Hero-2000 Robot Specs
ET-19
Central Procesor Unit
Main Processor
Type 8088
Clock Rate 5 Mhz
Wait States Memory=0; I/O=1
On Board Memory:
ROM 64K (Monitor and Basic)
RAM 24K
Interrupts:
Controller 8259A
System 8 Level Priority Vector
NMI Yes
Timer:
Programmable 8253-5
Motor Control:
Controller 8042 UPI
Clock Rate 12 Mhz
Wait States 1 at 5Mhz bus speed
Channels 3
Mode Pulse Width Modulation
Voltage 12V DC
Current 8A Max/Motor
Speed Regulation Yes
Position Seeking Yes
Self Initializing Yes
Position Tracking Yes
Input/Output
Senses:
Sound 255 Levels
Temperature +60F to +90F
Light 255 Levels at 24 bearings, 15 Degrees apart
Voltage Reads relative battery conditions
Serial Ports:
Number 2 DCE, RS232C
Type 2661-2
Baud Rate 40;50;75;110;134.5;150;300;600;1200;
1800;2000;2400;4800;9600;19,200;38,400
Stop Bits 1
Parity None
Handshake RTS (Positive or Negative)
Cassette Port:
Baud Rate 300
Frequency 2400/1200 Hz
Audio Output 500mV (P-P)
Input Sensitivity 500mV RMS
Motor Control 20V DC Maximum
RTC, Keypad and Display Processor
Type 8042 UPI
Speed 6Mhz
Keypad 17 Keys
Display Six 7 segment LEDs
Functions Time, day, date, day of week, leap year, sleep time,
daylight savings
Status 8 programable; charge; power; float; low battery; voice;
cassette;
RF transmit; and RF receive
Sleep 1-65,536 minutes
Communications Processor
Type 8042 UPI
Speed 12 Mhz
Functions RF link control
Sonar Processor
Type 8042 UPI
Speed 12 Mhz
Transducers 2
Bearings 24 bearings, 15 Degrees apart
Range 4 inches to 10.5 Feet
Resolution .5 inch
Voice
Type SSI 263A
Programming Text to Speech, phoneme, and sound effects
Duration Four Settings
Speech Rates 16
Inflections 4096 levels instantaneously; 32 in the transitoned
mode at 8 rates
Amplitude 16 levels
Articulation 8 rates
Vocal track 250+ settings
Power Supply
Battery:
Voltage 12V
Capacity 14 Ahr
Charge Voltage Dual mode 13.8/14.5 V
Charge Rate 5A
Charge Time 7 hours
Operating time 4-6 hours typical
Power Supply Ratings:
+5V 10A max
+24V 100mA max
+12V 1A max
+5V (sleep) 1A max
Low voltage Dector Interrupt
Full Charge Dector Indicator
Charge Dector Polled
Sleep Control Shuts down main supply
Charger:
Output voltage +19.2 VDC min
Output Current 5A
Input Voltage 105-135 VAC
Automatic Docking Optional docking package
Mechnical:
Base:
Maximum Speed 3feet/sec
Resoluton .1 inches
Torso Rotate Speed 3 rpm
Torso Travel -165 degrees to +180 degrees
Weight (with Arm) 78lbs / 35kg
Weight (without Arm) 68lbs / 31kg
Dimensions 16.5W x 22.5L x 32.4H (inches)
41.9W x 57.2L x 82.3H (cm)
Arm (Optional)
Payload 1lb
Arm Travel:
Arm 0 to 120 degrees
Elbow 0 to 180 degrees
Wrist Pivot -179 to +180 degrees
Position Sensing 10 steps
Gripper:
Closing Force 3.75lbs max
Opening 4.375 inches max
Force Sensing Closing 9 steps
Opening 7 steps
Arm Motor Controller:
Controller 8042 UPI
Clock Rate 12 Mhz
Wait States 1 at 5Mhz bus speed
Channels 5
Mode Pulse Width Modulation
Voltage 12V DC
Current 8A Max/Motor
Speed Regulation Yes
Position Seeking Yes
Self Initializing Yes
Position Tracking Yes
Remote Console:
Terminal Mode:
Operation Full Duplex
Baud Rate 110 (2 stops); 300 or 600 (1 stops)
Auto Repeat Approximately 7 characters per second
Auto Scroll Approximately 1-8 seconds delay between lines (selectable)
Protocol XON/XOFF (Ctrl-S/Ctrl-Q)
Link Mode:
Operation Links external device over RF link
Baud Rate 110 (2 stops); 300 or 600 (1 stops)
Echo Selectable
Protocol XON/XOFF (Ctrl-S/Ctrl-Q)
Remote Mode:
Operation Terminal or teach pendant of the robot
Range 100 feet line-of-sight minimum
Frequency 75Mhz Band
Transmission Rate 33 Charactors per second
Protocol Robot must receive permission to transmit to insure
remote is ready.
If a line is received on either end with non-zero checksum,
no ack is
sent, causing the line to be retransmitted.
Mechinical
Keyboard 70 key ASCII
LCD Display 2 lines x 40 characters
Battery Life 4-6 hours from full charge
Chargeing time 15 hours if remote is not used
Size 16W x 6.375D x 2.5 H (inches)
40.6W x 16.2D x 6.4H (cm)
Weight 3.2 lbs