Bioloid Turtle User manual

Bioloid
Premium Kit
Turtle
Assembly Manual
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Bioloid Premium Kit Turtle Assembly manual v1.0

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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 its 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!

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Bioloid Turtle – Getting Started
Attach ID1, ID6, F1, F3, and F55 together.
(Do not misalign horn position. Make 2 sets.)
Attach ID2, ID5, F1, F3, and F55 together.
(Do not misalign horn position. Make 2 sets.)
Attach STEP①, ID3, and F3 together. (Do not misalign horn position.)
F1 x 2 F3 x 2 S1 x 16 N
1
x 16
F3
N1
F1
F55 x 4
F55
S1
F1 x 2 F3 x 2 S1 x 16 N1 x 16
F3
N1
F1
F55 x 4
F55
S1
N1
S1
WA
BU
S-B
F3 x 1 S1 x 8 N1 x 4
F3
BU x 1 WA x 1 S-B x 1
1 2 2-
1
2-
2
1 2 2-
1
2-
2
1 2
N1
N1

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Attach STEP①, ID8, and F3 together. (Do not misalign horn position.)
Attach STEP②, ID4, and F3 together. (Do not misalign horn position.)
Attach STEP②, ID7, and F3 together. (Do not misalign horn position.)
N1
S1
WA
BU
S-B
F3 x 1 S1 x 8 N
1
x 4
F3
BU x 1 WA x 1 S-B x 1
1 2
N1
S1
WA
BU
S-B
F3 x 1 S1 x 8 N
1
x 4
F3
BU x 1 WA x 1 S-B x 1
1 2
N1
S1
WA
BU
S-B
F3 x 1 S1 x 8 N
1
x 4
F3
BU x 1 WA x 1 S-B x 1
1 2

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Attach F3, F10, and F60 together.
Attach F9, F10, F54, and IR SENSOR together.
Attach STEP⑧, F4, and F54 together.
F3 x 1 F10 x 2 F60 x 1 S5 x 4 N1 x 4
F3
F10
F60
S3
S1
S2
RIVET x 4
RIVET
F9 x 2 F10 x 1 F54 x 2 S1 x 2 S2 x 4 S3 x 2 N1 x 6
5P CABLE-15 x 2 IR SENSOR x 2
F10
F54
F9
IR SENSOR N
1
12
1 2
N1
F54
F4
DMS
SP2
RIVET
SP2
RIVET x 2
F4 x 1 F54 x 1 SP2 x 2 DMS x 2 S5 x 4 N1 x 4
CABLE-DMS x 1
1 2
N1 F3
F60
F10 x 2

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Attach STEP⑦, STEP⑨, and F51 together.
Attach STEP③, STEP④, STEP⑤, STEP⑥, and STEP⑩together.
S2
S2 x 12
12
F51 x 1 S12 x 4
F51
S12 S12
12
BACK BACK
F51

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With 2 CABLE-6 connect ID1 to ID2; ID5 to ID6.
With 4 CABLE-14 connect the following:
ID1 to ID3; ID2 to ID4; ID5 to ID7; ID6 to ID8.
Connect ID4 and ID8 to CM-510 each with CABLE-20.
BATTERY x 1
BATTERY
CABLE-14 x 4
CABLE-6 x 2 CABLE-20 x 2
1
2
3
Attach STEP⑪, F52, and CM-510 together.
Connect IR SENSOR1 to Port 1 of CM-510 with 5P CABLE-15.
Connect IR SENSOR2 to Port 2 of CM-510 with 5P CABLE-15.
Connect DMS to Port 3 of CM-510 with CABLE-DMS.
N
1
S1
IR SENSOR1 IR SENSOR2
PORT 1 (|)
IR SENSOR1
PORT 2 (||)
IR SENSOR2
PORT 3
(|||)
DMS
CABLE-BAT x 1
S1 x 6 N1 x 2
S1
CM-510 x 1 F52 x 1
F52
CM-510

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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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If everything works fine, play the robot.
Set the robot in PLAY mode and press START. The robot will play.
Sensor and behavior check
From STEP②press R. The robot returns to its initial position as pictured above.
Place your hand close to the sensors as pictured below. Robot behavior begins.
If the robot does not behave, as pictured below, then check the sensor wiring and its port.
Pressing L will return the robot back to STEP②.