User Manual 2020.08 v1.
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Using this User Manual Legends Warning Important Hints and Tips Reference Before Use The following tutorials and manuals have been produced to ensure you make full use of your ROBOMASTERTM EP Core. 1. Safety Guidelines and Disclaimer 2. Quick Start Guide 3. User Manual Check to make sure all parts are included and prepare for assembly by reading the RoboMaster EP Core Quick Start Guide. Refer to this user manual for more information.
Contents Using this User Manual Legends 3 Before Use 3 Watching the Video Tutorials 3 Referring to the RoboMaster EP Core Programming Manual 3 Using an SDK 3 Contents 4 Product Profile 6 Introduction 6 Robot Diagram 6 Overview 7 Preparing 7 Modules and Functions 4 3 16 Using the RoboMaster App 16 Omnidirectional Chassis 20 Intelligent Controller 23 Camera 24 Speaker 24 Intelligent Battery 25 Robot LED Indicator Description 28 Servo 29 Robotic Arm and Gripper 30 Po
ROBOMASTER EP Core User Manual Operating Your Robot 48 Checking Before Use 48 Powering on the Battery 48 Operating the Robot Using a Mobile Device 48 Gameplay 51 Operating the Robot Using a Gamepad 51 Using a Computer and RoboMaster 52 Lab 53 Appendix 57 Specifications 57 Firmware Update 60 Calibrating the Robot 61 Setting the PWM Ports 61 Using the S-Bus Port 62 Programming Customizable UI 64 © 2020 DJI All Rights Reserved.
Product Profile Introduction The RoboMaster S1 Education Expansion Set Core (EP Core) is an all-in-one education solution for STEAM classrooms. It provides an official SDK that can be used with powerful mechanical accessories and interfaces to expand hardware possibilities.
ROBOMASTER EP Core User Manual 19 22 2 23 20 24 21 19. Motion Controller 20. Speaker 21. Chassis Rear Armor (built-in Hit Detector) 22. Rear Armor Release Button 23. Intelligent Battery 24. Battery Eject Button Overview RoboMaster EP Core uses an omnidirectional chassis and Mecanum wheels. The robot offers comprehensive control and an immersive driving experience thanks to the omnidirectional chassis, agile Mecanum wheels, and stable, low-latency image transmission in first-person view (FPV).
ROBOMASTER EP Core User Manual 2. Install the intelligent battery into the battery compartment. 3. Press and hold the power button to turn on the battery. 4. Close the chassis rear armor. 4 3 2 1 Downloading the RoboMaster App A. Search for the RoboMaster app in the App Store or on Google Play or scan the QR code to download the app on your mobile device. B. Users can also download the RoboMaster software for Windows or Mac from the official DJI website to control the robot with a keyboard and mouse.
ROBOMASTER EP Core User Manual Connecting the Robot to the RoboMaster App The robot must be connected to the RoboMaster app before use. Users can learn how to connect via Wi-Fi or via router on the Connection Mode page. Follow the prompts to connect to the app. Refer to the Connecting section for more information. Initializing the Robot with the App Activating the Robot After connecting, use your DJI account to activate the robot in the RoboMaster app. Activation requires an internet connection. 1.
ROBOMASTER EP Core User Manual Motor Addressing Motor addressing is required in the app before using for the first time. Follow the prompts to complete motor addressing. 1. Start Motor Addressing. 2. Lift the chassis and follow the prompts to rotate the Mecanum wheels in the order shown onscreen until all wheels have been rotated. 3. Tap 10 to test the Mecanum wheels one by one until all wheels have been tested. © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 4. Motor addressing completed. Motor addressing is required when a motor is replaced. Open the RoboMaster app, click Settings then System, and select Motor Addressing. Armor Addressing Armor addressing is required in the app when using the robot for the first time. Follow the prompts to complete armor addressing. 1. Start Armor Addressing. 2. Follow the prompts to tap on the armor plates in the order shown onscreen. © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 3. Armor addressing completed. Armor addressing is required when an armor module is replaced. Go to the RoboMaster app, click Settings, then System, and select Armor Addressing. Robotic Arm Installation The robotic arm must be installed in the app before using the robot for the first time. 1. Start Robotic Arm Installation. 2. Follow the prompts to connect the left servo and right servo in turn. 12 © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 3. Calibrate the robotic arm. Gripper Installation The gripper must be installed before using the robot for the first time. Servo Installation Make sure that the servos installed to the robot have different IDs and each ID ranges from 1 to 3. Otherwise, users must change the servo ID. Follow the prompts to complete servo installation. 1. Start Servo Installation. © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 2. Follow the prompts to connect the servos in turn. 3. Follow the prompts to select module numbers for the servos until each servo has its unique number. Servos can be connected in series. After removing the robotic arm, the two servos on the robotic arm can be controlled separately. Infrared Distance Sensor Installation Follow the prompts to complete infrared distance sensor installation.
ROBOMASTER EP Core User Manual 2. Follow the prompts to connect the infrared distance sensors in turn. 3. Follow the prompts to select module numbers for the infrared distance sensors until each sensor has its unique number. The robot supports the installation of multiple infrared distance sensors and users can select the ID accordingly. Sensor Adapter Installation The preset number for each sensor adapter is 1. Make sure that the sensor adapters installed on the robot have different IDs.
Modules and Functions Using the RoboMaster App With the dedicated RoboMaster app, users can access rich educational resources and several gameplay modes. The app can be used with a touchscreen or a gamepad and is available on iOS, Android, Windows, and Mac. Users on different platforms can even play together at the same time. Users can also write programs easily and apply them or share with friends instantly using the RoboMaster app. This section uses the RoboMaster app on iOS as an example.
ROBOMASTER EP Core User Manual 5. Connect The robot must be connected with the app. Tap to see a guide on how to connect via Wi-Fi or router. Connection via Wi-Fi Users can enter both Solo and Battle mode when connecting via Wi-Fi. Follow the steps below to connect: (1). Slide the mode switch on the intelligent controller to and power on the robot. (2).
ROBOMASTER EP Core User Manual Resetting the Password Users can enter both Solo and Battle mode when connecting via router. Follow the steps below to connect: (1). Slide the mode switch on the intelligent controller to and power on the robot. (2). Open the RoboMaster app, go to Wi-Fi settings on the mobile device, connect to a router, via Router and input the Wi-Fi password of the router to generate a QRConnection code.
ROBOMASTER EP Core User Manual b. Extension Module Users can install a robotic arm, gripper, servo, infrared distance sensor, or sensor adapter on the Extension Module screen. Users can also check the installation status of these modules. c. Connect Displays the connection status of the robot. When connected, users can also check the Channel Display, Wi-Fi Name, Wi-Fi Password, and also modify Wi-Fi information. d.
ROBOMASTER EP Core User Manual EP Core cannot use the blaster, gimbal, or their related functions in Solo, Battle, or Lab mode. It is recommended to connect the blaster or gimbal first. Omnidirectional Chassis Introduction The chassis is an omnidirectional motion platform based on the Mecanum wheels, which can be used to move forward, traverse, skew, rotate, or a combination of movements at once. Avoid crashing into any objects at high speed.
ROBOMASTER EP Core User Manual 2. Power Port Power port used for intelligent battery connection. Note that this interface contains the battery management system. Avoid unplugging the power port unless necessary. 3. M BUS Port Motor port used for motor connection. 4. CAN BUS Port A reserved port used for armor module connection. 5. Micro USB Port Supports connection and communication in SDK USB RNDIS. 6. UART Port UART port is an extension port, used for programming and supports SDK connection. 7.
ROBOMASTER EP Core User Manual Connect the black, orange, and red cables to the ports of the corresponding color. Make sure the motion controller is properly installed before use and the screws on the chassis rear cover are locked. After each reinstallation of the motion controller, calibrate the robot if prompted to do so in the RoboMaster app. Refer to the Calibrating the Robot section for more information.
ROBOMASTER EP Core User Manual Armor Modules A total of four armored modules are installed on the four sides of the chassis, which protect the internal structure of the robot. Each hit detector module is represented by an LED light and is visible under the armor module. Intelligent Controller The intelligent controller is integrated with multiple systems including a video transmission system, game system, and Scratch programming system.
ROBOMASTER EP Core User Manual 10. Connect Button The connect button functions differently when connecting via Wi-Fi or router. Connection to Wi-Fi: Once the Wi-Fi password is forgotten, press and hold this button for five seconds to reset the Wi-Fi password. Connection to Router: When scanning the QR code with the robot to join a network, press this button first. DO NOT pull on the antenna. If the intelligent controller antenna is damaged, the performance of the robot will be affected.
ROBOMASTER EP Core User Manual Intelligent Battery The intelligent battery has a capacity of 2400 mAh, a voltage of 10.8 V, and a variety of power management functions. LED2 LED3 LED1 LED4 1 2 1. Power Button 2. Battery Level Indicator Intelligent Battery Functions 1. Battery Level Display: LEDs display the current battery level. 2. Auto-Discharging Function: The battery automatically discharges to below 70% of total power when it is idle for more than 10 days to prevent swelling.
ROBOMASTER EP Core User Manual Charging the Intelligent Battery The battery charger is designed for charging batteries for the robot. Lift the battery charger cover and insert the intelligent battery. Connect the battery charger to a power outlet (100-240 V, 50/60 Hz). 2 1 100-240 V 50-60 Hz 3 Charging Time: Approx. 1 hour and 30 mins* * The charging time was tested in a lab environment using a new intelligent battery, and should be taken as a reference only.
ROBOMASTER EP Core User Manual Mounting the Intelligent Battery When in use, open the rear armor cover and insert the battery into the battery compartment. 3 2 1 Make sure the battery is securely installed. Otherwise, the battery may fall out or have insufficient contact, which can lead to loss of battery information. Make sure to press the battery eject button before removing the battery. Make sure the external metal terminals of the battery compartment do not become deformed.
ROBOMASTER EP Core User Manual Powering On/Off Press and hold the power button for more than two seconds to power on or off. Low-Temperature Notice 1. The performance of the intelligent battery is significantly reduced at temperatures below 5° C (41° F). Make sure that the battery is fully charged and the cell voltage is at 4.2 V before use. 2. In extremely cold weather, the battery temperature may not be high enough even after warming up. In these cases, insulate the battery as required. 3.
ROBOMASTER EP Core User Manual Servo Introduction As a propulsion driver for the robot, the servo supports customized control abilities through the programming interfaces of the robot. The servo ensures minimal gear backlash, high control accuracy, and large output torque. Other uses include powering the robotic arm and supporting the DC gear motor mode, which allows users to build lifting structures. The servo uses RS485 bus mode and is compatible with PWM mode.
ROBOMASTER EP Core User Manual When in use, DO NOT touch the servo to avoid injury. DO NOT hit the servo. Otherwise, it may reduce the service life of the servo or even lead to permanent damage. When the servo overload warning prompts appear in the app multiple times, stop the operation immediately and check the operation and the structure of the robotic arm or servo.
ROBOMASTER EP Core User Manual Power Connector Module Introduction A power connector module can connect and power third-party hardware, offering multiple ports to connect hardware and create custom programs and applications. 5 1 2 3 6 2 4 1. 12V Power Input Port The input voltage is 9.6-12.6 V. 2. CAN Bus Port Connect with CAN bus cable. 3. 5V/2A Power Output Port The output voltage is 5 V and supports a current output of up to 2 A. 4.
ROBOMASTER EP Core User Manual 2. Connect the power cable and a Y-cable. 3. After connecting a Y-cable to the motion controller as shown below, place the power cable on the chassis and pull the XT30 power cable of a Y-cable through the chassis middle frame to the chassis cabin. 4. As shown below, connect the A end of a 12cm data cable to the motion controller and pull the B end through the chassis middle frame to the chassis cabin. 12 cm 32 © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 5. As shown below, connect the XT30 power cable in the chassis cabin to the 12V power input port and the B end of the 12cm data cable to the CAN bus port of the power connector module. Secure the module at the chassis cabin. LED Indicator Description for Power Connector Module The LED indicator is used to indicate the status of the power connector module.
ROBOMASTER EP Core User Manual Infrared Distance Sensor (TOF) Introduction The infrared distance sensor calculates the distance between a sensor and an object by measuring the time it takes an infrared light to reach the object and return to the sensor. The infrared distance sensor consists of an illumination unit, optical receiver, and signal processing system. The illumination unit emits a beam of modulated near-infrared light.
ROBOMASTER EP Core User Manual Left side: 2. Use two M3-D screws to fix the TOF module to the left side of the extension platform, located above the chassis left armor. 3. As shown below, connect the TOF module with the power connector module with a 14cm data cable. 14 cm Right side: 4. Use two M3-D screws to fix the TOF module to the right side of the extension platform, located above the chassis right armor. © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 5. After removing the screws of the right armor, connect the TOF module with the right armor with a 12cm data cable. 12 cm Armor data cable 6. Arrange the data cable as shown below and remount the right armor. Front side: 7. Use two M3-D screws to fix the TOF module to the straight connecting rod. 36 © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual 8. Use two M3-C screws to fix the straight connecting rod to the front of the extension platform. 9. As shown below, connect the TOF module with the power connector module with a 14cm data cable. 14 cm Serial Protocol Instruction The infrared distance sensor supports CAN bus communication and plaintext serial protocol, enabling the sensor to be used on a third-party platform.
ROBOMASTER EP Core User Manual Communicate with the infrared distance sensor by sending a plaintext string via the serial.
ROBOMASTER EP Core User Manual Sensor Adapter Introduction The robot is equipped with four sensor adapters, with IDs set to 1 by default. Each sensor adapter has two sensor ports and provides a power supply, making it convenient to connect and power third-party sensors that measure inputs such as temperature, pressure, and distance. Sensory data can even be used in Scratch, unlocking endless programming possibilities. 3 2 1 4 1. CAN Bus Port Connect with CAN bus cable. 2.
ROBOMASTER EP Core User Manual 2. After removing the screws of the left armor and right armor, connect the respective sensor adapters with the armors using two 12cm data cables. 12 cm Sensor adapter data cable Armor data cable Armor data Sensor cable adapter data cable 3. Arrange the data cables as shown below and remount the armor. 4. Use eight M3-C screws to fix two sensor adapters to the specific positions of the front side of the extension platform as shown below.
ROBOMASTER EP Core User Manual 5. As shown below, connect the sensor adapter with the power connector module with two 14cm data cables. 14 cm LED Indicator for Sensor Adapter The LED indicator is used to indicate the status of the sensor adapter. Details are as follows: LED Indicator Sensor Adapter Status Solid white Working normally Blinks white rapidly The sensor adapter is under addressing or selected in the RoboMaster app © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual Straight Connecting Rod The straight connecting rod can be fixed to the chassis extension platform so that an infrared distance sensor or camera can be installed. Below shows the installation procedure for the camera. 1. Use two M3-C screws to fix the camera to the specific position of the straight connecting rod as shown below. 2. Use two M3-C screws to fix the straight connecting rod to the front of the chassis as shown below. 3.
ROBOMASTER EP Core User Manual Front Axle Extension Platform The front axle extension platform can be fixed to the front of the chassis so that a gripper or sensor can be installed. Below shows the installation procedure for the gripper. 1. Use four M3-C screws to fix the gripper to the specific position on the front axle extension platform as shown below. 2. Use four M3-C screws to fix the front axle extension platform to the front of the chassis as shown below.
ROBOMASTER EP Core User Manual Robot and Third-Party Platforms The robot is compatible with third-party platforms. Third-party platforms are powered by the power connector module and communicate with the robot using the SDK protocol. For more information, visit robomaster-dev.rtfd.io.
ROBOMASTER EP Core User Manual b) USB Connection The third-party platform Raspberry Pi TM connects with the power connector module and communicates with the robot via the USB port of the intelligent controller as shown below: The third-party platform Jetson Nano TM connects with the power connector module and communicates with the robot via the USB port of the intelligent controller as shown below: This product is not authorized, sponsored, or otherwise approved by the above brands, and the connection be
ROBOMASTER EP Core User Manual Gamepad (Not Included) Introduction By connecting to a mobile device running the RoboMaster app, users can control the robot and perform multiple tasks with the gamepad and app. Additionally, a mouse can be connected to the gamepad for more precision control of the robot. 1. Custom Skills Button 2. Control Stick 3. Mobile Device Clamp 4. Cooldown Button 5. Launch Button 6. Power Button 7. Charging Port (Micro USB) 8. Mobile Device Port (USB) 9. Mouse Port (USB) 10.
ROBOMASTER EP Core User Manual Firmware Update The firmware of the gamepad can be updated using the RoboMaster app. When there is a firmware update available, the RoboMaster app will send a prompt after the gamepad is connected. Follow the prompts to update the firmware. Make sure the mobile device is connected to the internet when downloading the firmware. Internet Status LED Description The status LED indicates the working status and current battery level of the gamepad.
Operating Your Robot Checking Before Use Check the following each time you use the robot: 1. Make sure the motion controller is properly installed, all cables are connected, and the screws on the chassis rear cover are tightened. 2. Make sure the intelligent controller, camera, and speaker are connected. 3. Make sure the microSD card is inserted. 4. Make sure the intelligent battery is fully charged and properly inserted. 5. For optimal Wi-Fi connection, set the intelligent controller antennas at 90°.
ROBOMASTER EP Core User Manual 1 2 3 4 5 6 17 7 8 16 9 15 14 13 12 11 10 1. Back button: Tap to return to the home page. 2. Solo mode games button: Tap to enter Target Practice or Target Race. 3. Connection status button: Tap to see how to connect the Robot and the app. 4. Settings button: Tap to enter the Settings page. 5. Robotic arm control slider: Tap to lift or lower the robotic arm. 6. Intercom button: Tap to record and play an audio. 7.
ROBOMASTER EP Core User Manual Operating the Robot The camera view is mainly used to control the chassis, robotic arm, gripper of the robot. Controlling the Chassis Tap the chassis control button to move the robot forward, backward, or sideward. 前 Forward Left 左 Right 右 Backward 后 Controlling the Robotic Arm Tap the robotic arm button to switch to the robot FPV interface. The robotic arm control sliders can be used to lift or lower and fold or unfold the robotic arm.
Gameplay Operating the Robot Using a Gamepad Introduction Users can connect the Gamepad to a mobile device to control the robot in the following ways: 1. Using the gamepad connected to a mobile device. 2. Using the gamepad connected to a mobile device with a mouse attached. 3. Using the gamepad connected to a mobile device with a mouse and keyboard attached. Connecting the Gamepad Connect the mobile device to the mobile device port on the gamepad using a micro USB cable (not included).
ROBOMASTER EP Core User Manual Using the Gamepad, Mouse, and Keyboard A wireless mouse and keyboard is required. After the gamepad is connected to a mobile device, attach the wireless connector of mouse and keyboard to the gamepad. The control stick on the gamepad and the keyboard is used to control the chassis. The mouse actions are listed below, which can also be performed by the app, but the mouse is the primary controller. The A, W, S, and D keys are used to control the chassis.
ROBOMASTER EP Core User Manual Using a Mouse and Keyboard to Control the Robot When using RoboMaster for Windows or Mac, the robot is controlled with a mouse and keyboard. The corresponding actions are shown below. Press and hold the Tab key and use the mouse to click on the target. W tap A S D shift Press Shift to accelerate during movement. Control the robot's omnidirectional movement.
ROBOMASTER EP Core User Manual 1. Scratch page: Tap to view Scratch programs. 2. Python page: Tap to view Python programs. 3. Import DSP file: This function is available on Android, Windows, and Mac devices. DSP files can be imported to iOS devices by using AirDrop. 4. Cloud space: Tap to view programs in the cloud space. 5. Program name: Displays the name of the program. 6. If the program is set as a general program, the program type is not displayed.
ROBOMASTER EP Core User Manual AI Modules There are six AI modules that can be programmed by entering Lab then DIY Programming then Scratch. Refer to the Smart section of the RoboMaster EP Core Programming Manual for more programming examples. Note that the AI module will be affected in the following situations: a. The object is partly or completely obstructed. b. The environment is dark (less than 300 lux) or bright (greater than 10,000 lux). c.
ROBOMASTER EP Core User Manual If you need to use more vision markers, tap markers you wish to download and print. in the app to enter the guide page. Select the vision Vision Marker Recognition only supports red and blue markers. The robot cannot recognize vision markers of other colors. Autonomous Program A program can be set as an autonomous program and can be run independently on the robot. 1.
Appendix Specifications RoboMaster EP Core Dimensions (L×W×H) 390×245×330 mm Weight Approx. 3.3 kg Chassis Speed Range 0.8 m/s Max Chassis Rotational Speed 600°/s M3508I Brushless Motor Max Rotational Speed 1000 rpm Max Torque 0.
ROBOMASTER EP Core User Manual Camera Sensor CMOS 1/4”; Effective pixels: 5MP FOV 120° Max Still Photo Resolution 2560×1440 pixels Max Video Resolution FHD: 1080p/30fps HD: 720p/30fps Max Video Bitrate 16 Mbps Photo Format JPEG Video Format MP4 Supported SD Cards Supports microSD cards with a capacity of up to 64 GB Operating Temperature Range -10 to 40 °C (14 to 104 °F) Intelligent Battery Capacity 2400 mAh Maximum Charging Voltage 12.6 V Nominal Charging Voltage 10.
ROBOMASTER EP Core User Manual Robotic Arm Movement Range 0-0.22 m (horizontal); 0-0.15 m (vertical) Axis Number 2 Gripper Grip Distance Approx. 10 cm Servo Weight Approx. 70 g Main Body Dimensions (L×W×H) 44.2×22.6×28.6 mm Transmission Ratio 512 Rated Torque 1.2 N*m Rated Rotational Speed 40±2 rpm Operating Mode Angle mode, rate mode Infrared Distance Sensor Detection Range 0.
ROBOMASTER EP Core User Manual Firmware Update Check the robot firmware version in Settings, then System, and then Firmware Update. If there is a new firmware version, use the RoboMaster app to update the firmware of the robot. 1. Make sure that all parts are connected, power on the robot, and check to make sure the battery level is above 50%. 2. Tap App, then System, and then Firmware Update. Follow the onscreen instructions to update the firmware.
ROBOMASTER EP Core User Manual Calibrating the Robot If any of the following scenarios occur, recalibrate the robot in the RoboMaster app: a. The robot moves involuntarily while rotating. b. The chassis cannot be controlled when warning prompts appear in the app. c. The motion controller has been installed or reinstalled. The specific calibration steps are as below: 1. Open the RoboMaster app, tap on Settings, then System, and select Calibration. 2. Follow the steps in the app to calibrate.
ROBOMASTER EP Core User Manual Using the S-Bus Port A remote controller that supports the S-Bus protocol can be used to control the robot by connecting to the S-Bus port of the motion controller. Users must prepare their own receiver and remote controller. It is recommended to use a Futaba R6303SB receiver. Connection Connect the S-Bus port of the motion controller to the S-Bus port of the receiver by using the 3-pin servo cable. S-BUS UART 62 © 2020 DJI All Rights Reserved.
ROBOMASTER EP Core User Manual Usage Make sure the remote controller has been linked with the receiver before use. Refer to the manual documents of the receiver for more information on linking methods. The correspondence of control channels of the S-Bus port of the motion controller are shown below. Refer to the manual documents of the remote controller to complete the channel mapping between the receiver and remote controller.
ROBOMASTER EP Core User Manual Programming Customizable UI The customizable UI system expands the input and output modes of a program. Users can create UI widgets that are used to represent the input and output processing information of a program. To code a Python program, call the related interfaces to generate a UI widget and bind the UI widget with an event callback.
DJI Support https://www.dji.com/support This content is subject to change. Download the latest version from www.dji.com/robomaster-ep-core/downloads If you have any questions about this document, please contact DJI by sending a message to DocSupport@dji.com. Copyright © 2020 DJI All Rights Reserved.
