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Maintenance

Fuse Replacement

There may be a time when you turn the rocker switch on DARWIN-OP may not power up at all regardless of power source (DC, battery). If that’s the case then this is most likely caused by a blown or defective fuse.

The fuse is rated at 12V (volts) and 10A (amps).
Replacing the fuse requires requires disassembly of DARWIN-OP’s main body and expose the sub-controller CM-730.
Once the sub-controller is exposed locate the fuse. The diagram below shows the fuse location enclosed by the red rectangle.

Carefully remove the fuse with a pair of tweezers. Afterwards carefully insert a new fuse.

Warning Improper care during removal or insertion of the fuse may result in damage(s) to the fuse housing or/and other components of the sub-controller Cm-730.

Hardware Maintenance

You can find Assembly, Wiring and Fabrication manuals here courtesy of RoMeLa.

Maintenance

Robotis recommends that DARWIN-OP users perform preventive maintenance once every 1200 minutes (20 hours) worth of motion.
Robots are moving mechanical parts and preventive maintenance is necessary to keep robots in optimum conditions.
Perform maintenance in a well-lit and dry place.
Neglect may result in unnecessary and costly damage.

Procedure

Every single screw and nut should be tightened.
Overtightening is not necessary and may be counterproductive as it may damage the threading of the bolts and wrenches.

Disassembling DARWIN-OP

Remove the battery.
Remove the plastic skin on DARWIN-OP. This includes the head and body.
If your DARWIN-OP includes FSR units on its feet then you should also remove the plastic casing from the feet.

Divide DARWIN-OP into the following groups/sections

Wiring

Ensure that all connections are properly secured.
Ensure that the long cables are laid flat free of twists.
Replace cables whenever the protective coat has a cut leaving the wire(s) exposed to air.

Cleaning

Please ensure that the actuators, main controller and sub controller are free of dust. Although dust may not harm the internal components of both main controller and sub controller under dry condition, humidity may cause static potentially doing costly permanent damage to the controllers.
The recommended tools to remove dust, dirt and debris compressed air blower, or a non-metallic soft brush

Dynamixel Replacement

There may be an instance where you will need to replace a Dynamixel actuator due to failure. The following page will guide you on how to replace a Dynamixel actuator.
To replace an MX-28 on DARWIN-OP you need to complete the following procedures.

  1. Proper installation of horn, bearing set to the new MX-28.
  2. Proper ID and baud rate setting.

Please refer to the Assembly Guide for reference during replacement procedure.

Proper Installation of Horn and Bearing Set

Every MX-28 on DARWIN-OP comes comes installed with the horn (front side of actuator). Some of the MX-28’s come with the bearing set (rear side of actuator) installed as well. You will need a wrench for 2.5mm thick bolt (provided).

Installing the Horn

Place the thrust horn washer into the actuator before inserting the horn. You must carefully align the horn to the wheel gear serration by aligning dots.

Once alignment is properly done, gently push the center of the horn toward the actuator. Make sure that the horn washer is in place as you tighten the bolt.

Installing the Bearing Set

You may need to remove the bearing set from the previous actuator and reinstall it into the new actuator. The bearing set can also be purchased separately. As bearing set is rotating freely, therefore alignment is not required when assembling to DYNAMIXEL.

For more information on the bearing set please click here. Note that the bearing set is for the RX-28, which will fit perfectly on the MX-28 as they both share the exact physical dimensions.

Proper ID and baud rate setting

Method A

You have USB2Dynamixel and a Robotis dedicated robot controller (CM-5, CM-510, or CM-700)

  1. Provide power to new MX-28. That is connect one TTL port from the MX-28 to the controller; then power on the controller.
  2. Connect the other TTL port of the MX-28 to the USB2Dynamixel dongle (Make sure to set the switch to “TTL” on the dongle).
  3. Connect the dongle to an open USB port in your PC. Run Dynamixel Wizard.
  4. Change the ID number from 1 to the proper number.
  5. Change the baud rate from 34 (576000 bps) to 1 (1 Mbps).

  1. After replacement is done. Run DXL Monitor and reset all Dynamixels.

Click Dynamixel Wizard for more information.

Method B

You have USB2Dynamixel but do not have a Robotis dedicated robot controller (CM-5, CM-510, or CM-700).

Steps 2 through 5 from Method A remains unchanged. Step 1 needs to be modified for proper power supply.
You will need 2 separate 3-pin TTL cables (they come supplied with every DARWIN-OP). The following procedure is recommended:

  1. Open the Interface panel of DARWIN-OP (back cover). Carefully remove the plastic back panel to prevent any damages to the interface board cables.

  2. Disconnect both Interface Board cables.

  1. Temporarily disconnect ALL currently connected cables. You can choose any TTL port. Do not disconnect the power cable from sub-controller to main controller. Doing so will not allow Dynamixel Wizard proper Dynamixel search.

  1. Connect a spare TTL cable to any open port and the other end to the new MX-28.

  2. Connect a second TTL cable to the other port of the MX-28. Connect the other end of the cable to the USB2Dynamixel controller. Afterwards connect USB2Dynamixel to the PC.

  1. Turn the switch on on DARWIN-OP and let Ubuntu load (this process may take up to 2 minutes).
    Note The head LED will remain green and will not turn amber. The demo program will not run automatically.

  2. Connect to DARWIN-OP and run Dynamixel Monitor.
    Once Dynamixel Monitor is running all actuators will show as “fail” even with the new MX-28 connected. Do not exit Dynamixel Monitor. Leave the program running.

  1. On Windows run Dynamixel Wizard.
    Change address 4 (baud rate) from the default value of 34 to 1. You must perform this operation with Dynamixel Wizard as Dynamixel Monitor does not support this function currently. If you do not change the baud rate then Dynamixel Monitor will fail to scan the actuator. Change address 3 (ID) from the default value of 1 to the desired value. You may also use Dynamixel Monitor to change ID as well.

Note RoboPlus Manager does not currently support the CM-730 controller because it lacks the Serial Connector input.

Once the baud rate value is set to 1 you may return to Dynamixel Monitor and type scan to verify success on baud rate change (the first attempt may show the new actuator as “fail” if so type scan again until “OK” shows on screen).

Once all changes are made you still need to exit Dynamixel Monitor and Shut down DARWIN-OP properly. Once shut down and powered off replace the Dynamixel actuator and restore all connections. Once connections are restored return to DXL Monitor and reset all Dynamixels.

If you are replacing 2 or more Dynamixel then you must perform this procedure again as Dynamixel Wizard will show errors when multiple Dynamixels with the same ID and same baud rate are connected.
Once the actuator has been replaced it is highly recommended that you update the firmware with Firmware Installer so that ALL Dynamixels are matched with the same firmware.

Method C

You do not have USB2Dynamixel controller nor a Robotis dedicated robot controller (CM-5, CM-510, or CM-700).

Ensure you perform proper horn installation and proper bearing set installation (if applicable).

Example 1

Replace the the right elbow (ID 5) with a new actuator without disconnecting the remaining actuators.
If so let’s assume we need to replace the right elbow (ID 5) and already replaced the actuator before performing the software changes:

  1. Run DXL Monitor You will see the following appear on screen

Despite installing the new actuator replacement for ID 5 the software still displays as “fail.” Now its time to make the proper changes.

  1. Go to ID 1 by typing id 1 and temporarily assign a different ID number. You may assign numbers between 21 and 199 but refrain from numbers between 1 and 20. let’s say change to 39 so type wr 3 39.

Notice that the command prompt changed from ID:1 R_SHOULDER_PITCH to ID:39 UNKNOWN.

  1. Return to the CM-730 command prompt by typing id 200.
  2. Type scan and notice the “extra” ID on ID 39. You’ll also notice that ID 1 and 5 failed.

  1. Type the command wr 4 34 while remaining in ID 200. This means that the communications baud rate between the CM-730 and MX-28 switched from 1Mbps to 576000 bps.
  2. Type scan and the following will appear onscreen

Notice that all actuators fail except ID 1 (remember that the default values on a new Dynamixel is ID 1 and baud rate 34). Notice that ID 39 does not appear anymore. No need to worry this is because ID 39 does not currently have a specific function in DARWIN-OP and the baud rate of said ID is 1 Mbps; whereas the current baud rate between the CM-730 and and MX-28 is 57600 bps.

  1. go to ID 1 by typing id 1
  2. The command prompt will change from ID 200 to ID 1

  1. change the baud rate from 34 to 1 by typing wr 4 1

  1. Once baud rate of the new actuator matches with the rest of the actuators return to to ID 200 by typing id 200

  1. Change the baud rate between CM-730 and MX-28 back to 1 Mbps by typing wr 4 1
  2. Return to ID 1 by typing id 1; change the ID from 1 to desired ID. In this case to ID 5 by typing wr 3 5
  3. Return to ID 200 and type scan. Notice that ID 5 has been set, but ID 1 still failed and there’s ID 39. Go to ID 39 by typing id 39

Remember that ID 39 is a temporary ID change for ID 1. Now its time to revert the change back.

  1. Go to ID 39 by typing id 39. Restore ID 1 again by typing wr 3 1. Return to ID 200 and run scan.

  1. Run reset all and all DARWIN-OP will be back to normal again.

Repeat the same procedure again if replacing more than 1 actuator.

Example 2

Replace the the right elbow (ID 5) with a new actuator with less software manipulation.

Just like Method B disconnect all Dynamixels from the CM-730 but do not disconnect the power from CM-730 to Main Controller.
However in this case instead of the need for 2 3-pin TTL cables you’ll only need 1.

  1. Connect the new actuator to any TTL port.
  2. Turn DARWIN-OP on and run DXL Monitor. Do not worry about setting DARWIN-OP in the kneeling position during this procedure as the demo program will fail to run automatically due to the disconnected Dynamixels. Please set DARWIN-OP in a stable position (either sitting or laying down on its belly).
  3. Run scan and you will notice that all ID’s will fail

  1. Change the baud rate on ID 200 from 1 Mbps to 57,600 bps by typing wr 4 34
  2. Run scan again and you’ll notice the OK on ID 1 (remember that all new Dynamixels have default values 1 for ID and 34 for baud rate).

  1. Go to ID 1. Change the baud rate of ID 1 from 57,600 bps to 1 Mbps by typing wr 4 1

  1. Return to ID 200 and change the baud rate back to 1 Mbps

  1. Return to ID 1 and make the ID change. In this case change to ID 5 by typing wr 3 5
  2. Return to ID 200.
  3. The ID change is done. Shut down DARWIN-OP properly, power off. Perform replacement, restore all connections and turn DARWIN-OP on again. Remember to set DARWIN-OP in the kneeling position as all actuators are connected and the demo program will run automatically.
  4. Perform the killall procedure to end the demo program. Run DXL Monitor and reset all Dynamixels.

For multiple Dynamixels, you may only repeat steps 3 through 9. You can disconnect the actuator after step 9, connect the new Dynamixel and run from step 3 again.

Once done replacing Dynamixel(s) and settings set appropriately run Firmware Installer. Select option 2 and you are done. This is an important final step because it sets the angle limits on the joints.
DARWIN-OP is back to normal again.

Example 1 requires less hardware work but more programming work, as well as keeping careful track of changes made during programming and repeating the entire process for multiple Dynamixels.
Example 2 requires more hardware work (unscrewing/screwing disconnecting/connecting), but less on software work.

Pick the method that most convenient for you.

Note The reset all procedure at the end is necessary because DXL Monitor will set the angle limits on all Dynamixels. Setting angle limits is a robot safety mechanism to prevent joints from overextending, therefore preventing damage to the robot.

Pressing the reset button on DARWIN-OP will reset settings of the sub-controller CM-730 to default values. For example:

Controller Connection

Sometimes you may find DARWIN-OP irresponsive despite the main controller (fitPC) and sub-controller (CM-730) operating normally. In such case it may be a rare connection loss between the main controller and sun-controller.
The main controller and sun-controller are connected by a physically modified USB connection. Although USB is quite reliable, just like any other USB device you may lose connection.

You can verify the connection by the following:

If problem persists contact ROBOTIS for an RMA Procedure.

Camera Connection

There may be an instance when DARWIN-OP’s main controller may lose connection with the camera. Please ensure that the USB camera cable is properly connected to the the camera and main controller.

To verify camera connection with Linux OS perform the following.

  1. On a terminal window go to the ‘/dev’ directory.
  2. Type ls and you’ll see a list of devices and look for ‘video0’ This is the camera as an USB device.

If you do not see a ‘video0’ device then you may need to replace the camera cable and/or camera. in such case you may replace the USB cable, the camera, or contact ROBOTIS for an arrangement.

Note If you lose physical(mechanical) connection between the main controller and sub-controller, then you automatically lose camera connection. This is because the USB cable for the CM-730 and camera share the same molex connection.

Self Maintenance Checklist

You may run your own maintenance check should DARWIN-OP have some anomalies.

Power does not turn on

Check and proceed

  1. Does DARWIN-OP eyes turn blue when turning power on?
    • yes

      Check for fan noise

    • no, but Cm-730 powers on

      Check the LED cable from CM-730 to eye. If the cable is defective then post your problem here.

  2. Can you hear fan noise from the back of DARWIN-OP?
    • yes

      Check for LED’s

    • no, but CM-730 powers on

      Check the cable from CM-730 to Interface board (back). if the cable is defective contact us for an arrangement.

    • no, and CM-730 is not getting power

      If that’s the problem then post the problem here.

Note If the CM-730 does not get any power then the FitPC will not get any power.

  1. Does the head LED turn on?
    • yes

      Check for “Ubuntu does not start” symptom.

    • no, but CM-730 and FitPC turn on fine

      If the cable is defective then post your problem here.

    • no, but CM-730 turns on fine

      Check the physical connection between CM-730 and FitPC; followed by connecting a HDMI?DVI display, mouse, and keyboard and operate DARWIN-OP’s PC. Check for “Ubuntu does not start” symptom.

Ubuntu does not start

  1. Connect a HDMI/DVI display, mouse, and keyboard and operate PC.
    • Operate PC from DARWIN-OP
  2. Does the FitPC’s main screen with the Intel Atom logo appear?
    • yes, the PC is still good.

      You may use Linux’s advanced settings to restore the OS or, use the provided USB thumbdrive and restore OS.

    • no

      post your problem here.

Demo program does not work when turning DARWIN-OP on

  1. Properly shut down DARWIN-OP and restart again. If this happens again more then twice then check the following
  2. Do you have the most updated firmware version of the CM-730 and MX-28 installed?
    Run Dynamixel Monitor….. are all Dynamixel OK?
    • no

      Install the latest firmware

    • yes

      There’s a chance that the baud rate of any of the MX-28’s is/are not properly set to 1 Mbps.
      Use Dynamixel Monitor to check if address 4 (baud rate) is set at value 1. If any MX-28 is not set at 1 Mbps then set it to 1 Mbps.

    • yes, the MX-28 had the latest version of firmware, baud rate was 1 Mbps and ID was properly set. But, after some time Dynamixel Monitor shows as fail.

      In this case post your issue here.

  3. Check Connections Make sure that the main controller and the sub-controller are physically connected Make sure to check
    • the camera
    • camera cable
    • cable connection to camera
    • cable connection to main crontroller
    • make sure they are physically connected
    • run this procedure.

Specific joint(s) doesn’t/don’t work

  1. Are cables around the joint worn out?
    • yes

      Replace cable(s). Keep in mind due to the nature of the daisy chain (serial) network of Dynamixel some MX-28 may appear as malfunctioning (not working at all).
      The MX-28 connected directly to the CM-730 are “most significant” If any “most significant” MX-28 or connecting TTL cable to said MX-28 go defective then all connected “lesser significant” MX-28(s) will appear malfunctioning as well.
      The following is the connection order from “most significant” to “least significant”
      ID1 -> ID3 -> ID5
      ID2 -> ID4 -> ID6
      ID19 -> ID20
      ID7 -> ID9 -> ID11 -> ID13 -> ID15 -> ID17
      ID8 -> ID10 -> ID12 -> ID14 -> ID16 -> ID18
      For example. if ID 13 does bad then ID15 and ID17 will appear to go bad. However, ID11, ID9, and ID7 remain unaffected.

    • no

      Use DXL Monitor to check status of the MX-28(s). As a precautionary measure it is strongly advised th check the “lesser significant” MX-28 first and work your way up to the defective MX-28. If you ran all checks and the MX-28 still malfunctions then post your problem here.

Unusual motions/DARWIN-OP “behaves” strangely.

  1. Check the robot limbs. Are there any defective frames?
    • Look for any bad frames around the defective area. There’s a chance that bolt(s) and nut(s) may have come loose. Tighten them and check the status of the MX-28 and check for proper position sensor (horn) alignment. For any defective frames post your problem here.

Slow or choppy motions

  1. Battery conditions (if DARWIN-OP is running only under battery)
    • DARWIN-OP has been programmed to beep if battery power is low. However, in noisy environments you may not be able to hear such beeps. Keep an eye for any slow, strange, or choppy motions.
  2. Linux OS conditions The OS from the fitPC has been optimized so that DARWIN-OP can perform smoothly.
    There’s a chance that there are too many programs running in the background.
    Likely causes:
    • turning on automatic updates while DARWIN-OP is operating
    • actively running remote desktop during operations
    • setting a very-high display resolution (i.e. 1080p)
    • any program/process that takes too many fitPC resources
    • any combination from a to d. Please bear in mind that this is a limitation of Intel Atom’s system design and not from Linux OS, nor the fitPC, nor ROBOTIS.
  3. Interfacing conditions
    • We strongly recommend interfacing with DARWIN-OP via SSH terminal rather than remote desktop. However, if remote desktop is a must then close any background programs from Ubuntu and use conventional screen resolutions (i.e. 1024x768).

DARWIN-OP cannot “see/find” the ball

1 Check Color and White Balance Settings

Head and eye LED do not turn on nor the LED’s from the back of DARWIN-OP

  1. Please refer to the Layout of the LED’s. Please see “Power does not turn on” symptom.

Can’t get any sound from DARWIN-OP

Recovery

Recovery(Ubuntu 9.10)

Install Ubuntu 9.10

Note Reference: http://www.fit-pc2.com/wiki/index.php?title=Installing_Ubuntu_9.10

  1. Prepare Installation Media
    • You can use USB CD-ROM Drive or USB Flash drive (disk-on-key) as installation media
    • Download Ubuntu 9.10 Desktop installation
    • If you are using USB CD-ROM - burn downloaded image directly on CD.
    • If you are using USB Flash drive, 1GB would be enough. Download usb-creator to create bootable installation flash drive.
  2. Installation of generic Ubuntu 9.10 Desktop
    • Standard Ubuntu installation - choose timezone, partitions, username, password etc.
    • Unplug USB CD-ROM / USB Flash drive and reboot
    • Login using previously selected username and password
    • Reference : https://help.ubuntu.com/9.10/installation-guide/i386/index.html

Note Please note that the command used in Linux operating system is case sensitive.

  1. Required system changes
    • Remember to enter sodu su at the command line to gain writing privelges otherwise file editing will not happen.
    • Add the following lines to /etc/apt/sources.list
    • In this case enter gedit /etc/apt/sources.list (if using gedit).
     ## Repository for fit-PC2 users provided by Compulab
     deb http://fit-pc2.com/download/ubuntu/dists/karmic binary/
     deb-src http://fit-pc2.com/download/ubuntu/dists/karmic source/
    

Additional Software Installation

After installing ubuntu 9.10 you must install the following softwares

Miscellaneous Utilities

CM-730 Firmware Installation

Refer to Firmware Installer section.

MX-28 settings

Refer to Dynamixel Monitor section. Use reset all command.

Recovery(Linux Mint 9)

Install Linux Mint 9

Note Reference: http://www.fit-pc.com/wiki/index.php/Installing_Linux_Mint_9

  1. Prepare Installation Media
    • You can use USB CD-ROM Drive or USB Flash drive (disk-on-key) as installation media
    • Download Linux Mint 9 “Isadora” - Gnome CD (32-bit)
    • If you are using USB CD-ROM - burn downloaded image directly on CD.
    • If you are using USB Flash drive, 1GB would be enough, use “Startup Disk Creator” utility to create LiveUSB.
  2. Installation of generic Linux Mint 9
    • Standard Linux Mint installation: choose timezone, partitions, username, password etc.
    • Unplug USB CD-ROM / USB Flash drive and reboot
    • Login using previously selected username and password

Note Please note that the command used in Linux operating system is case sensitive.

  1. Required system changes
    • Remember to enter sodu su at the command line to gain writing privelges otherwise file editing will not happen.
    • Add the following lines to /etc/apt/sources.list
    • In this case enter gedit /etc/apt/sources.list (if using gedit).
     ## Repository for fit-PC2 users provided by Compulab
     deb http://fit-pc2.com/download/ubuntu/dists/lucid binary/
     deb-src http://fit-pc2.com/download/ubuntu/dists/lucid source/
    

Additional Software Installation

After installing Linux Mint 9 you must install the following software

Miscellaneous Utilities

CM-730 Firmware Installation

Refer to Firmware Installer section.

MX-28 settings

Refer to Dynamixel Monitor section. Use reset all command.

Clonezilla Recovery

You can recover the operating system in DARWIN-OP via Clonezilla. The recovery software is the same as the factory-default preinstalled with DARWIN-OP.

Note Download the recovery image from here

SSD Capacity 3.6GB SSD Capacity 4GB

NEW: Create Recovery USB

  1. Create a Clonezilla Live USB via Tuxboot (http://tuxboot.org/download/files-on-sf.php)

Oldfiles folder -> 2.0.1-5 folder select and download clonezilla-live-2.0.1-5-i486.iso

Select pre-downloaded and look for the file clonezilla-live-2.0.1-5-i486.iso;then click OK

Once complete click on Exit

  1. Place the image under /home/partimag of your thumbdrive. That is copy into the directory DARwIn_Recovery_2012-03-19

OLD: USB Flash Memory Preparation

Go to http://clonezilla.org/liveusb.php for instructions on Clonezilla live USB flash. The provided image file is located in the directory

/DARwIn_Recovery_date of recovery creation (yyy-mm-dd) from the USB thumbdrive

Boot Sequence

Connect the USB thumbdrive into a USB port power on DARWIN-OP and press the F2 key to access Phoenix(tm) Setup Utility (DARWIN-OP’s PC system BIOS).
Select the “Boot” tab and in “Boot order” select USB CDROM as top priority.
After boot selection go to the “Exit” tab and select Exit Saving Changes, pick yes.

Operating System Recovery with Clonezilla
  1. The first option from Clonezilla: Select default menu
    Clonezilla live (Default settings, VGA 800x600)
  2. Choose language: English (default)
    en_US.UTF-8 English
  3. Configuring console-data: keymap. Select the default option from the menu
    Don’t touch keymap
  4. Start Clonezilla: Select the default option from the menu
    Start_Clonezilla Start Clonezilla
  5. Clonezilla: Select the following
    device-image work with disks or partitions using images
  6. Mount Clonezilla image directory: this is the partition where Clonezilla will perform recovery
    local_dev Use local device (Ex: hard drive, USB drive)
    Press the “ENTER” key after selection.
  7. Clonezilla - Opensource Clone System (OCS) | Mode: Select the following
    sdb1 3925MB_vfat(In_USB_DISK_)_usb-SMI_USB_DISK_AA00000000001154-0:1
    Ensure you see the term “sdb1” and “vfat” along with the size if your USB thumbdrive.
  8. Clonezilla - Opensource Clone System (OCS) : “/” Select default menu
    / Top_directory_in_the_local_device
    Press “Enter” to continue……
  9. Clonezilla - Opensource Clone System (OCS) : Select default menu
    Beginner Beginner mode: Accept the default options
  10. Clonezilla: Select mode: Select the following
    restoredisk Restore_an_image_to_local_disk
  11. Clonezilla - Opensource Clone System (OCS) Mode: restoredisk
  12. Clonezilla - Opensource Clone System (OCS) | Mode: restoredisk : Select the destination partition
    sda 4096MB_4GB_NANDrive__ata-4GB_NANDrive_0000000000R1Y19998XU
    < Press “Enter” to continue…… > Press the “ENTER” key
    < Are you sure you want to continue? ? > press the Y key
    < Let me ask you again, Are you sure you want to continue? ? > confirm by pressing the Y key.
  13. Partclone: after completeing restoration
    < Press “Enter” to continue…… > press the “ENTER” key.
  14. You can either power off or reboot> Make sure you remove the USB thumbdrive. after making your selection.
Video

NEW: USB Flash Memory Preparation

  1. Select either of the following
    • From Mount Clonezilla image directory select

      skip and pick Use existing /home/partimag (writable device. E.g. hard disk/USB drive)

    • From Clonezilla: Select mode

      select restoredisk pick Restore_an_image_to_local_disk

  2. Then press Enter
USB Flash Memory Preparation

Go to http://clonezilla.org/liveusb.php for instructions on Clonezilla live USB flash.
The provided recovery image file is located in the directory:
/home/partimag/DARwIn_Recovery_[date of recovery creation(yyyy-mm-dd)]
From the USB thumbdrive.

Boot Sequence

Connect the USB thumbdrive into a USB port.
Power on DARWIN-OP and press the F2 key to access Phoenix(tm) Setup Utility (DARWIN-OP’s PC system BIOS). Select the “Boot” tab and in “Boot order”. Select USB HDD as top priority.
After boot selection go to the “Exit” tab and select “Exit Saving Changes”, pick Yes.

Operating System Recovery with Clonezilla
  1. The first option from Clonezilla: Select the default option from the menu
    • Clonezilla live (Default settings, VGA 800x600)
  2. Choose language: English (default)
    • en_US.UTF-8 English
  3. Configuring console-data: Select the default option from the menu
    • Don’t touch keymap
  4. Start Clonezilla: Select the default option from the menu
    • Start_Clonezilla Start Clonezilla
  5. Clonezilla: Select the default option from the menu
    • device-image work with disks or partitions using images
  6. Mount Clonezilla image directory: Select the following
    • skip Use existing /home/partimag (Writable device. E.g. hard disk/USB drive)
    • < Press “Enter” to continue……> : Press “Enter” key
  7. Clonezilla – Opensource Clone System (OCS) : Select the default option from the menu
    • Beginner Beginner mode: Accept the default options
  8. Clonezilla: Select mode: Select the following
    • restoredisk Restore_an_image_to_local_disk
  9. Clonezilla – Opensource Clone System (OCS) | Mode: restoredisk : Choose the image file to restore
    • Ex) DARwIn_Recovery_2012-03-19 2012-0316-1405_sda
  10. Clonezilla – Opensource Clone System (OCS) | Mode: restoredisk : Choose the target disk
    • Sda 4096MB_4GB_NANDrive__ata-4GB_NANDrive_0000000000R1Q199982a
    • < Press “Enter” to continue …… > : Press “Enter” key
    • < Are you sure you want to continue? ? (y/n) > : Press ‘Y’ key and Press “Enter” key
    • < Let me ask you again. Are you sure you want to continue? ? (y/n) > : Press ‘Y’ key and Press “Enter” key
  11. Starting to restore image to device. Wait until done.
  12. After completing restoration
    • < Press “Enter” to continue…> : Press “Enter” key.
  13. Now you can choose to: Choose 0 or 1
    • (0) Poweroff
    • (1) Reboot
  14. Make sure you remove the USB thumbdrive, and reboot the DARWIN-OP.