To view EMYS controller debug port, open Device Manager device list and chect the EMYS debug port name (COMX).

port nameFig. 1 Device Manager.

Next, download PuTTY (LINK) application on your PC. Open PuTTY and choose Serial connection (see Fig. 1). Set the following serial parameters:

  • Serial line - set the Robot EMYS MKII port name,
  • Speed - set the baudrate from the 9600-115200 range (115200 recomended),

and click Open (see Fig. 2).

puttyFig. 2 PuTTY serial connection settings.

Now you should see a black screen, click the numbers from 0 to 5 to change controller screen. See details below.

  1. MOVEMENT CONTROL SCREEN

    • ID - ID number,
    • ERR - error code (in error state),
    • MOV - 1 if movement is in progress, 0 when in position,
    • SPEED - moving speed (if set to 0, the maximum rpm of the motor is used without controlling the speed),
    • GOAL_POS - goal position value,
    • CUR_POS - current position value,
    • CUR_SPE - current speed value (not applicable for joints driven by RC servos),
    • CW_LIMIT - minimum allowable position value (angle),
    • CCW_LIMIT - maximum allowable position value (angle),
    • OFFSET - adjusts position (zeroing). This value is included in Present Position.

      movement screen

  2. TORQUE CONTROL SCREEN
    • ID - ID number,
    • ERR - error code (in error state),
    • TORQ - generates torque by applying more power to the motor,
    • CURRENT - currently applied load,
    • CURR_THR - overload threshold value,
    • CURR_TIM - time before shutdown in overload state (1 - 100ms),
    • CTRL_TOUT - control timeout, if no new goal position is received after this time, the controller disables the drive (1 - 100ms),
    • CTRL_TIME - current control timeout value,
    • P - proportional term for the controller (only for translation joints),
    • D - derivative term for the controller (only for translation joints),
    • I - integral term for the controller (only for translation joints).

      torque screen

  3. TRANSLATION DRIVE SCREEN
    • ID - ID number,
    • ERR - error code (in error state),
    • LIMIT_SW - limit switch state, should be 1 when eye is fully retracted,
    • INT_POSITION - internal motor position.

      trans screen

  4. TOUCH SENSORS SCREEN
    • ID - ID number,
    • TOUCHED - 1 if any touch is detected (value if above HIGH_TRESH), 0 if value is under LOW_TRESH,
    • VALUE - touch sensor value,
    • LOW_TRESH - lower threshold value (touch detection hysteresis),
    • HIGH_TRESH - high threshold value (touch detection hysteresis),
    • OFFSET - touch sensor value offset (VALUE = internal_value - OFFSET).

      touch screen

  5. COMMUNICATION SCREEN
      • ID - ID number,
      • ERRerror code (in error state)
      • RET_LEV - decides how to return the Status Packet 
        • 0 - never return (except PING Command),
        • 1 - return only for the READ command,
        • 2 - return for all commands,
      • RET_DEL - delay time per data value between the transmission of Instruction Packet and the return of Status Packet (1 - 2us),ion
    BAUD
      - baud rate for communication with the controller (SAME FOR EACH ID),
      • 1 - 1 MBPS,
      • 7 - 250 kBPS,
      • 9 - 200 kBPS,
      • 16 - 11520 BPS,
      • 34 - 57600 BPS,
      • 103 - 19200 BPS,
      • 207 - 9600 BPS.communication screen

If errors occur in any joint you will see the following information on every screen and this joint will change color to red.

Possible errors:

  • 0x10000000 - eye translation positioning error occured (directly after the robot is turned ON),
  • 0x00100000 - overcurrent occured,
  • 0x00000010 - set position is not between CW Angle Limit and CCW Angle Limit.

error screen

 

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.8.0, 27.04.2016

FLASH Documentation