Bioloid Robotis, User Manual

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User’s Guide
Contents
1. Before Starting
1-1. A Word of Caution Page 4
1-2. What is Bioloid? Page 6
1-3. Things to Understand Before Starting Page 8
1-4. Package Contents Page 11
2. Learning the Basic Operations
2-1. The CM-5 and Its Operation Modes Page 13
2-2. Behavior Control Program Page 15
2-3. Examples of Simple Behavior Control Page 17
2-4. Understanding ID, Address, and Data Page 27
3. Assembling Basic Robots
3-1. Connecting Frames Page 32
3-2. Wiring and Power Page 33
3-3. Frequently Used Behavior Control Routines Page 35
3-4. Assembling Robot Arm Page 37
4. Behavior Control Programmer
4-1. Opening a File Page 43
4-2. Editing Function of the Behavior Control Programmer Page 44
4-3. Syntax of the Behavior Control Program Page 49
5. Reciprocal Operation Using Sensors
5-1. The AX-S1 Sensor Module Page 56
5-2. Distance Sensing Function Page 57
5-3. Sound Sensing Function Page 58
5-4. Assembling Attacking Duck that Uses Sensor Page 59
5-5. Surrounding Light Sensing Function Page 64
5-6. Melody Playing Function Page 65
5-7. Assembling Intelligent Car that Uses Sensor Page 68
6. Motion Editor
6-1. Using the Motion Editor Page 75
6-2. Motion Editing Using the Robot Terminal Page 84
6-3. Walking Droid Robot’s Program Page 91
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