Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
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4.7. Motion Edit & Library
(1) Motion Editing
① Motion Creation
Select desired motion tab. Please make sure if concerned motion is properly saved in the
robot before motion editing.. "User" motion list should be made by users at their end, so
you will see just blank page initially. The IRH-100 will be delivered with "Library" motions
which saved at the factory.
To make a new motion, click motion number, then click icon in
"motion data" window.
Then, you will see motion name named "New Motion" and "Step0" line is created.
Motion name can be changed when you click each motion name(green area)
Like the left picture, put each motor value by
mouse wheel or keyboard. Click "L-R Sync OFF"
button to put same value in both left and right
motors.
If it is difficult to put motor value for all individual servos, you can use "Pose
capture" function. "Upper" means upper body, and "Lower" means lower body
joint. "All" means that all joints of the robot. When you click desired point,
motors' torque in concerned joints will be removed so that you can make
desired posture freely. You will see motor values are changing while you move each joint. When you
complete certain motion posture, click "SET" button, then motor torque will be ON to keep posture of
joint.