FAQs

1 Purchasing

1. How to buy InnoSTAR™ robotic kit?
   1. Please click here to find out distributors in your area. If no suitable information,please contact UPTECH robotics to know the distributor in your city or information about online shopping.
2. Can I buy what I want separately?
   1. Yes. Structural components, connection part, controller, actuators, sensors and accessories can be purchased separately. You can not only purchase recommended 3 kits (starter kit, standard kit and advanced kit) but also add or reduce parts on the basis of these versions so as not to pay for what you do not need.
3. How about the lead time?
   1. Typically we have stock program. In this case, we will deliver products via DHL or UPS in 4 work days when payment confirmed. For EU or North America, the shipping time will be 1~2 weeks.

2 Structure related

1. Whether does UP-InnoSTAR™ robot suite provide 3D model file?
   1. Yes, this product is provided with 3D model files of all the structure and connecting parts, with the IGES or STEP file format. It also provides 3D assembly model files of more than 10 kinds of typical configuration and samples. Its file format is eDrawings. These files are in the attached DVDROM.
2. What’s the material of structural component?
   1. All dark gray, light gray, white, orange structures have been made of enhanced engineering plastics (E-ABS).
3. Can each structural component be connected at arbitrary angle?
   1. No. The angle can only be added with 18 degree. For example, 18 degrees, 36 degrees, 90 degrees, and so on.
4. How to assemble these parts to robots?
   1. Before assembling, you’d better have a clear idea of the configuration you want to create. Advise you to block it out or use the provided 3D model file to create a virtual prototype in computer. These IGES/STEP files can be read by most of 3D CAD software.
5. How about the strength of structural components?
   1. All the structural components have taken strength into consideration. You can make use of 3D model in the DVDROM and conduct analysis through Cosmos Works finite element tool provided by ANSYS or SolidWorks, as illustrated in the below figure:

1. How about the connecting strength of each connection part?
   1. Each connection part is connected by ConnFLEX technology. Usually one connection includes two structural components, two connection parts, a screw and a nut.  Each connector’s torsional strength is 20Nm --- failing bending moment.
   2. If you need higher connecting strength, multi-connections can be used. Failing bending moment of typical double-connection (connection parts are LM3 and LX3) can be up to 60Nm. Under such large bending moment, the structural components rather than connection parts will fail or broken out.

3.3 Controller

1. What is the diagram of MultiFLEX-PXA270 controller?

1. What is the diagram of MultiFLEX-AVR controller?

1. What are the differenced between MultiFLEX2-AVR controller and MultiFLEX2-PXA270 controller? Which one should I choose?
   1. MultiFLEX2-AVR adopts AVR MCU as processor, including 8-bit RISC CPU, 16MHz clock frequency and AVR instruction set. MultiFLEX2-PXA270 uses Marvell PXA270 as processor, including 32-bit Xscale architecture CPU (approximately equivalent to ARM10 kernel), 520MHz core frequency and ARM instruction set.
   2. MultiFLEX2-AVR controller has lower prices, lower power consumption (<1W), lower MIPS, incompetent for image processing, voice processing, high-intensity computing demands.
   3. MultiFLEX2-AVR do not have a multi task operating system. After the program compiled into binary by NorthSTAR™, it can be downloaded to the controller directly through ISP (In-System Programming). So it has the advantages of highly real-time, strict timing and embedded compilation, which is suitable for motor control, PWM output, and other tasks requiring real-time and strict timing.
   4. MultiFLEX2-PXA270 controller has comparatively higher price, much higher MIPS, higher power consumption (~ 2W). PXA270 processor runs a modified Linux with a real-time patch, responsible for handling network communications, image/voice processing, USB devices and other high-intensity computing tasks. The NorthSTAR™ compile user program as Linux executables. Because of the Linux is not a true real-time OS, MultiFLEX2-PXA270 is not as good as MultiFLEX2-AVR in real-time though generally it has much powerful performance.
2. How to develop program running on MultiFLEX2 controller?
   1. Generally, there are two ways: If you are not familiar with the C programming language, you can use NorthSTAR™, using flow chart programming and debugging, compile, download in NorthSTAR™ environment; the user familiar with the C language and processor development can directly use editor, compiler and development tools such as the Source Insight, ICCAVR, GCC, ADS (Xscale) to develop directly. (You can also coding, compiling and debugging with NorthSTAR.)
   2. It must be noted that UPTECH robotics only provides support to NorthSTAR™ software. Any questions about other IDEs, please infer to their documents and supports.
3. Whether MultiFLEX2 controller provides source code?
   1. Yes, we provide lots of source codes except some business library files (not developed by us), which are licensed under GPL and should be used abiding by the rules of GPL.
4. What should I do if I damaged the firmware of controller in case?
   1. There is no such problem because MultiFLEX2-AVR controller has no firmware. AVR MCU programs are compiled by users and downloaded into controller.
   2. In NorthSTAR™ environment, from C language code area locating in the right screen, it can be seen that the first line of any program is a "background.h" document, which contains all the hardware initialization, function, statement, macros and so on (file located in the "X: \ Program Files \ UP-TECH \ NorthSTAR \ MultiFlex2AVR" folder). The user can open the document or quote the code of this document at will. It should be noted that these codes have been mandated by GPL, except the compiled libs.
   3. For MultiFLEX2-PXA270, controller firmware includes file system, BLOB, Linux kernel and some drivers. These are generally open source and some path of them can be found in head files of "Background.h" (it’s different from the above file of “background.h” and is located in "X: \ Program Files \ UP-TECH \ NorthSTAR \ MultiFlexNG" folder). If these things are lost or damaged during the developing process, please contact the after-sales service of UPTECH robotics to get support.
5. How to use the image recognition control provided by NorthSTAR™ software?
   1. Only MultiFLEX2-PXA270 supports this function.
   2. There is a simple image recognition widget in NorthSTAR™ flow chart environment, with the function of obtaining specific color regions from images obtained by USB camera. Color regions and the threshold can be set by the user. Color region’s centre coordinates can return to a set of variables. You can use this function to achieve simple image recognition. For example, you can make use of returned coordinate value to track a red table-tennis, or have control over a car following the yellow track rather than the green track.
   3. We will continuously launch more image recognition widgets, such as shape recognition and edge detection.
   4. Users can also write image recognition code on their own. Please contact UPTECH robotics to get technical support.
6. How to use the voice recognition control provided by NorthSTAR™ software?
   1. Only MultiFLEX2-PXA270 supports this function.
   2. You can input any Chinese words or phrase to a voice recognition widget, and the controller will listen to the microphone, and identify the corresponding Mandarin voice in accordance with the input text.
   3. For example, input "Hello", and the controller will be able to identify this phrase’s corresponding Mandarin pronunciation when it’s running, and return a value. Users can save this value to the variables, which is used to control some actuators.
   4. This function is non-specific speech recognition without the need of training before the use; therefore, the recognition rate is limited, and in a quiet environment it can reach about 90%.

3.4 CDS5500 servo

1. Why does the horn of CDS5500 servo seem easy to damage?
   1. As the key part connecting output shaft of actuator and structural components, the horn is designed as a comparatively weak point. Its maximum torque it can withstand is 25Kg.cm, which means about 150% of maximum output torque of CDS5500 servo. Thus, the failure of horn refers to too much overloading of the servo. It’s failure can prevent the servo from serious damage.
2. CDS5500 can feedback location, speed, load, etc. How do I use this function?
   1. CDS5500 servo of each joint of a joint-type robot can feedback its position, which can be used for teaching. For example:
      1. Place the robot’s joints to the right angle and position and then open NorthSTAR software to record its current posture.
      2. Move the joints to another position and record this posture by NorthSTAR software again;
      3. Repeat the above actions and play these recorded postures by NorthSTAR software.
      4. The robot will execute all the recorded posture in sequence.
      5. In addition, the feedback function can also be used to limit joint’ position and restrict the output torque to protect servo from damaging and avoid accidents.
3. What’s the maximum current of CDS5500 servo? How to use it safely?
   1. While working, the current is typically about 400-700mA;
   2. When it starts or stalls, the current can reach 2000-3000mA. So when it stalls more than 4 seconds, the motor output will automatically shutdown for self-protection.
   3. Although with the function of self-protection, if temporary stalling takes place frequently during a short period of time, this function may not be able to come into effect and lead to overheating, eventually resulting in damage to servo.
   4. If there has been frequent damage to horn, please pay attention to whether the design is reasonable and whether the related servo has withstood load much more than rating value。
   5. Try to avoid rotating the output shaft with hands quickly and violently, which will cause damage to gears and shafts. It should be operated smoothly and gently.

3.5 Service and maintenance

• How to get free warranty and service?
1. You should inform our technical service personnel by phone or email of the damage situation. After analysis, you will be notified how to handle the situation------repair, replacement or solving it under their guidance.
• What should be done if I lose some important structural components?
1. If only a small amount is lost or damaged, you can contact us. We will send the new structural components to you free of charge.
2. You can also purchase them from our company or from the online distributors authorized by our company. You can buy them separately or in bulk.
• The lasting time of battery is shorter and shorter though it has been fully charged.
• It’s likely caused by using it improperly or the expiring of battery life. Please substitute a new battery pack for the old ones.