Robotis CM-510 User manual

CM
CMCM
CM-
--
-510
510510
510
Part Photo
Part PhotoPart Photo
Part Photo
[CM
[CM[CM
[CM-
--
-510]
510]510]
510]
Name of Each Part
Name of Each PartName of Each Part
Name of Each Part
[ Name of Each Part : CM
[ Name of Each Part : CM[ Name of Each Part : CM
[ Name of Each Part : CM-
--
-510 ]
510 ]510 ]
510 ]
PC Link (Serial Cable)
PC Link (Serial Cable)PC Link (Serial Cable)
PC Link (Serial Cable) : Used to connect the serial cable to the CM-510 and PC via serial port. Used for communication with
other PC or downloading tas code.
Comm nication Device Connection Jack
Comm nication Device Connection JackComm nication Device Connection Jack
Comm nication Device Connection Jack : Used for wireless communicate with ZIG-110, IR receiver modules or other boards
ROBOTIS e-Manual v1.10.00

Battery Jack
Battery JackBattery Jack
Battery Jack : Used to connect with the battery.
Power Jack
Power JackPower Jack
Power Jack : Used to connect the SMPS power supply
Power LED
Power LEDPower LED
Power LED : ON and OFF LED status for the power
Power Switch
Power SwitchPower Switch
Power Switch : Used to turn the robot ON / OFF.
MODE B tton
MODE B ttonMODE B tton
MODE B tton : Used to change the operation mode of CM-510. Please read below for more information.
START B tton
START B ttonSTART B tton
START B tton : Used to START selected mode. Please read below for more information.
U / L / D / R B tton
U / L / D / R B ttonU / L / D / R B tton
U / L / D / R B tton : Used for input purposes when a program is playing. These buttons can be used to send commands to
the robot.
AX/MX Serise
AX/MX SeriseAX/MX Serise
AX/MX Serise B s Port
B s Port B s Port
B s Port : Used to connect the AX/MX Dynamixel in a daisy chain method.
Peripheral Devices Connection Port
Peripheral Devices Connection PortPeripheral Devices Connection Port
Peripheral Devices Connection Port
: Used to connect Distance Measurement Sensor, Touch Sensor, IR Sensor, and peripheral
devices. The port numbers for each port are represented in bars such as I , II , III, IIII , IIIII , and IIIIII.
Mode Display LED
Mode Display LEDMode Display LED
Mode Display LED : LED to display current operation mode of CM-510; Detailed descriptions are provided as below.
[ MANAGE ]
[ MANAGE ][ MANAGE ]
[ MANAGE ]
It displays Dynamixel management mode is in progress.
It is used to set or test the operations of CM-510 and AX/MX Dynamixel using RoboPlus Manager.
It is automatically executed when RoboPlus Manager and CM-510 are connected.
[ PROGRAM ]
[ PROGRAM ][ PROGRAM ]
[ PROGRAM ]
It displays the motion edit mode is in progress.
It is used when the motions are editted with RoboPlus Motion.
It is automatically executed when RoboPlus Motion and CM-510 are connected.
[ PLAY ]
[ PLAY ][ PLAY ]
[ PLAY ]
It displays the tas code mode is in progress.
It is used after downloading the written code to CM-510 with RoboPlus Tas .
The Start button must be pressed directly by the user to execute When PLAY LED flic ers.
Stat s Display LED
Stat s Display LEDStat s Display LED
Stat s Display LED : The LED represents the current status of CM-510. Detailed discriptions are provided as below.
TxD :
TxD :TxD :
TxD : Turned on while CM-510 is transmitting the data to the outside.
RxD :
RxD :RxD :
RxD : Turned on while CM-510 is receiving the data from the outside.
AUX :
AUX :AUX :
AUX : Assigned LED to be used by the user in the program. It can be turned on or off using tas code.
Connecting Power
Connecting PowerConnecting Power
Connecting Power
The power is applied if the battery is connected to battery soc et of CM-510 or if the power switch is set to ON after connecting
SMPS to power jac soc et. If the power is impressed, Power LED is turned on and one of the Mode Display LEDs flic ers.
How to Operate
How to OperateHow to Operate
How to Operate

[T rning the power on] :
[T rning the power on] :[T rning the power on] :
[T rning the power on] : The power is turned on by moving the switch from OFF to ON.
OFF to ON.OFF to ON.
OFF to ON.
※ If the power is not turned on in spite of moving the switch to ON, the batteries may have been discharged.
Pleaser refer to Charging to recharge, or connect the power using SMPS.
[ Start ]
[ Start ][ Start ]
[ Start ] : Move to PLAY
PLAYPLAY
PLAY using Mode B tton
Mode B ttonMode B tton
Mode B tton to operate robots. Press START B tton
START B ttonSTART B tton
START B tton to execute when the LED on PLAY flickers
flickersflickers
flickers
.
※ If START button is pressed, the LED on PLAY is not supposed to be flickering
flickeringflickering
flickering any more; that is the normal status of the
execution.
[ End ]
[ End ][ End ]
[ End ] : If you want to stop the executed operations, press MODE B tton
MODE B ttonMODE B tton
MODE B tton to get bac to waiting mode stauts, or turn
OFF the
OFF the OFF the
OFF the
power sing Power Switch
power sing Power Switchpower sing Power Switch
power sing Power Switch.
Usage
UsageUsage
Usage
RoboPlus
RoboPlusRoboPlus
RoboPlus
It is used to control Dynamixel and the peripherals, and it can connect Dynamixel(AX/MX Dynamixel... etc.) and various parts
of OLLO(Touch Sensor, LED Module, IR Sensor etc.).
Specific motions can be edited and saved through RoboPlus Motion. The saved motion (mtn file) can be always executed by
RoboPlus Tas , and also the motions of each part can be controlled by writing the tas codes for control.
※
※ ※
※ RoboPl s Motion
RoboPl s MotionRoboPl s Motion
RoboPl s Motion
※
※ ※
※ RoboPl s Task
RoboPl s TaskRoboPl s Task
RoboPl s Task ※
※ ※
※ RoboPl s Manager
RoboPl s ManagerRoboPl s Manager
RoboPl s Manager

Embedded C
Embedded CEmbedded C
Embedded C
The controller of CM-510 can be controlled in C language. Please refer to Embedded C for more information.
Connecting to a PC
Connecting to a PCConnecting to a PC
Connecting to a PC
PC Lin (Serial Cable) of CM-510 and Serial Port of PC must be connected using download cable to communication with PC. If you
want to communicate with PC on the laptop without serial port, you can communicate with PC using USB2Dynamixel.
Connecting Wireless Communication Module
Connecting Wireless Communication ModuleConnecting Wireless Communication Module
Connecting Wireless Communication Module
ZIG-110 wireless communication module can be connected to CM-510.

Charging
ChargingCharging
Charging
If the alarm rings during the robot operation, the battery must be charged.
If the charging is started, the red LED on the charger starts flic ering. If the charging is completed, the green light is turned on.
Replacing the Fuse
Replacing the FuseReplacing the Fuse
Replacing the Fuse
The fuse in the CM-510/CM-530 prevents it from overloading,which can damage the circuit.
If the CM-510/CM-530 does not turn on with the battery but turns on when connected to the SMPS, replace your fuse.
※ The size of the fuse is shown below. Use a 125V/5A~10A fuse.
※ How to replace the fuse
① Separating Battery
① Separating Battery ① Separating Battery
① Separating Battery
② Connecting Charger
② Connecting Charger ② Connecting Charger
② Connecting Charger
③ Charging
③ Charging ③ Charging
③ Charging
Charging in
Progress
(Red LED)
Charging
Completed
(Green LED)
⇒ The robot may be operated using external power if SMPS is
directly connected to robots.
⇒ Two connectors are connected to the
battery: the connector for charging and
the connector for operating robots.
① Find the f se on the back of the CM
① Find the f se on the back of the CM ① Find the f se on the back of the CM
① Find the f se on the back of the CM-
--
-510/CM
510/CM510/CM
510/CM-
--
-
530.
530.530.
530.
② Use a pincette to replace the f se with a new
② Use a pincette to replace the f se with a new ② Use a pincette to replace the f se with a new
② Use a pincette to replace the f se with a new
one.
one.one.
one.

Pin Information to uild User Application Device
Pin Information to uild User Application DevicePin Information to uild User Application Device
Pin Information to uild User Application Device
Power
PowerPower
Power
The pin composition of CM-510 Power is as below.
External 5
External 5External 5
External 5-
--
-Pin Port
Pin PortPin Port
Pin Port
The pin composition of CM-510 external port is as below.
1. OUT : 5V- Torque Possible (Maximum Allowed Current 0.9A)
2. VDD (5V)
3. ADC : The analog signals from the sensor made by the user can be read.
4. GND
5. NC : Not used
Communication Device Connection Port
Communication Device Connection PortCommunication Device Connection Port
Communication Device Connection Port
The functions on the pins of communication device connection port are as below.

1. GND : Ground Level (0v)
2. VDD : Supply Voltage ( 2.7~3.6V )
3. RXD : Receive Signal Terminal
4. TXD : Transmit Signal Terminal
3
33
3-
--
-Pin Connector Port
Pin Connector PortPin Connector Port
Pin Connector Port
The functions of pins on the 3-pin connector port are as follows. Please refer to AX-Series Pin Assignment for more
information.
Please be careful not to change the direction considering the angular part.
1. GND : Ground Level (0v)
2. VDD : Supply Voltage (It is equal to the voltage of battery)
3. DATA : Data Transmission Pin
H/W Specification
H/W SpecificationH/W Specification
H/W Specification
Weight : 51.3g
Controller : ATMega2561
Wor ing Voltage
o
Allowed Range : 6.5V ~ 15V
o
Recommended Voltage : 11.1V (Li-PO 3cell)
Consumed Current
o
When IDLE : 50mA
o
External I/O Maximum Current : 0.9A
o
Total Maximum Current : 10A (Fuse)
Wor ing Temperature : -5℃~70℃
Internal I/O Device
o
Button : 5 (Reset 1, Port 5)
o
Mic (For Sound Detection) : 1
o
Voltage Sensor : 1
External I/O Device
o
OLLO Compatible 5 pin I/O Port : 6
o
AX/MX Series Dynamixel Connector : 5
Error Report

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ROBOTIS
All rights reserved.
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