Skill Level:

Expert

Soldering
Not Required
 Conventions

This symbol indicates that improper use can lead to

physical injury or damage to the robot itself. It
urges you to exercise precaution.

This symbol indicates that there is some additional

information or tip that you can use.

This symbol indicates that you should make a note

of the point.

Important note

This manual refers to the product Sage BOT. All the shown components will
not be available if the product is bought in parts. Nevertheless, you can refer to the
specific section as that of the parts that you have bought to know the assembly de-
tails. The components shown in this manual may not be the same as those in the
packaging and may change without notice.

Please note that the manual is not comprehensive and cannot be considered
as a complete reference for any theories presented here. Please refer to the compact
disc that has accompanied the product for a more detailed overview of the various
technologies and programming language that has been put to use in this product.

For further details and supported accessories, please visit our website
http://www.robosoftsystems.co.in/roboshop.
 Owner’s Manual

Sage BOT is not a toy.

Robosoft Systems® employs high performance motors and
electronic equipments.
Robosoft Systems® cannot be held liable for damages or injuries
caused by the improper or un recommended use of Sage BOT
All advanced modifications or deviations from the directions
contained herein are considered to be at the risk of the Sage BOT
owner, and are not supported by Robosoft Systems® .

This is the Sage BOT Owners Manual v1.00 for the robot Sage BOT.
For more information go to http://www.robosoftsystems.co.in
or contact us at support@robosoftsystems.co.in
All rights reserved.
 Sage BOT

Index

1 About Us 1
2 Robot Review 3
3 Safety & Handling 4
4 Product Features 5
5 Package Content 6
6 Assembling Your SageBOT 8
7 Know Your Board 16
8 Connections 22
9 Concept of line following 24
10 Flow Chart 25
11 Serial Port Switching 27
12 Troubleshooting FAQ 28

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About Robosoft Systems

Robosoft Systems ® is a young & dynamic organization. It all started with a vision back in 2008 when
a group of engineers bitten by the entrepreneurship bug came together for transforming their ideas into reality,
& it had to be in the vibrant field of Robotics just like the young minds themselves.

Just two years into its inception & the company is creating waves in the design and manufacture of
various robotics kits, components and niche industrial products. In such a short span we already have a wide
ranging portfolio with an untiring focus on quality and providing more value for money. On the technical
front the company has had path breaking success lead by a dedicated team of R&D engineers. The company
has been launching products defying cutting edge technology. This pursuit of excellence has won the company
many accolades. The Indian media has taken note of our achievements and have featured us in prestigious
platforms such as Business Standard, Economic Times, TOI and ET NOW.

We have a dream of inculcating robotics as an education platform to prepare the children of India for a
highly technical world. To this end we have a range of edutainment products – we call them as - Construction
or Do It Yourself - kits. We have with these kits, conducted robotics workshops in various schools and techni-
cal colleges around the country. Through these workshops the kits have gone through a long product develop-
ment cycle and have become finished products in all respects. These kits share a common thread of introduc-
ing robotics to the technology enthusiast and to break the notion – that robotics is for the geeky elite. We at
Robosoft believe that Robotics is an integrator of science & applied technology and this belief is reflected in
our robotic kits.

Thus we humbly bring to you, a range of engaging and curiosity inducing products. Our kits range
from wheeled to legged motion and from mechanical to programming modules. Through this door awaits a
world of robotics wonder – turn the knob to enter.

Managing Partner

Robosoft Systems®

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 Sage BOT

Statutory Warning:

This is a highly addictive robotics kit; please do

your school homework before starting.

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Sage BOT

Robot Review

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 Sage BOT

Safety and Handling

Be careful while using the screw driver, place the machine on a

platform and then tighten the screws. Don’t tighten the screws keeping the
assembly in your hands, as the screw driver may slip and you may injure
your hands.

Don’t work on your machine with wet hands. The machine is

having electronics parts & battery, hence there are chances that you may get
an electric shock( It may cause severe injuries or loss of life).

The components on the electronic boards are having soldering

joints at the bottom end which are vulnerable to short circuit, to avoid such
a situation don’t place the circuits on a conducting surface when the supply
voltage is there, otherwise there can be a short circuit between the
soldering joints causing permanent damage.

The battery provided to you is having two wires, please don’t short
the wires together, if you do so that will discharge the battery quickly. This
can damage the battery in the long run reducing its life.

The microcontroller board is very fragile. Please take appropriate

care when handling the microcontroller board. It may break if you apply
more pressure than you ought to.

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Product Features

• Philips P89V51RD2 µc on board.

• Autonomous robot.
• ISP (In System Programming) support.
• Accessories: Battery, Adaptor, Software CD.
• Compact size.
• L293D motor driver for driving 2 motors.
• Inverted buffer to provide reverse current isolation from motor driver
• On board ATMEL24C64 - EEPROM
• 5 TCRT Digital sensor module for accurate line following.
• Separate detachable TSOP based obstacle avoiding module.
• 2.4 GHz RF module based wireless interface.
• Continuous operation of 2 hours on a single charge.
• 3 Push Buttons and 5 LEDs for simple application.
• On board TSOP can be used for IR remote control signal.
• Serial RS232 output.
• Acrylic cut robot chassis.
• 60 RPM geared Motor.
• Plastic wheels with shaft encoder mounting.

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 Sage BOT

Package contents

X 26
X1

X2
X8

X1
X 10

X2
X2 X1

X4

X1

X2 X2

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Sage BOT

X1

X1

X1 X1

X2 X2

X1

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 Sage BOT

Assembling Your Sage BOT

From here we start the construction of our machine. First we will prepare the mechanical structure of
the robot than we will mount the necessary electronics on it.

The first step is to mount motors on

the C–plates as shown in the fig.
To mount motor on the C-plate, use
3/25mm screws with 3mm nut and
fix it with the help of a screw driver .

Similarly mount the other motor on

the second C–plate

The two C-plates with the motors

mounted on them forms the locomo-
tive assembly of our robot

This is how it should look after

mounting the motor on the C-plate

Please be careful while using the screw driver. Make sure that you are working on a table, because if
you try to fix the screws keeping the assembly in your hands, the screw driver may slip and you may
hurt your self.

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Sage BOT

The second step is to mount both the C-plates on the acrylic bottom plate as depicted in the fig.

To mount the C-plates on the acrylic bottom plate make use of 3/6mm screws with 3mm nut and
fix it with the help of a screw driver.

Note: Observe the above figure carefully, see the orientation in which the screws are fixed .

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 Sage BOT

This is how it should look after press fitting

Assembly of Castor wheel the castor plates together, with the ball sand-
wiched between them.
To assemble castor wheel place the ball bearing
on the top castor plate and then cover it with
the help of bottom castor plate as shown in the
fig above.

Now the third step is to mount the castor wheel on the bottom acrylic plate as shown in the fig
above.

To mount castor wheel make use of 3/12 mm screws with 3mm nuts and fix them together with the
help of a screw driver .

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Sage BOT

This is how it will look after fixing the castor wheel on the bottom acrylic plate.

The fourth step is to mount the TCRT sensor Module on the bottom acrylic plate as shown in the
fig below.

To mount the TCRT sensor module make use of 3/6mm screws with 3mm nuts and fix them with
the help of a screw driver.

Note: Observe the above figure carefully, see the orientation in which the screws are fixed
and at the same time observe the placement of the module on the acrylic plate as well.

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 Sage BOT

This is how it should look after mounting the TCRT sensor Module

The fifth step is the placement of Battery pack on our robot, the battery pack should be placed in
such a way that the positive and negative wires of the battery should come out from the rare end of

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Sage BOT

Rare This how the battery should be

placed between the two C-
plates and the battery terminals
should come out from the rare
end as shown in the fig.

The sixth step is to mount the Microcontroller board on our robot, to mount the microcontroller
board use 3/6mm screws with 3mm nuts and fix it with the help of a screw driver as shown in the fig
below.

Note: Observe the figure carefully, see the orientation in which the screws are fixed and at
the same time observe the placement of the board on the C-Plates.

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 Sage BOT

This is how it will look after mount-

ing the board on the C-plates.

While mounting the board make

sure that the placement of the board
is similar to the one depicted in the
picture otherwise the interfacing
connections like battery, motor, and
sensor module to the board will not
be established

Assembly of Wheels and Rubber

tyres:

In order to have a proper grip on the

surface, we will now mount the rubber
tyres on the wheels as shown in the fig.

Make use of your hands to mount the

rubber tyres over the wheels.

That’s it, this is how it will look after

mounting the rubber tyres on the wheels

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Sage BOT

The Seventh step is to mount wheels on our robot. To mount the wheels all you have to do is insert the
wheels onto the shaft of the motors in such a way that the slot on the wheels is getting attached to the
shaft of the motor .

After mounting the wheels on the

shaft of the motors fix the wheels
with the help of 2/6mm self tapping
screws as shown in the fig.

Once you finished with this step your robots mechanical assembly is almost complete. Now before starting
with electronics assembly just go through and cross check all step once so there wont be any glitch in
mechanical construction.

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 Sage BOT

Know your Board

Main Board

Symbol Device Symbol Device

U1 P89V51RD2 Microcontroller S1,S2,S3 Simple Push Buttons
U2 L293D Motor Driver LED1 - LED5 Output LEDs
U3 AT24C64 EEPROM MOTOR1 Left Motor Output
U4 74HCT2400 Inverting buffer MOTOR2 Right Motor Output
U5 ST232 TTL to RS converter Cn1,Cn2 Connector to put Obstacle sensors
Sw1 Power On/Off switch TSOP Onboard TSOP
Sw2 UART selection switch UART CONN UART 9 Pin DB9 connector
DC Power Supply Input SENSOR Line sensing module go here
RESET Reset Switch RF MODULE RF 2.4Ghz Module connector
Crystal 11.0592MHz T Test Pin (Ground)
PVR Power LED REG 5 volts Regulator IC

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Sage BOT

TCRT Line sensors Module Board

Symbol Device
S1,S2,S3,S4,S5 TCRT Sensors
LED1 - LED5 Output LED Indicator
CON FRC Connector
POT 10K POT to fine tune sensors

1 3 5 7 9 Pin Main Board Sensor Board

Number
µc Side FRC Side FRC Side Sensor Side
1 GND GND GND GND
2 VCC VCC VCC VCC
2 4 6 8 10 3 P2.3 CH1 CH1 S1
FRC Connector 4 P2.6 CH4 CH4 S4
5 P2.4 CH2 CH2 S2
6 P2.7 CH5 CH5 S5
7 P2.5 CH3 CH3 S3
8 P2.3 CH1 NC NC
9 VCC VCC VCC VCC
10 GND GND GND GND

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 Sage BOT

TSOP Obstacle Detection Module Board 2.4 GHz RF Modules

Symbol Device Symbol Device

TSOP TSOP Sensors LED1 Power LED
LED2 IR Transmitter LED LED2,3 Indicator LED
U1 IC555 J1,J2 Mode Selection Jumper
POT Frequency Adjust Pot (Not for user) VCC,GND Power Supply Connection
L1 Obstacle detection Indicator LED TX,RX,GND UART Output/Input & Ground

Line Sensor Module (TTL output)

TCRT based Line sensor Module has 5 TCRT sensor array and 5 comparators. Setting the threshold using
POT user can calibrate sensor module for different surfaces and line colors. All comparator are configured
as inverting comparator. (For module block diagram check module datasheet) So whenever line sensor is
on black line its output will be “0” logic “Low” and respective LED will turn On. When Line sensor is
on white surface sensors output will go “1” logic “High” and respective LED will turn off.

Obstacle Detection Module (TTL output)

TSOP based obstacle detection module detects obstacle at distance of around 5-6 cm. transmit signal for
TSOP is generated by IC555. IR led transmits signals and TSOP keep on detecting it. When obstacle is
detected the output of sensor module go “0” logic “Low” and indicator LED turns on. Otherwise output
of module is always “1” i.e. Logic High.

RF Module (RS output)

RF module provided with this Bot is RS compatible. It gives UART output at programmed Baud rate. To
know about working of RF module refer datasheet of RF module.

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Sage BOT

LED Porting Vcc = 5V

1 KΩ
P0.3 LED1
1 KΩ
P0.4
LED2
1 KΩ
P0.5
LED3
1 KΩ
P0.6
LED4

P0.7 1 KΩ
LED5

As you can see there are 5 LEDs on board connected to 5 port pins as per shown in above figure. Resistor in
series will limit the current and Vcc will provide supply. So when Port pin is driven low LED will turn ON.
If port pins are logic high LED is off.

Push Button Porting Vcc = 5V

S1 4.7 KΩ

P0.0
S2 4.7 KΩ

P0.1
S3 4.7 KΩ
P0.2

3 simple push buttons are provided for user. User has to drive port pins high to configure the port pins as
input. When user presses the key port pin will be driven to ground and its logic value will become zero. And
if key is released then again logic high will appear on port pin .

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 Sage BOT

H bridge Motor Driver Vcc = 5V Vcc = 5V Vs= Motor Supply 12V

P1.4 ENA
Input1 Right
P1.0 H M Motor
Input2
P1.1
P1.5 ENB
Input3 Left
P1.2 H M Motor
Input4
P1.3

74HCT2400 L293D

Your Main board has one L293D H bridge motor driver. H bridge is generally used to control direction of
motor and speed of motors. On this board L293D is connected to microcontroller through inverted buffer.
Inverted buffer between microcontroller and motor driver is basically for isolation and to protect controller
from reverse current. Your Motor driver has 2 voltage inputs. One is TTL input which is given by onboard 5
voltage regulator. And motor supply is by battery. So make sure your battery is fully charged before driving
robot. Here is truth table for controlling motor direction.
P1.4 (enA) P1.0 (input1) P1.1 (input2) ENA Input 1 Input 2 << R Motor
P1.5 (enB) P1.2 (input3) P1.3 (input4) ENB Input 3 Input 4 << L Motor
0 0 0 1 1 1 Lock Stop
0 0 1 1 1 0 Anticlock-
wise
0 1 0 1 0 1 Clockwise
0 1 1 1 0 0 Free Stop
1 X X 0 X X Stop

By applying PWM input at enable pin you can control speed of DC motors. On your board enable pin are
connected to PCA timer output pins. So you can use PWM to control speed of Motor. For more detail
about PCA timer and PWM generation refer datasheet of P89V51RD2.

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Sage BOT

VCC
4.7 KΩ

4.7 KΩ

4.7 KΩ
SCL AT 24C64 A0
P2.1
EEPROM A1
SDA
P2.0
WP A2
P2.2

I2C EEPROM

Your board has onboard EEPROM which is connected to micro controller using I2C bus protocol.
P89V51RD2 does not provide direct I2C support. We have provided software library in CD in which it is
achieved by bit banging. By using library given by us you can read and write in to your EEPROM. We have
connected all 3 address selection pins to ground. So Device address for this EEPROM will be 0xA0.

Pin allotment for EEPROM is given in above figure.

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 Sage BOT
Connections

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Sage BOT

Instruction Set : How to do Connections.

Step 1 : Connecting Motors

Your motor has 2 pin relimate connector which can be connected in only one way. Left Motor will
be connected to MOTOR 1 and Right Motor will be connected to MOTOR 2.

Step 2 : Line Sensing Module

Line sensing module is connected to your main board using FRC cable. FRC connector is there on
both the board FRC cable can be connected in only one way because of the notch FRC cable and
connector. Any side of cable can be connected to any side as it is just a parallel cable.

Step 3 : Obstacle Detecting Module

There are three bug strip connectors on main board and on obstacle detection sensors. Yow will be
fixing the module using screw and nut on bottom acrylic plate. To connect sensor board to main
board you have to use 3 wire cable which is having relimate connector on both side. One end of ca-
ble will go to sensor module and other will go to main board. Make sure GND pin from one board
should go to GND pin on other board through black cable of connector. Red wire will connect be-
tween VCC and yellow line is signal line that is output of TSOP sensor module.

Step 4 : Connecting RF Module

RF module can be directly connected to main board there are two 3 pin female berg strip mount on
board .You will be fixing RF module in such a way that RF module should cover your Microcontrol-
ler. And remember Microcontroller and not Motor Driver.

Step 5 : Connecting Battery

Before connecting battery make sure whichever sensor module you have connected is in proper way.
While connecting battery first put switch Sw1(Power Switch) in OFF state. Then Connect battery
with correct polarity. Red wire is Positive and Black Wire is Negative.

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 Sage BOT

Concept of Line following

6
5 Again left sensors
6
from group of middle 3 If robot keep on tracking line in this
sensors are off the line, way. It will be keep on following
hence again take a right Line.
turn.
5

3 Same as step 2 in this case also

right most sensor in center group
of 3 is off the line hence again
4 take left turn

4
In this case left sensors from
group of middle 3 sensors are off
the line, hence take a right turn.

1 All 3 middle sensor are on line
that means Robot is on Line. So
to follow line robot has to go
straight….
2
If out of middle 3 sensors
right most sensors are off the line
so robot has to take left turn.
1

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Flowcharts
START

Sensor Module
Set all Sensors as Input

S1 S2 S3 S4 S5

System
always ON

YES

If
YES
(S2 & S3 & S4)
ON Line

NO Move Forward

If (S4)
YES
OR(S3 & S4)
OFF Line

NO Turn Left

If (S2)
YES
OR (S2 & S3)
OFF Line

NO Turn Right

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 Sage BOT
Obstacle detection

Initialise all System

Set TSOP as INPUT

Obstacle

Obstacle

Obstacle

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Serial Port Switching

Switch Sw2 on your board will decide input and output port for UART data. Switch Sw2 is DPDT
switch. So when it is pressed it is connected to one output port and when depressed it is connected
to other input output port

GND
VCC

GND
TX
RX

GND:5 RX : 3 TX : 2

Key Pressed Key Released

When Key is pressed DB9 connector will give serial RS output and when key is depressed or released
then RF module connector will give RS output. So when you are using RF module communication
key should be released and to program the Controller and for normal UART operation key should be
pressed.

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 Sage BOT

  Troubleshooting : FAQs

When I switch ON the Robot the PWR LED i.e. indicator LED doesn’t glow or it glows with very low
intensity.
Make sure that the wires of the battery are properly inserted in the 2 pin connector which is labelled as
BAT with the positive and negative notations. Also take care that you insert the red wire of the battery in the ’+’
hole of the connector and the BLACK wire in the ’-’ hole.
If the problem still persists than check whether the battery is sufficiently charged if not than first charge
the battery.

After switching ON, the machine is not following the black line and it follows an unprecedented path
This could happen due to many possible reasons like improper hardware connections or software prob-
lems. If it is due to hardware than make sure that you have the motors in their respective connectors because
the code has been written with some assumptions if the motors are not connected in the required way than the
machine will not follow the right path.

The motors are connected properly but still the machine is not working properly.
Our machine follows a black line with the help of a module which has five sensors in it. If this module is
not attached to the machine properly than it won’t be able to follow the line, hence make sure that the sensor
module is connected properly as shown in the Connections section on pg.
If the problem persists, than check the cable which connects the µc board with the sensor module, there
is only one way in which the cable can be connected ensure that the socket is connected properly and it is not
loose.

After connecting battery also power LED is not glowing and diode next to power supply is over heated.
This will happen because you have connected battery in reverse polarity. You are lucky that there is Di-
ode in reverse bias actually which is taking all load. Disconnect the battery first.

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 Sage BOT

After switching ON the machine the LED’s are glowing but only one wheel or none of the wheel is ro-
tating.
Check whether the wires are soldered to the motors properly, many a times due to wear and tear the sol-
dering joints give way.

After connecting the obstacle avoidance module the machine is not able to avoid any obstacles at all.
The obstacle avoidance module has to be connected with µc board via a three pin berg strip, these three
pins are VCC (Red wire), GND (Black wire) and O/P (Yellow wire) . The pin notations are given on the µc
board make sure that you connect obstacle avoider such that the colour coding of the wires of the obstacle
avoiding module matches with these pin notations.

When I try to program microcontroller it give me error that com port not available or busy.
Make sure that the Com port which you are using for programming is not used by any other application.
If it is then switch off that application and again try to program.
If still problem persist then check Sw2 position .It should be in pressed condition.

When I try to program microcontroller it give me error that unable to connect at specific baud rate .
This may happen because if you are using any serial communication function at beginning of previous
program. To solve this problem keep on pressing reset key. Then click “Start” button in flash magic. When
message appear for “Reset Device into ISP mode” then release the Reset key.
If still problem persist then check status of Sw2 Key it should be in pressed condition. And any other
application using same com port should be closed.

My Line sensing module is connected properly still it is not following line .

To make sure whether your line sensing module is working properly keep your sageBOT on Black sur-
face all LED on sensor board module should turn on. Now place your sageBOT on white surface and check
whether all LEDS are turning off. If it is not then that means your sensor module is not properly calibrated. To
calibrate the sensor module you have to turn POT slowly and adjust the comparator voltage.

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 Sage BOT

When I write code for Sage BOT driving using serial communication. It is working properly with cable
connection. But when I switch to wireless mode using my sageBOT is not moving.
There may be number of possibilities for SageBOT not working in this condition.
1. Check whether RF module is placed properly.It should be mounted such that it should cover controller.
2. when you are in RF mode Sw2 should be depressed.
3. Both the module should be in simple single character trans receive mode. (to know more about it refer RF
module datasheet)
4. Both the modules should be programmed for same channel number.

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A-61, 1 st Floor, Raj Industrial Complex,
Military Road, Marol,
Andheri (East),
Mumbai – 400059
India

Contact Information
Office: (91-22) 66751507
Office: (91-22) 29207086
Mobile: (91) 9930776661

Email: info@robosoftsystems.co.in

Visit us at
www.robosoftsystems.co.in