Robotis Comprehensive Kit Robot Series User manual

v1.0
Closer to Real,
Bioloid QuickStart
Comprehensive Kit Robot Series
ROBOTIS CO.,LTD. www.robotis.com

Comprehensive Kit Robot Series
Contents
１. Starting Bioloid ························· 4
１-１. What is Bioloid? ······································· 5
１-２. Parts of Bioloid ········································ 6
１-３. Installing Bioloid Software··································· 8
１-３-１. The Contents of Bioloid’s CD ······················· 8
１-３-２. Installing Software····························· 8
１-４. How to Use Bioloid ······································ 9
２. Assembling Bioloid························ 11
２-１. Robot Assembling Orders ···································12
２-１-１. Assembling the Robots··························· 12
２-１-２. Downloading Robot Programs ······················· 13
２-１-３. Operating the Robots ··························· 17
２-２. Examples of Beginner Level ··································19
２-２-１. Crossing Gate ······························· 20
２-２-２. Universal Gauge ······························ 25
２-２-３. Sound-Level Meter ···························· 29
２-２-４. Crocodile Mouth ······························ 33
２-２-５. Pan Tilt ·································· 38
２-２-６. Parking Gate ······························· 43
２-２-７. Melody Car ································ 48
２-２-８. Robot Arm································· 53
２-２-９. Obstacle Detection Car ·························· 58
２-２-１０. Greeting Penguin ···························· 63
２-２-１１. Attacking Duck ····························· 69
２-２-１２. Cliff Detection Car ···························· 74
２-２-１３. Clapping Penguin ···························· 79
２-２-１４. Walking Droid ······························ 85
２-３. Examples of intermediate Level ································91
２-３-１. Probing Robot ······························· 92
２-３-２. Excavator ································· 99
２-３-３. Robot Flower ······························ 105
２-３-４. Fawn ·································· 111
２-３-５. Turtle ·································· 118
２-３-６. Spider ································· 124
２-３-７. Gerwalk ································· 132
２-３-８. Battle Droid ······························· 139
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Comprehensive Kit Robot Series
２-４. Examples of Advanced Level································· 146
２-４-１. Dinosaur ································ 147
２-４-２. Puppy ·································· 158
２-４-３. King Spider ······························· 169
２-４-４. Humanoid ································ 177
３. Bioloid Operation and Maintenance ··············· 192
３-１. Finding the Serial COM Port Number of the PC ························ 193
３-２. Charging CM-5 ······································· 194
３-３. Changing DYNAMIXEL’s ID ·································· 195
３-４. Exchanging Fuse ······································ 196
３-５. Comprehensive kit’s parts ································· 197
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Comprehensive Kit Robot Series
１. Starting Bioloid
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Comprehensive Kit Robot Series
１-１. What is Bioloid?
Bioloid is composed of block-shaped parts where users can assemble robots in various shapes
and functions - making it truly all-around robot kit. Furthermore, we provide software that enable
users to connect assembled robots to PC, allowing them to program the robots. With the
instruction guides that clearly explain the details of assembling the robots, and with the
downloadable materials that will further help users, the users can create the robots in any styles
they choose.
. QuickStart book explains
how to assemble various
robots step by step. Take
apart and assemble various
robots of your choosing
Users can easily assemble
various robots as it consists
of many blocks of different
shapes.
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Comprehensive Kit Robot Series
１-２. Parts of Bioloid
◎ Main Parts of Bioloid
Main Controller CM-5
The main controller of Bioloid robot. Using parts,
you can set up the robots by connecting
Dynamixel(actuator module, sensor module) to a
CM-5.
■ CM-5
Robot Exclusive Actuator, Dynamixel AX-12
Actuator module that functions as joint of robot. It
is a two-way (Bilateral) communication servo
driven by network and has endless turn mode.
■ AX-12
Robot Exclusive Sensor Module: Dynamixel AX-S1
Dynamixel sensor module AX-S1 consists of three
pairs of sensors that detect distance ,brightness
and heat. It also has many other fuctions such as
sounds detector, remocon transceiver and sound
buzzer as well.
■ Frame ■ Cable
■ Bolt & Nut
Assembly Parts
Various frames, cables and bolts that connect CM-
5, AX-12 and AX-S1 to assemble robot.
■ AX-S1
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Comprehensive Kit Robot Series
◎ Names of each part of AX-12 ( Acutator)
LED
Connector
ID
◎ Names of each part of AX-S1 (Sensor Module)
Sensor
ID
Connector
◎ Names of each part of CM-5
POWER
POWER JACK
Serial Cable Jack
ON OFF
START button
U button
MODE button
L button
D button
R button
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Comprehensive Kit Robot Series
１-３. Installing Bioloid Software
１-３-１. The Contents of Bioloid’s CD
Many helpful materials and instruction are included in the CD.
: Programs that needs to be installed in PC in order to operate Bioloid robot.
Sofware
: QuickStart, User’s Guide and manuals for the Dynamixel (AX-12, AX-S1).
Manual
: Various programs and video clips for Bioloid robots
Applied Robots
: Robot program sources that are explained in the User’s Guide.
Examples
: Help documents and video clips that assist in operating Bioloid robots
Help Files
１-３-２. Installing Software
The CD will execute autorun when the users put the CD inside. If the automatic setup does not
initialize, go to “Software\Setup.exe” and setup the program manually. When the setup is
finished, Robot Terminal, Motion Editor, and Behavior Control Programmer will appear in the Start
Menu of Window
Å When software is installed
Robot Terminal Behavior Control Programmer
Motion Editor
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Comprehensive Kit Robot Series
１-４. How to Use Bioloid
◎ Manuals
▷ QuickStart
QuickStart explains how to assemble and operate robots quick and easily,
and how to download a program. Printed QuickStart book is provided for your
convenience.
▷ User’s Guide
User’s Guide explains the operating principle and the program process of
Bioloid Robot in detail. Once mastered, the users can assemble robots in any
styles that they like. The User’s Guide (PDF document) is included in the CD.
.
▷ AX-12 Manual
This manual is generally referred by the experts in the field. If the users want to know the
advance functions of AX-12, they can check out this manual. It is a PDF document and it is
included in the CD.
▷ AX-S1 Manual
This manual is generally referred by the experts in the field. If the users want to know the
advance functions of AX-S1, they can check this manual. It is a PDF document and it is
included in the CD.
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Comprehensive Kit Robot Series
◎ Robot examples and Bioloid Kit Series
Intermidiate Level Robots Robots with 8 and less joints that
can be assembled with Comprehensive kit. If you want to
assemble intermediate level robots with a Biegginer kit.You
need to purchas four Dynamixels(AX-12) additionally.
Beginner Level Robots
Beginner kit
Intermediate Level Robots
Advanced Level Robots
Beginner kit
AX-12, 4 pcs
Comprehensive kit
OR
Beginner kit
AX-12, 14 pcs
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◈ In addition, you can assemble various robots in more creative ways.
Beginner Level Robots : Robots with 4 and less
joints that can be assembled with Beginner kit.
Advenced Level Robots:: Robot with 18 and less joints that
can be assembled with Comprehensive kit. If you want to
assemble advanced level with Biginner kit, You need to
purchas frame set and Dynamixels(AX-12) additionally
We also provide Expert Level kit that has systematic education process.
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Comprehensive Kit Robot Series
２. Assembling Bioloid
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Comprehensive Kit Robot Series
２-１. Robot Assembling Orders
Robot assembling orders .
Downloading Robot Programs
Step 1
Operating the Robots
Step 2
Step 3
Assembling the Robots
２-１-１. Assembling the Robots
Assemble the robots in orderly refer to assembly map in QuickStart.
[Example]
※ Easy instruction to insert nuts for AX-12, refer to“Help Files\Inserting nuts for AX-12.wmv”
video clip In CD.
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Comprehensive Kit Robot Series
２-１-２. Downloading Robot Programs
To activate the robots, the users must use the program. Transferring robot program from the PC
to CM-5 is called “download.”
There are behavior control program and motion data for the robot program of Bioloid.
As the name indicates , the behavior control program controls the movement of the robot.
In case of robot that involves many number of joints, it is difficult to manage the robot’s
movement with the behavior control program only. Motion data was added to control the multi-
joints movements of the robot additionally .
Behavior control program is necessary allthe time when you activate the robot but motion
data does not essentially need..
.
Download Program
Serial Cable
※ If your PC does not support Serial COM Port, install USB2Serial converter.
USB2Serial converter is a device that converts USB port to Serial COM Port and
can be easily found in PC accessory corners.
Behavior Control Program Download
(Required)
Motion Data Download
(Optional)
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Comprehensive Kit Robot Series
◎ How to download Behavior Control Program
The filename extension of Behavior Control Program is “bpg.” The users must download this
program to activate the robots.
ON
Connect PC and CM-5
Turn on Power of CM-5.
Select Program(P) => Download(D).menu Click “Download”button.
Serial Cable OFF
When download is complete, progress bar color
changes and download button changes to complete.
Close the download dialog box
Execute Behavior Control Programmer
(it doesn’t need when a program already executed)
※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.
Go to File (F) =>Select Open(o) menu and open
the behavior control program you want.

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Comprehensive Kit Robot Series
◎ How to download Motion Data
The filename extension of Motion Data is “mtn.” The users download this program whenever it
is necessary..
Select “Write to Robot” and open
the motion data file you want.
ON
Connect PC and CM-5
Turn on Power of CM-5.
Close the download dialog box.
Serial Cable OFF
※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.
Execute Behavior Control Programmer
(If it has done previously,not necessary)
Download is completed.
When download is complete,
progress bar color changes.
Select Management(M)=>Robot Motion (R)menu.

Comprehensive Kit Robot Series
◎ Download Troubleshooting
If the users see error messages while downloading a program, take the following steps.
[ Types of Error Message ]
※ To find the correct communication port number, refer to “Finding the Serial
COM Port Number of the PC” from “3. Bioloid Operation and Maintenance.”
[Troubleshooting Step 1] Make sure CM-5 is connected to the PC.
(Troubleshooting Step 2) Make sure CM-5 power is on.
(Troubleshooting Step 4) Set up correct communication port number.
After setting up correct
communication port number, try
the connection again by clicking
“Connect CM-5.”
(Troubleshooting Step 3) Close the programs that are using the communication port and try it again.
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Comprehensive Kit Robot Series
２-１-３. Operating the Robots
◎ Offline Robot Activation
Offline robot activation, as name indicates, is the operation of the robots without the
connection to PC.
Disconnect Serial Cable from CM-5 Serial Cable
Press MODE button to make PLAY LED flash on and
off
Whenever MODE button is
pressed LED will be on in the
order.
When START button is pressed, program is executed
When program is executed the LED no longer flashes on and off, but it is still turned on.
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Comprehensive Kit Robot Series
◎ Online Robot Activation
Online robot activation, as name indicates, is the operation of the robots with the connection to
PC. This mode involves the confirmation of the message via monitor when the robot is sending a
message to the PC.
Connect PC and CM-5
Execute Behavior Control Programmer
(If it has done previously,not necessary)
Click”Play”to start to program.
Click the “stop”to finish the program.
Click”Close”to close the
download dialog box.
ON
Turn on Power of CM-5.
Serial Cable OFF
Select Program(P)=> Download (D) menu
You can check the output message
from download robot program
※ If problem occurs in this progress above formality,refre to “Download Troubleshooting”from
page“2-1-2. Downloading Robot Programs”.
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Comprehensive Kit Robot Series
２-２. Examples of Beginner Level
1. Crossing Gate
2. Universal Gauge
8. Robot Arm
10. Greeting Penguin
4. Crocodile Mouth
6. Parking Gate
9. Cliff Detection Car
3. Sound-Level Meter
11. Attacking Duck
5. Pan Tilt 12. Obstacle Detection Car
13. Clapping Penguin
14. Waking Droid
7. Melody Car
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Comprehensive Kit Robot Series
２-２-１. Crossing Gate
Let’s build a crossing gate that opens and closes with a button.
(1) Necessary parts
CM-5 ADAPTOR-CM5
motor
1
AX-12 × 1
CABLE-14 × 1
F2 × 1
× 1 × 1
× 5 × 1
F3 F6 BU × 1 WA
× 1
N1
※Nuts, screws, and cables shown below are the same as the actual size. Place and measure the
p
arts
against the below illustration to choose the correct assembly part.
× 20 S2 × 8
× 24 S1 S-B
× 1
20