• Firmly attach EMYS to a fixed base (e.g. with two clamps to the table or to a FLASH robot with screws using holes in EMYS mounting bracket). If EMYS is not properly fastened, he may tip over and suffer damage during rapid movement.
  • Place EMYS in a stable position (head leaning forward or backward) or keep him manually in the desired positon (hold him by the middle disk but do not put your hand in between his disks).
  • Connect EMYS USB connector to master PC controller.
  • Connect EMYS power connector to a power supply. If you are using a different power supply than the one delivered with the robot, make sure you have proper voltage levels (10V-14,8V, recommended 12V) and polarization. Improper connection or voltage levels can cause permanent damage to the robot’s motors and controller.
  • After connecting the power supply, both eyes will return to its default position, shown in Fig. 1. If eyes were already in default position before connecting power supply, nothing will happen. After connecting the power supply, neck and disk motors will still not hold torque.

starting posFig. 1 Default eye position.

  • Before launching the robot, check if the cables are placed properly (EMYS main cable should be directed to the back of the robot and should not get into collision with any of EMYS' joints – especially neck pitch joint limiters, see Fig. 2) and there no obstacles around which may collide with robot.

cabling back
Fig. 2 Suggested routing of the main data/power cable.

  • The robot's joints will start holding torque after the control system has started or appropriate commands have been sent to the servomotors manually (see Starting robot).

 

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.1, 15.05.2017

FLASH Documentation