OSR2 Build Instructions

(BETA 1)

Tempest 1-2-20,

An assembly guide for the Open-source Stroker Robot 2-Axis (OSR2).

Tools
To assemble the OSR2 you will need Allen keys and/or a screwdriver.

You may want to secure some parts (eg M4 nuts) with a tiny dab of superglue, but this is optional.

You will need a copy of the Arduino IDE on your computer. This can be downloaded for free from
[Link].

If you are using M4x30 bolts for the flexing joints you will need to use a hacksaw, and a file on the
cut end. Be careful, steel can be sharp!
Assembly steps
1) Insert 4x (or 8x) M4 nuts into the mounting holes you intend to use on the base part. You can
secure them in place with a dab of superglue if you wish. Then insert 4x M4x10mm bolts, with M4
washers into the holes from the back. These are the bolts that will be used to mount the OSR2 to
your mount of choice.

2) Install the Romeo BLE mini into the slot at the top of the base so that the micro USB port is
aligned with the hole. Then secure it in place with 2x M3x6mm bolts.

3) Install the trailing leads from the female barrel jack into the “Servo” screw connectors on the
Romeo. Ensure metal-to-metal contact between the wire and the terminals and that the red wire
goes to “+”, black goes to “-“.
4) Place the female barrel jack into the holder to the left of the Romeo and secure it with a cable
tie.

5) Install the 2x servos into the base. Ensure that the servo leads protrude from the end nearest
the Romeo, then secure each servo with 4x M3x10 bolts with M3 washers screwed into 4x M3
nuts sitting in the shallow grooves on the inside of the base wall.

6) Plug the servos into the Romeo. Plug the left servo into the green-red-black pins marked “2”,
the right servo next to it into the pins marked 3. Match Red to Red and Black to Black, and that
will put the data wire (whatever colour it is for your servo) on the correct pin.
7) Install the 4x 6mm wiring grommets into the 4x 7mm diameter holes in the 2x arms and the
support arm. There should be one on each arm, and one on each end of the support arm.

8) Plug the Romeo into a USB port on your computer via the micro USB cable. Connect a power
supply to the power jack on the OSR2. Make sure that the power supply is set to a voltage that
the servos are rated to; 5V is safe for most servos.

9) Open the Arduino IDE program and load the OSR2 sketch (.ino file format). From the Tools
menu check that the Board is set to “Arduino/Genuino Uno”, and check that the Port selected is
the one that is connected to the Romeo. Then click the upload arrow in the top left.
You should see lights flashing on the Romeo as the upload occurs and after about 5 seconds you
should see a message saying “Done uploading”.

If the upload process is unsuccessful the first time try the upload button again. Ensure you you
have the Board and Port set correctly. Disconnecting servos during upload sometimes resolves
any issues.

If the upload is successful you should observe the servos moving to a set position.

10) In the Arduino IDE Open the Serial Monitor from the Tools menu. In the new window that
opens ensure that “Newline” is set and “115200 baud” is selected. This should result in two
messages beginning with “TCode” appearing in the window. This tells you that the sketch has
been uploaded successfully to the Romeo, and that it is talking to your computer.

If you do not see anything, or the message is garbled, try unplugging the Romeo and closing the
Serial Monitor, plug the Romeo back in and re-open the Serial Monitor.

Try entering some T-Code commands into the text box and hitting “Send”:

- “L0999” should move both servos up.

- “L0000” should move both servos down
- “R1000” should move the servos in opposite directions
- “R1999” should move the servos in opposite directions the other way
- “L0999S100” should move both servos up at a slow speed.

Feel free to try different numbers. See the TCode document for a full description of how TCode
works.

If the servos are moving up when they should be moving down, you have them backwards.
Switch the connector positions on the Romeo, matching Red/Red and Black/Black as before..
11) Close the Arduino IDE and unplug the Romeo from the USB, then reconnect it. The servos
should automatically return to a neutral position. With the servos in this position place the Futaba
25T M3 servo horns onto the servos so that they are at right angles to the base. Tighten the tiny
screws on the servo horns in this position.

12) Install the 2x arms onto the the servo horns and secure each with 2x M3x10 bolts and M3
washers.

13) Install the support arm onto the mounting point on the left side of the base using an M4 bolt
screwed directly into the plastic.

This bolt can either be an M4x20 bolt or, for better results, use an M4x30 bolt cut down to about
22mm shaft length (ie like an M4x22). The latter should leave a 10mm section of unthreaded shaft
protruding through the grommet.

14) Install the receiver onto the end of the three arms using the 3x remaining M4 bolts. These
should form the same joints as described above.
15) Collect up the servo wires so that they are inside the base enclosure and install the lid. The lid
should clip securely into place on the top of the base.

The OSR2 is now ready for use!

Precautionary notes
At this point there are a couple of things that I feel should be mentioned here.

Personal Safety
The OSR2 is an adult toy, and that means you need to be an adult and make sure you play safe.
This is not a finished consumer product, this is a piece of experimental tech. It has electrics,
powerful motors and microelectronics that can sometimes be unpredictable, so be careful!

I take no responsibility for any actions you take after reading this document. It is your
responsibility, and yours alone, to use any information you have received here in a way that does
not risk your personal safety.

I suggest you take some time to understand how the OSR2 can move before use.

Be safe!

Power and the Romeo BLE

The Romeo BLE is a wonderful little board for putting together a device like the OSR2 because it
offers plug-and-play, without the need for soldering or DIY electronics. However, it is designed for
simple hobby robots and that means that if you start pulling serious amps through the board by
using high powered servos at high speeds you run the risk of burning it out.

If you consider yourself to be a power user, so to speak, then I recommend that you create an
external power bus for the servos so that the main power circuit does not pass through the
Romeo.

I will be providing/have provided a tutorial on how to do this on my Patreon page.

And finally!
Congratulations! You have built your own OSR2.

Enjoy!

Tempest