RAM_READ reply is sent when r(ACK Policy) is 1(Reply to only Read command), 2(Reply to all packets).Exception to this
rule is when pID of the request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to Request packet to read r(Min Voltage), r(Max Voltage), r(Max Temperature) values from DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x54

0xA8

0x56

0x05

0x03

Item

Data[2]

Data[3]

Data[4]

Data[5]

Data[6]

Value

0x5F

0x88

0xDF

0x00

0x00

Send 3 bytes of data from Address 5 contained in Data[2]~Data[4]. r(Min Voltage) in Data[2], r(Max Voltage)in Data[3] ,
r(Max Temperature) in Data[4]. Send current status and the most recent error code contained in Data[5] and Data[6]. When
there is no error, both Data[5] and [6] cotnain 0x00.

227

Detailed Command Description - CON_CHECK

5-1. CON_CHECK - Request Packet(0x15)
Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Data[Length]

Value

7+1+Length

0~0xFE

0x15

Length

ID[0]

ID[Length-1]

Checks to see if servos with ID of ID[0]~ID[Length-1] are connected to the DRC. Optional Data contains Length, Length
number of ID. Optional Data length is (1+Length) bytes. Total Packet size is standard 7bytes + (1+Length)byte = (8+Length)
byte. When DRC receives this packet, It initiates communication with the serovs with ID[0] to ID[Length-1]. Total number of
sucessfully contacted servos and their IDs are sent back by the ACK packet.
When Length is 0, all IDs from 0~253 are scanned.

Example
Request packet to check if servos with ID 0, 1, 2, 3, 4 are connected to DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x0D(13)

0xFD

0x15

0xE4

0x1A

0x05

Item

Data[1]

Data[2]

Data[3]

Data[4]

Data[5]

Value

0x00

0x01

0x02

0x03

0x04

There are 5 servos, therefor Length is 5. ID of the servos 0, 1, 2, 3, 4 are in Data[1] to Data[5]..Packet Size (8+Length) =
13. Check Sum1 & Check Sum2 are calculated according to the formaula in page 19.

228

5-2. CON_CHECK - ACK Packet(0x55)

Format
Item

Packet Size

pID

CMD

Data[0]

Value

7+1+Length+2

r(ID)

0x55

Length

Item

Data[1]

Data[Length]

Data[Length+1]

Data[Length+2]

Value

ID[0]

ID[Length-1]

r(Status Error)

r(Error Codes[0])

After performing ID scan, number of sucessfully scanned servos are entered in Length, ID values entered in ID[0] to
ID[Length-1] and sent back using reply packet together with r(Status Error) & r(Error Codes[0]) values. Address, Length,
Length number of values, and r(Status Error) & r(Error Codes[0]) are contained in the Optional Data. Optional Data length
is (1+Length+2) bytes. Total packet size is standard 7 bytes + (3+Length) = (10+Length) bytes. pID contins the r(ID) of the
replying DRC, CMD becomes 0x55 by applying 0x40 Bitwise OR operation to the Request Packet CMD 0x15.

Reply Condition
CON_CHECK reply is sent when r(ACK Policy) is 1(Reply to only Read command), 2(Reply to all packets).Exception to this
rule is when pID of the request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Request packet to check if servos with ID 0, 1, 2, 3, 4 are connected to DRC with r(ID) 253. Reply packet whenscan
result shows only ID 0,1,2 are connected.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x0D(13)

0xFD

0x55

0xA4

0x5A

0x03

Item

Data[1]

Data[2]

Data[3]

Data[4]

Data[5]

Value

0x00

0x01

0x02

0x00

0x00

ID scan result shows only ID 0, 1, 2 are connected. Data[0] showing Length is 3 and IDs are entered sequentially in
Data[1]~Data[3]. Send current status and the most recent error code contained in Data[4] and Data[5]. When there is no
error, both Data[4] and [5] cotnain 0x00. Packet Size (10+Length)=13

229

Detailed Command Description - PLAY_MOTION

6-1. PLAY_MOTION - Request Packet(0x16)
Fromat
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

0~0xFE

0x16

Motion No.

Motion Ready Flag

When DR-SIM is used to save motion in DRC, saved motion receives a number between 0 to 127. PLAY_MOTION packet
runs the saved motion in DRC, Motion No. refers to the saved motion number. Motion Ready Flag decides whether to take
motion ready posture. When packet is sent with Motion Ready Flag set to 1, first frame of the motion will be played slowly.
Damage to the motor or fall due to sudden movent can be prevented by sening a packet with Motion Ready Flag set to 1
and then another packet with Flag set to 0 little later. Also, current motion will stop if packet is sent with motion No. 254(0xFE).
See below for arrangement of the motion with Motion No. & Motion Ready Flag
Motion No

Motion Ready Flag

Motion

0~127

Run Motion

0~127

Run first frame of the motion

254

0~1

Stop Motion

Example
Request packet to run Motion No 1 in DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[1]

0x09(9)

0xFD

0x16

0xE2

0x1C

0x01

0x00

0x00

As motion being run is No.1, Motion No. is set to 1, Motion Ready Flag set to 0.
Request packet to run first frame of Motion No 2 in DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x16

0xE0

0x1E

0x02

0x01

As motion being run is No.2, Motion No. is set to 2, Motion Ready Flag set to 1.

230

6-2. PLAY_MOTION - ACK Packet(0x56)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x56

r(Status Error)

r(Error Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x56 by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x16.

Reply Condition
PLAY_MOTION reply is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet to run Motion No 2 in DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x56

0xA2

0x5C

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

231

Detailed Command Description - PLAY_TASK

7-1. PLAY_TASK - Request Packet(0x17)
Format
Item

Packet Size

pID

CMD

Data[0]

Value

7+1

0~0xFE

0x17

Instruction

Use DR-Visual Logic to run the Task saved in DRC. Depending oh the instruction, PLAY_TASK is divided into 4 commands
which perfom different function according to the Instruction.
When Instruction is 0, runs the Task in normal mode.
When Instruction is 1, runs Task in debugging mode.
When Instruction is 2, rusn the fisrt stop of the Task and stops. This Instruction has meaning only when in debugging mode.
When Instruction is 254, stops Task. Task stops regardless of whether its in normal or debugging mode.

Example
Request packet to run Task saved in DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x17

0xE2

0x1C

0x00

Task run, Instruction is 0.

Request packet to run Task saved in DRC with r(ID) 253 in debugging mode
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x17

0xE2

0x1C

0x01

Instruction is 1 as Task is running in debugging mode.

Packet running one step of the Task when DRC with r(ID) 253 is in debugging mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x17

0xE0

0x1E

0x02

Instruction is 2 as Task runs for single step in debugging mode.

232

7-2. PLAY_TASK - ACK Packet(0x57)

Format - Debuggin ACK Packet
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Data[2]

Data[3]

Value

7+4

r(ID)

0x57

Program
Counter L

Program Counter H

r(Status Error)

r(Error Codes[0])

Format - Status ACK Packet

Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x57

r(Status Error)

r(Error Codes[0])

Depending on the Instruction, PLAY_TASK replay packet is divided into two types.
Debugging reply packet shows which section of the task is running in 2 bytes by using Progam Counter L and Program
counter H. This information is used to find out which code is currently running when debugging Task in DR-Visual Logic.
Debuggin reply packet also includes r(Status Error) & r(Error Codes[0]) values. As Optional Data length is fixed at 4 bytes,
total packet size is 11 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x57 by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x17.
Status reply packet includes r(Status Error) & r(Error Codes[0]) values. As Optional Data length is fixed at 2 bytes, total
packet size is fixed at 9 bytes. Debugging reply packet is used in circumstances related to debugging and status reply
packet in other circumstances. Refer to below to view the type of reply packet being sent depnding on the Instruction &
circumstances.
Instruction

Sucess

Fail

Status

Status

Debugging

Status

Debugging

Status

254

Status

Status

Instruction 0 (Task Running) and Instruction 254 (Task stop) are replied with status reply packet. Debuggin related instructions
such as Instruction 1 ( Run Task in debuggin mode) and Instruction 2 ( Run one step ) are replied with debugging reply
packet. However, under the circustances when requested command cannot be performed as when Instruction 1 is sent
while the Task is running or Instruction 2 is sent when Task is not running, reply will be with status reply packet.

233

Reply Condition
Status reply packet is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent.
Debuggin reply packet is sent when r(ACK Policy) is 1(Reply to only Read command), 2(Reply to all packets).Exception to
this rule is when pID of the request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet to run Task saved in DRC with r(ID) 253
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x57

0xA2

0x5C

0x00

0x00

As request packet Instruction is 0, reply with current status and most recent error code. There is no error. both Data [0] &
[1] wil have 0x00 values.
Reply to request packet to run Task saved in DRC with r(ID) 253 in debugging mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

Data[3]

0x0B(11)

0xFD

0x57

0xAA

0x54

0x0B

0x00

0x00

0x00

As request packet instruction is 1, reply with degugging reply packet. Current program counter location is saved in Data[0]
& Data[1]. Current location after starting debugging process is 0x000B. Current status and recent error code is saved in
Data[2] & Data[3].
Request to run one step of Task when DRC with r(ID) 253 is in debuggin mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x0B(11)

0xFD

0x57

0x86

0x78

0x26

0x00

Data[2]

Data[3]

0x00

0x00

As request packet instruction is 2, reply with degugging reply packet. Current program counter location saved in Data[0] &
Data[1] is showing 0x0026. Current status and recent error code is saved in Data[2] & Data[3].

234

Detailed Command Description - PLAY_BUZZ

8-1. PLAY_BUZZ - Request Packet(0x18)
Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

0~0xFE

0x18

Reserved

Buzz No.

Run Buzzer saved in DRC. Buzzer can have number between 1 to 63, Send request packet with Buzzer number in Data[1]
Buzz No. Enter 0 in Data[0] as this space is Reserved for other data.

Example
Request packet to run Buzzer No. 5 in DRC with r(ID) 253.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x18

0xE8

0x16

0x00

0x05

Running Buzzer No. 5, Data[1] is 5.

8-2. PLAY_BUZZ - ACK Packet(0x58)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x58

r(Status
Error)

r(Error Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x58 by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x18.

Reply Condition
PLAY_ Buzz reply is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent.

235

Example
Reply to request packet to run Buzzer No. 5 in DRC with r(ID) 253.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x58

0xAC

0x52

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

236

Detailed Command Description - STAT

9-1. STAT - Request Packet(0x19)
Format
Item

Packet Size

pID

CMD

Value

7+2

0~0xFE

0x18

Request current status of DRC. DRC sends reply packet with r(Status Error) & r(Error Codes[0]) values included.

Example
Request packet to DRC with r(ID) 253 to perform STAT command.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

0x07(7)

0xFD

0x19

0xE2

0x1C

9-2. STAT - ACK Packet(0x59)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x59

r(Status Error)

r(Error Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total Packet size is fixed at 9
bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x59 by applying 0x40 Bitwise OR operation to the Request Packet CMD 0x19.

Reply Condition
Reply is sent to STAT request regardless of r(ACK Policy). Reply is sent even if the pID of request packet is 254(Broadcasting ID).

Exampe
Reply to request packet to DRC with r(ID) 253 to perform STAT command.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x59

0xAC

0x52

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

237

Detailed Command Description - ROLLBACK

10-1. ROLLBACK - Request Packet(0x1A)
Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

0~0xFE

0x1A

ID Skip

Baud Skip

Initialize Non-Volatile register using the factory default values saved in DRC. Initialized Non-Volatile will affect the operation
after DRC has been rebooted or power turned off and back on. ID Skip and Baud Skip in Data[0] & Data[1] determines
whether e(ID) & e(Baud Rate) will be exempt from initialization.When ID Skip is 1, e(ID) will not be initialized and when Baud
Skip is 1, e(Baud Rate) will not be initialized.

Example
Request packet to DRC r(ID) 253 to initialize Non-Volatile registers except for e(ID).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x1A

0xEE

0x10

0x01

0x00

Request packet will initialize the register with an exception of e(ID). ID Skip is 1, Baud Skip is 0.
Request packet to DRC r(ID) 253 to initialize register with exceoption on e(ID) & e(Baud Rate).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x1A

0xEE

0x10

0x01

0x01

Request packet will initialize the register with exception of e(ID) & e(Baud Rate). ID Skip is 1, Baud Skip is 1.

238

10-2. ROLLBACK - ACK Packet(0x5A)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Value

7+2

r(ID)

0x5A

r(Status Error)

r(Error Codes[0])

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contins the r(ID) of the replying DRC, CMD becomes 0x5A by applying 0x40 Bitwise OR
operation to the Request Packet CMD 0x1A.

Reply Condition
ROLLBACK reply is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the request
packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet to DRC r(ID) 253 to initialize Non-Volatile registers except for e(ID).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x5A

0xAE

0x50

0x00

0x00

Send current status and most recent error code.Both are 0x00 as there is no error.

239

Detailed Command Description - REBOOT

11-1. REBOOT - Request Packet(0x1B)
Format
Item

Packet Size

pID

CMD

Value

0~0xFE

0x1B

Request packet to DRC requesting SW reset. When DRC receives this packet, it will reset itself and start initial booting sequence.

Example
Request packet with REBOOT
Packetcommand to DRC with r(ID) 253.

Item

Value

Header

0xFF

0xFF

Size

0x07(7)

pID

CMD

CS1

CS2

0xFD

0x1B

0xE0

0x1E

11-2. REBOOT - ACK Packet(0x5B)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

7+2

r(ID)

0x5B

r(Status Error)

r(Error Codes[0])

Value

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total
Packet size is fixed at 9 bytes. pID contains the r(ID) of the replying DRC, CMD becomes 0x5B by applying 0x40 Bitwise
OR operation to the Request Packet CMD 0x1B.

Reply Condition
REBOOT reply is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the request packet
is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet Packet
with REBOOT command to DRC with r(ID) 253.

Item

Value

Header

0xFF

0xFF

Size

0x09(9)

pID

CMD

CS1

CS2

Data[0]

Data[1]

0xFD

0x5B

0xAE

0x50

0x00

0x00

Send current status and most recent error code. Both are 0x00 as there is no error.

240

Detailed Command Description - ZIGBEE

12-1. ZIGBEE - Request Packet(0x1C)
Format
Item

Packet Size

pID

CMD

Data[0]

Value

7+1

0~0xFE

0x1C

Instruction

Request packet with commands related to conrolling the Zigbee module attached to DRC. Depending oh the instruction,
ZIGBEE is divided into 6 commands which perfom different function according to the Instruction.
There are 5 types (total 8 bytes) of Zigbee related registers in the Volatile register map, r(Zigbee PANID), r(Zigbee SADDR),
r(Zigbee DSTADDR), r(Zigbee ACKREQ), r(Zigbee BACKOFF). Each register corresponds to the property values saved in
the Zigbee module. Communication using Zigbee cannot be wired and wireless at the same time.
When Instruction is 0, Zigbee module property values are read to the Volatile register.
When Instruction is 1, Property values in Volatile register are replaced with property values in Zigbee module .
When Instruction is 2, Proerty values in Zigbee module are intialized to factory default values.
When Instruction is 3, Zigbee module is reset.
When Instruction is 4, Change to wired communication mode ( Using connection cable and COM PORT ).
Instruction is 5, Change to wireless communication mode (Wireless communication using Zigbee).

Example
Request packet to read Zigbee property values from DRC with r(ID) 253.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x1C

0xE8

0x16

0x00

Instruction is 0; reading property values from the module to the RAM.

241

Request packet to change the Zigbee module values to factory value from DRC with r(ID) 253.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x1C

0xEA

0x14

0x02

Instruction 2; Initialize Zigbee module property values to factory default.

Request packet to change the DRC with r(ID) 253 to wireless communication mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

0x08(8)

0xFD

0x1C

0xEC

0x12

0x05

Instruction 5; Change communication mode to wireless

12-2. ZIGBEE - ACK Packet(0x5C)

Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Data[2]

Value

7+3

r(ID)

0x5C

Success

r(Status Error)

r(Error Codes[0])

ZIGBEE reply packet carries value of Success field in Data[0]. Success field in reply packet shows whether the command
sent by the request packet was successfully carried out. Success value is 1 when the Zigbee coomand was successful,
value is 0 if the command failed due to communication error or because Zigbee module was not installed. r(Status Error)
& r(Error Codes[0]) values are included in the Optional Data. As Optional Data size is fixed at 3 bytes, total Packet Size is
10 bytes. pID conatins the r(ID) of the replying DRC, CMD becomes 0x5C by applying 0x40 Bitwise OR operation to the
Request Packet CMD 0x1C.

Reply Condition
CON_CHECK reply is sent when r(ACK Policy) is 1(Reply to only Read command), 2(Reply to all packets).Exception to this
rule is when pID of the request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet to read Zigbee prperty values from DRC with r(ID) 253 (Zibee installed).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

0x0A(10)

0xFD

0x5C

0xAA

0x54

0x01

0x00

0x00

Success value is 1 since Zigbee was installed and communication was successful.

242

Example
Reply to request packet to initialize Zigbee to factory defalut values from DRC with r(ID) 253 (Zigbee installed).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

0x0A(10)

0xFD

0x5C

0xAA

0x54

0x01

0x00

0x00

Zigbee initialized to factory default values, Success value is 1.

Reply to request packe to change DRC with r(ID) 253 to wireless mode (Zigbee not installed).
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

0x0A(10)

0xFD

0x5C

0xAA

0x54

0x00

0x00

0x00

Mode change failed since Zigbee is not installed. Success value is 0.

243

Detailed Command Description - REMOCON

13-1. REMOCON - Request Packet(0x1D)
Format
Item

Packet Size

pID

CMD

Data[0]

Data[1]

Data[2]

Value

7+3

0~0xFE

0x1D

Channel

Length

Data

IR remote control can be used to send control commands when IR receiver is attached to DRC. However, when IR remote
control is not available or when in wireless communication mode using Zigbee, request packet with REMOCON command
can be used control the DRC. Remote control Channel(0x61~0x6A) goes in Data[0], remote control button press Length
(0~240, 1= 125ms) in Data [1], and remote control button key data in Data[2]. When DRC receives remote control value,
Channel is compared with r(Remocon Channel). If they are found to match, r(Remocon Length) & r(Remocon Data) values
are changed to Length & Data for 250ms. r(Remocon Length) & r(Remocon Data) values are changed back to 0 & 254
after 250ms. When using REMOCON request packet, it is recommended to increase the Length value by 1 every 125ms.

Example
Request packet notifying all DRC(Broadcasting) button 0x21 using channel 0x61has been presse for 1s
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

Data[2]

0x0A(10)

0xFE

0x1D

0xA0

0x5E

0x61

0x08

0x21

pID is 0xFE since packet is being sent to all DRCs. Since channel is 0x61, Data[0] value is 0x61.Since 1unit=125ms, 1s = 8
units. Data[1] has value of 8 and Data [2] has remote control key value of 0x21.

13-2. REMOCON - ACK Packet(0x1D)

REMOCON command does not have reply packet.

244

Detailed Command Description - SERVO_FW_UPDATE

14-1. SERVO_FW_UPDATE - Request Packet(0x1E)
Format
Item

Packet Size

pID

CMD

Value

0~0xFE

0x1Z

Request packed used to update the servo (Firmware) connected to DRC. Since servo firmware update rquires special
protocol, SERVO_FW_UPDATE request packet has to be sent to enter special update mode. While in special update mode,
there is no communication between the PC and the DRC and unit behaves as if PC and the servos are connected directly.

Example
Request packet to change the DRS with r(ID) 253 to servo firmware update mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

0x09(9)

0xFD

0x1E

0xE4

0x1A

14-2. SERVO_FW_UPDATE - ACK Packet(0x5E)

Format
Item
Value

Packet Size

pID

CMD

Data[0]

Data[1]

7+2

0x5E

r(Status Error)

r(Error Codes[0])

0xA0

r(ID)

Send reply packet with r(Status Error) & r(Error Codes[0]) values included. With Optional Data length fixed at 2 bytes, total Packet size is fixed at 9 bytes.
pID contains the r(ID) of the replying DRC, CMD becomes 0x5E by applying 0x40 Bitwise OR operation to the Request Packet CMD 0x1E.

Reply Condition
SERVO_FW_UPDATE reply is sent when r(ACK Policy) is 2(Reply to all packets).Exception to this rule is when pID of the
request packet is 254(Broadcasting ID), in which case reply is not sent.

Example
Reply to request packet to change the DRS with r(ID) 253 to servo firmware update mode.
Item
Value

Header
0xFF

0xFF

Packet
Size

pID

CMD

CS1

CS2

Data[0]

Data[1]

0x09(9)

0xFD

0x5E

0xAA

0x54

0x00

0x00

Send current status and most recent error code. Both are 0x00 as there is no error.

245

PART
Apendix

DRC Register & Protocol

Appendix

ADC Lookup PART

Table - Voltage
ADC

246

Decimal

HEX

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F

VIN

0.000
0.074
0.148
0.221
0.295
0.369
0.443
0.516
0.590
0.664
0.738
0.812
0.885
0.959
1.033
1.107
1.181
1.254
1.328
1.402
1.476
1.549
1.623
1.697
1.771
1.845
1.918
1.992
2.066
2.140
2.214
2.287
2.361
2.435
2.509
2.582
2.656
2.730
2.804
2.878
2.951
3.025
3.099
3.173
3.247
3.320
3.394
3.468
3.542
3.615
3.689
3.763
3.837
3.911
3.984
4.058
4.132
4.206
4.280
4.353
4.427
4.501
4.575
4.648

ADC

Decimal

HEX

64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127

40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F

PART

VIN

4.722
4.796
4.870
4.944
5.017
5.091
5.165
5.239
5.313
5.386
5.460
5.534
5.608
5.681
5.755
5.829
5.903
5.977
6.050
6.124
6.198
6.272
6.345
6.419
6.493
6.567
6.641
6.714
6.788
6.862
6.936
7.010
7.083
7.157
7.231
7.305
7.378
7.452
7.526
7.600
7.674
7.747
7.821
7.895
7.969
8.043
8.116
8.190
8.264
8.338
8.411
8.485
8.559
8.633
8.707
8.780
8.854
8.928
9.002
9.076
9.149
9.223
9.297
9.371

ADC
Decimal

HEX

128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191

80
81
82
83
84
85
86
87
88
89
8A
8B
8C
8D
8E
8F
90
91
92
93
94
95
96
97
98
99
9A
9B
9C
9D
9E
9F
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
AA
AB
AC
AD
AE
AF
B0
B1
B2
B3
B4
B5
B6
B7
B8
B9
BA
BB
BC
BD
BE
BF

VIN

9.444
9.518
9.592
9.666
9.740
9.813
9.887
9.961
10.035
10.109
10.182
10.256
10.330
10.404
10.477
10.551
10.625
10.699
10.773
10.846
10.920
10.994
11.068
11.141
11.215
11.289
11.363
11.437
11.510
11.584
11.658
11.732
11.806
11.879
11.953
12.027
12.101
12.174
12.248
12.322
12.396
12.470
12.543
12.617
12.691
12.765
12.839
12.912
12.986
13.060
13.134
13.207
13.281
13.355
13.429
13.503
13.576
13.650
13.724
13.798
13.872
13.945
14.019
14.093

ADC
Decimal

HEX

192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255

C0
C1
C2
C3
C4
C5
C6
C7
C8
C9
CA
CB
CC
CD
CE
CF
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
DA
DB
DC
DD
DE
DF
E0
E1
E2
E3
E4
E5
E6
E7
E8
E9
EA
EB
EC
ED
EE
EF
F0
F1
F2
F3
F4
F5
F6
F7
F8
F9
FA
FB
FC
FD
FE
FF

VIN

14.167
14.240
14.314
14.388
14.462
14.536
14.609
14.683
14.757
14.831
14.905
14.978
15.052
15.126
15.200
15.273
15.347
15.421
15.495
15.569
15.642
15.716
15.790
15.864
15.938
16.011
16.085
16.159
16.233
16.306
16.380
16.454
16.528
16.602
16.675
16.749
16.823
16.897
16.970
17.044
17.118
17.192
17.266
17.339
17.413
17.487
17.561
17.635
17.708
17.782
17.856
17.930
18.003
18.077
18.151
18.225
18.299
18.372
18.446
18.520
18.594
18.668
18.741
18.815

ADC Lookup Table - Temperature

ADC
Decimal

HEX

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F

63

3F

VIN

ADC
Decimal

HEX

-80.57
-72.89
-64.26
-58.84
-54.80
-51.55
-48.81
-46.43
-44.32
-42.41
-40.68
-39.08
-37.59
-36.20
-34.89
-33.66
-32.49
-31.37
-30.31
-29.29
-28.31
-27.36
-26.45
-25.57
-24.72
-23.89
-23.09
-22.31
-21.54
-20.80
-20.08
-19.37
-18.68
-18.00
-17.34
-16.69
-16.05
-15.42
-14.81
-14.20
-13.61
-13.02
-12.45
-11.88
-11.32
-10.76
-10.22
-9.68
-9.15
-8.62
-8.10
-7.59
-7.08
-6.58
-6.08
-5.59
-5.10
-4.62
-4.14
-3.66
-3.19
-2.72
-2.26
-1.80

64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127

40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F

4.648

127

7F

VIN

ADC
Decimal

HEX

-1.34
-0.89
-0.44
0.01
0.46
0.90
1.34
1.78
2.21
2.64
3.07
3.50
3.93
4.35
4.77
5.19
5.61
6.03
6.45
6.86
7.27
7.68
8.09
8.50
8.91
9.32
9.72
10.13
10.53
10.94
11.34
11.74
12.14
12.55
12.95
13.35
13.75
14.15
14.54
14.94
15.34
15.74
16.14
16.54
16.94
17.34
17.74
18.13
18.53
18.93
19.33
19.73
20.13
20.54
20.94
21.34
21.74
22.15
22.55
22.96
23.36
23.77
24.18
24.59

128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191

80
81
82
83
84
85
86
87
88
89
8A
8B
8C
8D
8E
8F
90
91
92
93
94
95
96
97
98
99
9A
9B
9C
9D
9E
9F
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
AA
AB
AC
AD
AE
AF
B0
B1
B2
B3
B4
B5
B6
B7
B8
B9
BA
BB
BC
BD
BE
BF

9.371

191

BF

VIN

ADC

VIN

Decimal

HEX

25.00
25.41
25.82
26.24
26.65
27.07
27.49
27.91
28.33
28.75
29.18
29.60
30.03
30.46
30.89
31.32
31.76
32.20
32.64
33.08
33.52
33.97
34.42
34.87
35.33
35.78
36.24
36.71
37.17
37.64
38.11
38.59
39.07
39.55
40.04
40.53
41.02
41.52
42.02
42.52
43.03
43.55
44.07
44.59
45.12
45.65
46.19
46.74
47.29
47.84
48.40
48.97
49.54
50.12
50.71
51.30
51.90
52.51
53.13
53.75
54.38
55.02
55.67
56.33

192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255

C0
C1
C2
C3
C4
C5
C6
C7
C8
C9
CA
CB
CC
CD
CE
CF
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
DA
DB
DC
DD
DE
DF
E0
E1
E2
E3
E4
E5
E6
E7
E8
E9
EA
EB
EC
ED
EE
EF
F0
F1
F2
F3
F4
F5
F6
F7
F8
F9
FA
FB
FC
FD
FE
FF

56.99
57.67
58.36
59.05
59.76
60.48
61.21
61.96
62.71
63.48
64.27
65.06
65.88
66.71
67.55
68.41
69.29
70.19
71.11
72.05
73.01
74.00
75.01
76.04
77.10
78.19
79.31
80.46
81.65
82.87
84.13
85.44
86.78
88.17
89.62
91.12
92.67
94.29
95.98
97.75
99.59
101.53
103.57
105.71
107.98
110.38
112.93
115.65
118.57
121.72
125.12
128.83
132.89
137.38
142.40
148.06
154.56
162.13
171.18
182.34
196.72
216.58
247.46
310.08

14.093

255

FF

18.815

247

Error Code Detailed Description

Status Error Flag
Exceed Input Voltage limit
Exceed Temperature limit
Servo Missing
EEP REG distorted

Servo Status Error

Invalid Packet

248

Error Code

Description

0x01
0x02
0x03
0x11
0x12
0x21
0x22
0x23
0x31
0x32
0x33
0x34
0x41
0x42
0x43
0x44
0x45
0x46
0x47
0x51
0x52
0x53
0x54
0x55
0x56
0x57
0x58
0x59
0x5A
0x61
0x62
0x63
0x64
0x65
0x66
0x67
0x68
0x69
0x71
0x72
0x73
0x74
0x75
0x76
0x77
0x78
0x79

Voltage too low

Voltage too high
Temperature too high
No reply from servo while reading servo register during self check mode.
No reply from servo while reading servo register during Task execution.
Wrong model name in EEPROM
Wrong EEPROM ID
EEPROM data corrupt
Servo status error
DRT-HWW1 status error
Too many servos connected to DRC
DRC-004T0 status error
Zigbee Ack not received properly or Noise interference received
Check Sum Error in Zigbee Ack
Unknown Command in Zigbee Ack
Received Zigbee Ack but ID is not 0xFC
Packet size received in Zigbee Ack too large
Packet size received in Zigbee Ack incompatiable with command
Zigbee Ack not received
Packet received in Zigbee Ack incomplete or Noise interference received
Check Sum Error in Servo Ack
Unknown Command in Servo Ack
Invalid ID packet received in Servo Ack
DRT-HWW1 related command received from Servo Ack but ID is not 0XFB
Packet size received in Servo Ack too large
Packet size received in Servo Ack incompatiable with command
UART Buffer receiving packet in Servo Ack is full
Buffer for saving packet to be sent to Servo is full
SDRC-004TO related command received from Servo Ack but ID is not 0XFA
Packet received by PC incomplete or Noise interference received
Check Sum Error in packet received by PC
Unkown Command in packet received by PC
Invalid ID packet received by PC
DRT-004TO related command received from PC packet but ID is not 0XFB
Packet size received by PC too large
Packet size received by PC incompatiable with command
UART Buffer receiving packet by PC is full
DRC-004TO related command received from PC packet but ID is not 0XFA
EEP/RAM WRITE/READ command beyond register range
Incorrect value used in RAM_WRITE
Incorrect value used in RAM_WRITE Status
Incorrect ID in CON_CHECK packet
Incorrect motion number in PLAY_MOTION
Incorrect instruction in PLAY_TASK
Incorrect Channel or Length in REMOCON
Incorrect instruction in ZIGBEE
Incorrect buzzer number in PLAY_BUZZ

Error Code Detailed Description

Status Error Flag

Flash Data Distorted

Error Code

Description

0x81

Trying to run non existing Motion

0x82

Problem with Motion data

0x83

Number of axis in Motion data different than actual number of axis

0x84

Frame with negative time to next frame

0x85

Too many Repeat commands stacked (Maximum 3)

0x91

Problem with Task data

0x92

Error while performing arithmetic operation

0x93

Program stack overflow

0x94

Incorrect register address while loading MPSU RAM

0x95

Incorrect register length while loading MPSU RAM

0x96

Incorrect register address while loading Servo RAM

0x97

Incorrect register length while loading Servo RAM

0x98

Incorrect ID while loading Servo RAM

0x99

Incorrect register length while reading MPSU RAM

0x9A

Incorrect register length while reading Servo RAM

0x9B

Incorrect ID while reading Servo RAM

0xA1

Value in Motion command beyond range

0xA2

Value in Motion Ready beyond range

0xA3

Value in Servo control command beyond range

0xA4

Head LED command value out of range

0xA5

Value in DRC LED command beyond range

0xA6

Vlaue in Buzzer melody command beyond range

0xA7

Value in Buzzer note command beyond range

0xB1

Trying to run non existing head LED

0xB2

Trying to play non existing Buzzer

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Apendix

Useful Info
Troubleshooting
PART

Firmware Update
Example Explanation

PART

0 1 Help > Firmware Updae

Update controller firmware through DR-Visual
Logic.
With the controller connected to the PC.
Help > Click firmware update.

Click

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Apendix

Calibration (0 Point Adjustment)

PART
PART

Checks robot to see if it was assembled correctly/exactly and makes adjustment if necessary. If the robot was not
assembled correctly, it may cause error or unwanted movement.
Click Robot Control in DR-SIM to adjust the position of the robot motors.

0 1 Connect
Connect to robot.
Click Connect.

Click

Click
0 2 Robot Control
Turn on power.
Click Torque On.
Calibration is done in Robot Control.
Click Robot Control.

Click

0 3 Posture Adjustment

Click

Robot control window is divided into motion

download and posture adjustment.
Click Posture Adjustment

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Apendix

PART

PART

Clicking Posture Adjustment will show current calibrantion values.

Compare with the actual robot and adjust the calibration values.
Calibration value range is from -128 ~ 127. Use the Up/Down button to change the values and notice the actual robot making
slight movements.

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Apendix

PART
PART

Check the robot to view the adjustments being made and click Apply when the correct setting is achieved.
Press Apply to save the adjustment to the robot. Robot will show adjusted values when connected.

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Checks robot to see if it was assembled correctly/exactly and makes adjustment if necessary. If the robot was not
assembled
PA RT correctly, it may cause error or unwanted movement.
Click
Robot Control in DR-SIM to adjust the position of the robot motors.
Apendix

PART
01

PART

Click Robot Control > Posture Adjustment button.

When the posture adjustment window opens up,
lift up the robot and check the assembly.

02
View the robot directely from the front and adjust
the leg balance.
* Square boxes apply to 18 axis and 20 axis robots.

<Before>

254

<After>

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Useful Info

03
Make adjustments so that both feet are flat on the
ground.

Apendix

PART
PART

04
View the robot from the side and adjust the vertical
angle.

<Before>

<After>

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05
View the robot from the top and adjust the arms
to form straight line.

Apendix

PART

PART

06
Adjust the waist and head for 20 Axis robot.

07
Make further necessary adjustments and end the
calibration.

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Apendix

Useful Info
Changing the Motor ID
PART
PART

Since DRC identifies each motor by the motor ID number, it is important to place each motor in correct position according to
the ID when assembling the robot. However, if the motor was incorrectly positioned or if the robot is being reassembled from
16 axis to 18 or 20 axis robot, motor ID change will be necessary.
Make sure to change the motor ID prior to reassembling the robot from 16 axis to 18 or 20 axis.
Follow the steps below to change the motor ID if the motors were positioned incorrectly during the assembly.
ex) Position of the motors ID 9 and 10 were switched.
ID 9 ID100 (Motor ID 20 to 254 are spare ID.)
ID 10 ID 9
ID 100 ID 10

Example shown below uses HerkuleX Manager program to change the motor ID 253 to ID 15.
(HerkuleX Manager prgogram can be downloaded from Dongbu Robot website.)
http://www.dongburobot.com/jsp/cms/view.jsp?code=100122

01

Click

ID

Connect the motor to the controller (DRC) and run

the HerkuleX Manager program. Setup the COM
Port and click Connect button.

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Apendix

Useful Info

02

ID
PART

Motor connected to the controller (DRC) shows

up in the left window when Connect button is
clicked. Click [ID: 253] DRS-0101 to change the
motor ID 253 to 15. Next, click on basic properties and then use the scroll bar to position the
ID&Policy window so that it becomes visible.

PART

03
Enter desired value in Servo ID ( value is 15 in this
example ) and then click Setup. Motor ID scan will
run automatically when Setup is clicked.

04

2
1

ID scan will show that Motor ID has changed from

253 to 15. As the last step, click [ID: 015]DRS-0101
and then click Save button to save the changed
motor ID. (Changed motor ID shown by the ID
Scan is from the changed RAM Register value
which looses its data when power is turned off.
Clicking the Save button will save the changed
Motor ID in EEP Register which retains data even
when the power is turned off.)

05
Disconnect and reconnect power on motor. Then
run ID SCAN through HerkuleX Manager to varify
the ID of motor.

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Apendix

PART
PART

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Useful Info

Apendix

PART

PART

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Useful Info

Apendix

PART
PART

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