Bioloid Premium Kit User manual
2
Attention!
Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.
To visually verify proper alignment, the notch from the horn should be in line with the notch from
the actuator’s body.
If not, perform one of the following actions:
A.Turn the horn manually until it is properly aligned.
B.Use Dynamixel Wizard.
1. Start RoboPlus and run Dynamixel Wizard.
2. Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator
separately.
3. Select the correct port, click on the Open Port icon, and click on Start Search.
4. On address 30 Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can
visually verify horn alignment afterwards.
(For more information, please refer to Dynamixel Management.)
I. Always assign ID numbers to the actuators before assembly. Robotis recommends you assign
ID’s by one actuator at a time.
II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary
to facilitate assembly.
A. Insert only one nut at a time.
B. Use your screwdriver to apply pressure on the nut.
C. Point the screwdriver away from your body and away from other people.
Dynamixel Wizard properly aligned horn
*Some robots may require a specific horn alignment before assembly.
Please follow assembly instructions closely if such horn alignment is necessary.
Tips!
Bioloid Probing Robot – Getting Started
Attach ID5, F2, F3, and F10 together. (Do not misalign horn position.)
Attach F1, F9, and F11 together.
Attach STEP①, STEP②, ID6, and ID7 together. (Do not misalign horn position.)
S1
2
x 4
F3 x 2 BU x 1
F
2
x 1 W
A
x 1 N
1
x 4
N
1
S12
S
1
WA
BU
S-B
F3
F2
W
A
BU
S-B
S12
S-B x 1
F10 x 2 S4 x 4
F10
F3
S4
N
1
S
4
S
1
S
1
x 8 N
1
x 8
F1
1
x 2 F
9
x 2 F1 x 2
F
1
F9
F1
1
N1
S
1
W
A
B
U
S-
B
BU x 2
W
A
x 2 S-
B
x 2 N
1
x 8
W
A
BU
S-
B
N
1
S
1
x 8
3
1 2
3 43-
1
2-
1
12342-
1
123
F2
F3
F10 x 2
F3
F1
1F1
1
F1
F9
4
Attach STEP③, F3, F54, IR SENSOR, and DMS together.
With 2 CABLE-10, connect ID5 to ID7; ID6 to ID7.
Connect ID5 with CABLE-10.
F3 x 1 F54 x 1 IR SENSOR x 1 RIVET x 4 5P CABLE-15 x 1
N1
RIVET
RIVET 5P CABLE-15
S1 S1
F3
IR
SENSOR
F54
DMS x 1
DMS
RIVET
5P CABLE-15
S1 x 8 N
1
x 4
CABLE-10 x 3
CABLE-10
CABLE-10
CABLE-10
12-
1
2
34 5
1 2
CABLE-DMS x 1
IR
SENSOR
F54 DMS
DMS
F3
F54
IR
SENSOR
F54
5
Attach ID1 through ID4, F3, and F55 together.
Attach STEP⑥, F13, F14, and F51 together.
Attach F3, F10, and F60 together.
N1
F3
N1
S1
F3 x 6 S1 x 24 N1 x 36
F55 x 8
F55
F1
3
x 4 S
1
x 8
F1
4
x 4
F1
4
F1
3
S
2
F5
1
x 1 S
2
x 16
S1
F5
1
F3 x 1 S5 x 4
F10 x 2 F60 x 1 N1 x 4
F3
F10
F60
S5
N1
1
3
2
4
32
1
1
2
F3
F3
F3
F3
F60
F3
F60
F10 x 2
6
Attach STEP⑤, STEP⑦, and STEP⑧together.
Connect ID4 to ID5 with CABLE-10.
With 3 CABLE-6, connect ID2 to ID4; ID1 to ID2; ID1 to ID3.
Connect ID 3 with CABLE-20.
Attach STEP⑨, F52, and CM-510 together.
Connect ID3 to CM-510 with CABLE-20.
Connect IR SENSOR to Port 2 of CM-510 with 5P CABLE-15.
Connect DMS to Port 1 of CM-510 with CABLE-DMS.
F52 x 1 CM-510 x 1 S
1
x 10 N
1
x 4
S
1
S
1
PORT 2 (||)
IR SENSOR
PORT 1 ( | )
DMS
CABLE-BAT
CABLE-BAT x 1
F52
CM-510
CABLE-20
N
1
CABLE-6 x 3
S1
S1 x 5
N1
N1 x 1
CABLE-6 x 3
1
2
7
Connect the battery through the battery cable.
BATTERY
BATTERY x 1
1
23
8
Assembly Check
After assembly please check the following procedure to ensure correctness.
Run the assembly check program
Set the robot in PLAY mode; hold the D button then press START.
Once the START button is pressed, the assembly check program begins.
AX12+ initial position and ID check
Select each actuator separately and compare it to the picture below.
Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).
Pressing the U or D button selects one actuator at a time.
The selected actuator’s LED lights up and goes to its initial position.
Check starts from ID1.
U moves to the next ID in ascending numerical order; D, in descending numerical order.
If the actuator’s ID does not exist, then the robot beeps.
Although the LED may lit if there is no power, then check the wiring on the actuator.
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