Robotis Comprehensive Kit Robot Series Quick Start Manual Download

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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

Summary of Contents for Comprehensive Kit Robot Series

Page 1: ...v1 0 Closer to Real Bioloid QuickStart Comprehensive Kit Robot Series ROBOTIS CO LTD www robotis com ...

Page 2: ...ts 17 ２２ Examples of Beginner Level 19 ２２１ Crossing Gate 20 ２２２ Universal Gauge 25 ２２３ Sound Level Meter 29 ２２４ Crocodile Mouth 33 ２２５ Pan Tilt 38 ２２６ Parking Gate 43 ２２７ Melody Car 48 ２２８ Robot Arm 53 ２２９ Obstacle Detection Car 58 ２２１０ Greeting Penguin 63 ２２１１ Attacking Duck 69 ２２１２ Cliff Detection Car 74 ２２１３ Clapping Penguin 79 ２２１４ Walking Droid 85 ２３ Examples of ...

Page 3: ...inosaur 147 ２４２ Puppy 158 ２４３ King Spider 169 ２４４ Humanoid 177 ３ Bioloid Operation and Maintenance 192 ３１ Finding the Serial COM Port Number of the PC 193 ３２ Charging CM 5 194 ３３ Changing DYNAMIXEL s ID 195 ３４ Exchanging Fuse 196 ３５ Comprehensive kit s parts 197 3 ...

Page 4: ...Comprehensive Kit Robot Series １ Starting Bioloid 4 ...

Page 5: ...ts 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 asse...

Page 6: ...unctions 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 Ass...

Page 7: ...f 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 7 ...

Page 8: ... 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 １３２ 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 Moti...

Page 9: ...ce 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...

Page 10: ...Advanced Level Robots Beginner kit AX 12 4 pcs Comprehensive kit OR Beginner kit AX 12 14 pcs F r a m e s e t 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 le...

Page 11: ...Comprehensive Kit Robot Series ２ Assembling Bioloid 11 ...

Page 12: ...g Robot Programs Step 1 Operating the Robots Step 2 Step 3 Assembling the Robots ２１１ 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 12 ...

Page 13: ... 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 convert...

Page 14: ...ad 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 Sel...

Page 15: ...ou 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 R...

Page 16: ...OM 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 t...

Page 17: ...n 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 17 ...

Page 18: ...ct 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 ...

Page 19: ...r 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 19 ...

Page 20: ...oses 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 parts against the below illustration to choose the correct assembly part 20 S2 8 24 S1 S B 1 20 ...

Page 21: ...Step 2 2pcs F3 4pcs S1 N1 4pcs Bar Step 3 8pcs 8pcs 3pcs F2 N1 S2 F3 F6 Step 1 Step 2 Check assembly point motor 1 Whole Body Assembly Step 4 8pcs N1 12pcs S B BU WA S1 Step 3 Insert nuts CM 5 ADAPTOR CM5 CM5 Step 1 4pcs 4pcs S1 N1 Battery included 21 ...

Page 22: ...Comprehensive Kit Robot Series CABLE 14 Wiring and Completion Step 5 motor Wiring 1 1 CM 5 Using side connector of connect cable CM 5 Connector 1 m otor CABLE 14 1 1 22 ...

Page 23: ...e online robot Refer to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the r...

Page 24: ...ownload Example file which is behavior control program In CD Applied Robots Beginner Crossing Gate DemoExample Crossing Gate bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you press U button of CM 5 the Crossing Gate opens Wh...

Page 25: ...l the movement speed of gauge with buttons 1 Necessary parts CM 5 ADAPTOR CM5 motor 2 AX 12 1 F3 3 F6 1 N1 16 S1 18 CABLE 14 1 1 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part S2 2 25 ...

Page 26: ...s F3 Check assembly point Step 1 Step 3 Step 2 Insert nuts CM 5 Step 1 CM 5 ADAPTOR CM5 Battery included 4pcs 4pcs S1 N1 Step 4 Whole Body Assembly 12pcs 8pcs m otor 2 S1 N1 Wiring and Completion Step 5 motor 2 Wiring m otor 1 CABLE 14 CM 5 2 CABLE 14 1 Using side connector of connect cable CM 5 1 Connector 26 ...

Page 27: ...ate online robot Refer to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the...

Page 28: ...e file which is behavior control program In CD Applied Robots Beginner Universal Guage DemoExample Universal Guage bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot If you keep pressing U button of CM 5 the speed of gauge increases I...

Page 29: ...level in a gauge when a sensor detects sound 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 1 AX S1 F3 5 F6 1 N1 28 S1 30 CABLE 14 2 S2 2 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 1 1 1 29 ...

Page 30: ...p 2 Joint 1 S1 2pcs F3 N1 2PCS 2pcs Whole Body Assembly Step 5 Insert Nuts Check assembly point motor 1 N1 8pcs Bar Step 4 N1 F6 8pcs S2 Step 1 2pcs Step 2 Step 3 N1 2pcs Step 4 S1 F3 20pcs Wiring and Completion CABLE 14 2 Step 5 CABLE 14 CM 5 1 m otor 1 CABLE 14 Wiring 2 m otor 1 CABLE 14 Using side connector of CM 5 connect cable Connector 1 1 30 ...

Page 31: ...erate online robot Refer to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of t...

Page 32: ...m Step 1 Download Example file which is behavior control program In CD Applied Robots Beginner Sound Level Meter DemoExample Sound Level Meter bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you make a sound on the sensor the ...

Page 33: ...ot detected by a sensor in front for a certain period of time 1 Necessary parts CM 5 ADAPTOR CM5 motor 3 AX 12 1 AX S1 F3 1 F6 1 N1 24 S1 18 S B 1 BU 1 WA 1 CABLE 18 1 F1 1 S2 10 CABLE 10 1 S3 4 F8 2 F10 2 1 1 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 33 ...

Page 34: ...Step 1 4pcs S1 N1 4pcs 2pcs N1 F8 CM 5 Battery included F10 Step 3 Step 4 Mouth 1 Mouth 2 Step 2 S3 4pcs N1 8pcs 4pcs F3 F10 F1 F8 S2 F6 Whole Body Assembly Step 5 Check assembly point Insert nuts Step 1 N1 4pcs S1 8pcs S B BU WA Step 3 Step 4 motor 3 Insert nuts S1 6pcs 6pcs N1 34 ...

Page 35: ...Comprehensive Kit Robot Series CM 5 1 m otor 3 CABLE 18 Step 6 Wiring and Completion Wiring m otor 3 CABLE 10 CABLE 18 1 2 motor 2 CABLE 10 3 35 ...

Page 36: ...ate online robot Refer to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the...

Page 37: ...eginner Crocodile Mouth DemoExample Crocodile Mouth bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you place a hand on the front of the sensor it opens the mouth and when you remove your hand it closes If there is an object i...

Page 38: ...t and left and tilt up and down buttons 1 Necessary parts ADAPTOR CM5 AX 12 2 F3 3 N1 20 S1 28 S B 1 BU 1 WA 1 CABLE 14 2 F2 motor 4 motor 3 CM 5 1 1 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 38 ...

Page 39: ...eck assembly F3 Joint 2 Step 3 Check assembly point S1 motor 3 4pcs Whole Body Assembly Step 5 Insesrt nuts motor 4 Step 4 Step 3 Step 1 Step 2 Insert nuts 12pcs N1 8pcs N1 4pcs motor 3 S1 CM 5 Step 1 CM 5 Step 2 Joint 1 2pcs F3 ADAPTOR CM5 Battery included 4pcs 4pcs 4pcs S1 N1 S1 4pcs N1 39 ...

Page 40: ...ensive Kit Robot Series connect cable CM 5 1 m otor 3 CABLE 14 Wiring 1 2 motor 3 CABLE 14 2 m otor 4 motor 4 motor 3 CABLE 14 CABLE 14 Using side connector of CM 5 1 Connector Wiring and Completion Step 6 40 ...

Page 41: ...to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure ...

Page 42: ...rogram In CD Applied Robots Beginner Pan Tilt DemoExample Pan Tilt bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot If you keep pressing U button of CM 5 the tilt joint moves upward If you keep pressing D button of CM 5 the tilt joi...

Page 43: ...oor when a sensor detects an object 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 2 AX S1 F3 8 F6 1 N1 36 S1 38 CABLE 14 1 motor 2 1 1 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 6 2 CABLE 10 S2 43 ...

Page 44: ... assembly point Joint Step 2 4pcs motor 1 S1 F3 ADAPTOR CM5 Step 1 CM 5 4pcs S1 N1 4pcs Battery included CM 5 Joint 1 Step 4 Step 6 Whole Body Assembly Insert nuts motor N1 8pcs 2pcs F3 1 motor 2 8pcs N1 N1 2pcs S1 Step 3 S1 20pcs Step 4 Insert nuts 4pcs Step 2 Step 5 N1 2pcs Step 1 Joint 2 Step 5 F3 2pcs S1 4pcs N1 4pcs 44 ...

Page 45: ...es CABLE 14 Wiring and Completion Step 7 motor motor 2 CABLE 10 Connector 1 2 1 3 CM 5 1 CABLE 10 m otor 1 Wiring 2 m otor 1 CABLE 14 CM 5 3 CABLE 10 m otor 2 CABLE 10 Connector Using side connectors of connect cables 3 1 CM 5 45 ...

Page 46: ... to Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure...

Page 47: ...m In CD Applied Robots Beginner Parking Gate DemoExample Parking Gate bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When the sensor detects an object the crossing bar opens vertically When the sensor detects an object and the cro...

Page 48: ...ton 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 4 motor 2 motor 3 motor 4 AX S1 1 1 1 6 4 4 F3 F13 F14 N1 48 S1 48 S2 16 CABLE 10 CABLE 14 2 1 10 Sticker Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 2 CABLE 6 48 ...

Page 49: ... S1 4pcs N1 4pcs S2 4pcs N1 4pcs Assemble 2 sets using and F3 motor 1 motor 3 Insert nuts Attach nut stickers motor 3 motor 1 Step 2 Right Wheel 2 sets Sticker 2pcs Assemble taking note of the inserted location of nuts Make sure nuts do not come off N1 4pcs F13 F14 N1 4pcs S1 4pcs S2 4pcs ADAPTOR CM5 Insert nuts Attach nut stickers Head Assembly Step 4 Step 3 Sticker 2pcs 8pcs N1 4pcs S1 8pcs N1 S...

Page 50: ...ep 4 Wiring and Whole Body Assembly Step 5 motor 1 motor 3 motor 2 1 Wiring CABLE 6 2 3 4 5 CABLE 10 CABLE 10 CABLE 6 CABLE 14 CM 5 m otor 4 m otor 1 m otor 2 m otor 2 m otor 1 m otor 3 m otor 3 m otor 4 Bottom view CABLE 10 16pcs S1 Check screw assembly point Completion Step 6 CM 5 4pcs S1 Using side connector of CM 5 connect cable 5 5 Connector Battery included 50 ...

Page 51: ... 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram Comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pressed LED ...

Page 52: ...ams Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you press L button of CM 5 the Melody Car chimes and moves forward at a set distance When you press R button of CM 5 the Melody Car chimes and moves backward at a set distance When you press U button of CM 5 the Melody Car chimes and turn to the right When you press...

Page 53: ...Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 3 motor 2 motor 3 F1 1 F3 4 F9 1 F11 1 N1 36 S1 48 S B 2 BU 2 WA 2 CABLE 10 CABLE 14 1 2 1 1 1 F2 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 53 ...

Page 54: ...motor 1 Hand Step 5 F11 F9 F3 S1 8pcs N1 8pcs ADAPTOR CM5 Step 1 CM 5 4pcs S1 4pcs N1 Battery included F3 F2 Step 4 Joint 3 N1 4pcs S1 4pcs Step 2 Insert nuts Step 6 Whole Body Assembly Check assembly point S1 24pcs 2pcs 2pcs WA 2pcs Step 4 12pcs motor 2 motor 3 Step 3 N1 4pcs BU S B Step 5 N1 Insert nuts Check assembly point Step 1 54 ...

Page 55: ...le Step 7 Complete Wiring and Assembly CABLE 14 CABLE 14 CABLE 10 2 3 motor 1 motor 2 motor 3 Left side view Using side connector of CM 5 1 Connector 1 CM 5 1 CABLE 14 Wiring 2 m otor 1 CABLE 14 CABLE 10 m otor 2 m otor 1 3 m otor m otor 2 3 55 ...

Page 56: ... Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U butt...

Page 57: ...r control program In CD Applied Robots Beginner Robot Arm DemoExample Robot Arm bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you press R button of CM 5 the Robot Arm rotates to the right When you press L button of CM 5 the ...

Page 58: ...e automatically 1 Necessary parts motor 1 AX 12 4 motor 2 motor motor CM 5 ADAPTOR CM5 3 4 AX S1 1 1 1 6 4 4 F3 F13 F14 N1 48 S1 48 S2 16 CABLE 10 CABLE 14 2 1 10 Sticker Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 2 CABLE 6 58 ...

Page 59: ... off S1 4pcs N1 4pcs S2 4pcs N1 4pcs Assemble 2 sets using and F3 motor 1 motor 3 Insert nuts Attach nut stickers motor 3 motor 1 Step 2 Right Wheel 2 sets Sticker 2pcs Assemble taking note of the inserted location of nuts Make sure nuts do not come off N1 N1 4pcs 4pcs S1 4pcs F13 F14 S2 4pcs ADAPTOR CM5 Insert nuts Attach nut stickers Joint Step 3 F3 2pcs N1 4pcs S1 Step 4 Head Step 3 Sticker 2pc...

Page 60: ...s finished 1 2 4 5 3 Step 2 Step 1 Step 4 motor 3 motor 2 1 CABLE 6 2 3 4 5 CABLE 10 CABLE 10 CABLE 6 CABLE 14 motor 1 Wiring CM 5 m otor 4 m otor 1 m otor 2 m otor 2 m otor 1 m otor 3 m otor 3 m otor 4 Bottom view CABLE 10 16pcs S1 Check screw assembly point Completion Step 6 CM 5 5 4pcs S1 Using side connector of CM 5 connect cable 5 Connector Batteries included 60 ...

Page 61: ...tivation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button ...

Page 62: ...Car DemoExample Obstacle Detection Car bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot Robot continues to move forward and when it meets an obstacle it will avoid it Step 4 Compare with the provided video clip In CD Applied Robots ...

Page 63: ...cting an object on side 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 4 motor motor motor 2 3 4 AX S1 F1 2 F3 9 F9 2 F12 2 N1 70 S1 90 S B 4 BU 4 CABLE 10 CABLE 14 2 2 F2 2 CABLE 6 1 WA 1 1 1 4 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 63 ...

Page 64: ...tyle F3 Head Step 3 Step 1 Shoulder 2 sets Assemble 2 sets in a same style S1 4pcs F1 4pcs S1 N1 4pcs F3 Insert nuts Step 1 Step 2 motor 2 motor 1 12pcs N1 motor motor 2 1 S1 28pcs WA 2pcs BU S B 2pcs 2pcs Step 3 8pcs N1 Check assembly point Check assembly point Upper Part of Body Assembly Step 4 Step 1 Step 2 64 ...

Page 65: ...4pcs F3 F12 Foot 2 sets Step 6 N1 3pcs S1 3pcs Assemble 2 sets in a same style Insert nuts Step 4 Lower Part of Body Assembly Step 7 N1 8pcs Insert nuts 8pcs Step 5 motor 4 BU 2pcs 2pcs WA 2pcs S1 24pcs motor 4 motor 3 Check assembly point Step 6 Step 5 S B motor 3 N1 Step 6 Check assembly point 65 ...

Page 66: ...otor 3 CABLE 14 CABLE 6 CABLE 10 CABLE 10 Wiring motor 2 CM 5 CABLE 14 CABLE 14 CABLE 6 CM 5 Assembly and Wiring Step 8 3 1 2 4pcs N1 motor 2 motor 1 5 motor 3 motor 4 m otor 4 motor 1 CM 5 4 4 Using side connector of CM 5 Connector Battery included CM 5 CABLE 10 4pcs S1 CABLE 10 66 ...

Page 67: ...on from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pre...

Page 68: ...is behavior control program In CD Applied Robots Beginner Greeting Penguin DemoExample Greeting Penguin bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you place a hand on the front of a head it greets when you place a hand on...

Page 69: ...n object 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 3 motor motor 2 3 AX S1 F1 1 F3 5 F9 1 F11 1 N1 40 S1 56 S B 2 BU 2 WA 2 CABLE 10 CABLE 14 2 2 F2 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 1 1 1 69 ...

Page 70: ... 1 Hand Step 5 F11 ADAPTOR CM5 F9 F3 CM 5 CM 5 Step 1 4pcs S1 4pcs N1 Battery included F3 F2 S1 8pcs N1 8pcs Step 4 Joint 3 N1 4pcs 4pcs S1 Step 2 Insert nuts Whole Body Assembly Step 6 Check assembly point S1 24pcs 2pcs 2pcs WA 2pcs Step 4 12pcs motor 2 motor 3 Step 3 N1 4pcs Step 5 Step 1 N1 S B BU Insert nuts Check assembly point 70 ...

Page 71: ...0 Wiring m otor 3 CABLE 10 S1 4pcs 4 N1 4pcs Left side view Step 7 S1 4pcs Assemble Sensor and Completion Step 8 F3 CABLE 14 CABLE 10 2 3 motor 1 motor 2 motor 3 Left side view Using side connector of CM 5 1 Connector 1 Wiring CM 5 1 CABLE 14 m otor 2 CABLE 14 1 CABLE 10 m otor 1 3 m otor 3 m otor 2 m otor 2 ...

Page 72: ...Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U...

Page 73: ... behavior control program In CD Applied Robots Beginner Attacking Duck DemoExample Attacking Duck bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you place a hand on the front of the head the duck attacks with a beak When you ...

Page 74: ...a sensor 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 4 motor 2 motor 3 motor 4 AX S1 F3 6 F13 4 F14 4 N1 48 S1 48 S2 16 CABLE 10 CABLE 14 2 1 Sticker 10 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part 1 1 1 2 CABLE 6 74 ...

Page 75: ...Make sure nuts do not come off S1 4pcs N1 4pcs S2 4pcs N1 4pcs motor F3 motor 1 motor 3 Insert nuts Attach nut stickers motor 1 3 Right Wheel 2 sets Step 2 Sticker 2pcs Assemble taking note of the inserted location of nuts F14 F13 Make sure nuts do not come off N1 N1 4pcs 4pcs S1 4pcs S2 4pcs ADAPTOR CM5 Insert nuts Attach nut stickers Step 3 Step 4 Joint Head Step 3 Sticker 2pcs N1 Make sure nuts...

Page 76: ...is finished 1 2 4 5 Step 2 Step 1 Step 4 motor 1 motor 3 motor 2 1 CABLE 6 2 3 4 5 CABLE 10 CABLE 10 CABLE 6 CABLE 14 Wiring CM 5 m otor 4 m otor 1 m otor 2 m otor 2 m otor 1 m otor 3 m otor 3 m otor 4 Bottom view 3 CABLE 10 S1 16pcs Check screw assembly point Step 6 Completion CM 5 5 Using side connector of CM 5 S1 4pcs connect cable 5 Battery included Connector 76 ...

Page 77: ...on from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pre...

Page 78: ...iff Detection Car bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot The car moves forward and it avoids when it meets a cliff The car moves forward and it avoids when it meets an obstacle Step 4 Compare with the provided video clip I...

Page 79: ...ion 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 4 motor motor motor 2 3 4 AX S1 F1 2 F3 9 F9 2 F12 2 N1 70 S1 90 S B 4 BU 4 CABLE 10 CABLE 14 1 1 F2 2 CABLE 6 1 WA 4 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part CABLE 18 1 CABLE 20 1 1 1 1 79 ...

Page 80: ...embly Step 4 Check assembly point Insert nuts Step 1 motor 2 motor 1 Step 2 N1 12pcs N1 8pcs S1 28pcs WA 2pcs S B 2pcs BU 2pcs F9 F3 Hand 2 sets Step 2 N1 4pcs S1 4pcs Assemble 2 sets in a same style F3 Step 1 Step 3 Shoulder 2 sets Head S1 4pcs F1 F3 Assemble 2 sets in a same style 4pcs S1 4pcs N1 80 ...

Page 81: ...ets in a same style N1 4pcs S1 4pcs F3 F12 S1 3pcs N1 Assemble 2sets in a same style 3pcs Step 7 Lower Part of Body Assembly Insert nuts Step 5 Step 4 Step 5 motor 3 motor 4 Insert nuts Step 6 8pcs N1 2pcs S B Check assembly point 24pcs S1 BU 2pcs 2pcs WA Check assembly point 8pcs N1 81 ...

Page 82: ...motor 3 CABLE 18 CABLE 6 CABLE 10 CABLE 14 Wiring m otor CM 5 Assembly and Wiring Step 8 CABLE 10 CABLE 20 CABLE 14 CABLE 18 2 CM 5 m otor 4 m otor 1 CM 5 CABLE 6 motor 1 motor 2 motor 3 motor 4 1 2 4 3 5 Using side connector of CM 5 Connector Battery included CM 5 4pcs N1 4pcs S1 82 ...

Page 83: ...on from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pre...

Page 84: ... 1 Download Example file which is behavior control program In CD Applied Robots Beginner Clapping Penguin DemoExample Clapping Penguin bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When you place a hand on the front of a head the...

Page 85: ...cle it will avoid it 1 Necessary parts CM 5 motor ADAPTOR CM5 1 AX 12 4 motor motor motor 2 3 4 AX S1 F1 2 F3 2 F8 2 F12 2 N1 50 S1 64 S B 2 BU 2 CABLE 10 CABLE 14 3 2 1 1 1 3 2 Sticker WA Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part S2 2 85 ...

Page 86: ...ssembly point Step 2 Step 1 4pcs S1 8pcs N1 S B BU insert nuts motor 4 Check assembly point Left Leg 3 Step 6 Step 4 Step 5 WA 8pcs 4pcs S1 N1 F1 Left Leg 2 Step 5 F12 N1 4pcs S1 4pcs Left Leg 1 Step 4 Check assembly point F3 motor 2 S1 4pcs F12 F1 Right Leg 2 Step 2 Check assembly motor 1 F3 4pcs S1 4pcs N1 4pcs S1 86 ...

Page 87: ...cs N1 2pcs F8 Insert nuts CABLE 10 CABLE 14 CABLE 14 CABLE 10 4 2 1 3 Step 8 Lower Part of Body 16pcs S1 16pcs N1 Step 7 Step 3 Step 6 ADAPTOR CM5 Step 9 ADAPTOR CM5 Assembly Top view Sticker Step 8 Attach nut stickers S1 2pcs make sure do not come off 1 4 2pcs 4pcs N1 2 check screw assembly point 2 1 4 3 Back view Check wiring direction ...

Page 88: ...LE 10 5 2 4 3 1 1 CM 5 m otor 3 m otor 1 CABLE 14 2 m otor 2 m otor 4 3 m otor 1 4 m otor 2 5 m otor 4 CABLE 14 CABLE 10 CABLE 10 CABLE 10 CM 5 Wiring Step 9 Step 10 Complete Assembly and Wiring 4pcs S1 CM 5 Using both side connectors of Battery included CM 5 3 4 Connector Connector 88 ...

Page 89: ...ting the Robots Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pressed LED is on in t...

Page 90: ...ram In CD Applied Robots Beginner Walking Droid DemoExample Walking Droid bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Download Example motion data In CD Applied Robots Beginner Walking Droid DemoExample Walking Droid bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Rob...

Page 91: ...Comprehensive Kit Robot Series ２３ Examples of intermediate Level 1 Probing Robot 2 Excavator 3 Robot Flower 4 Fawn 8 Battle Droid 5 Turtle 6 Spider 7 Gerwalk 91 ...

Page 92: ...arts CM 5 motor 1 AX 12 7 motor ADAPTOR CM5 7 AX S1 F1 2 F3 12 N1 84 S B 3 BU 3 WA 3 CABLE 6 CABLE 10 2 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part F2 1 F9 2 S1 100 CABLE 14 CABLE 18 3 2 1 1 1 1 F11 2 F13 4 4 F14 10 Sticker S2 16 92 ...

Page 93: ...pcs motor 5 motor 5 S1 F3 N1 S1 N1 Check assembly point motor 2pcs 5 8pcs Step 1 S B BU F2 WA F3 S1 Insert nuts 2pcs Claw Assembly Step 3 Check assembly point Step 2 2pcs 2pcs 16pcs Insert nuts motor 8pcs 8pcs Assemble 2 sets in a same style 4pcs 6 motor 7 N1 WA S1 BU 4pcs N1 S B F1 F9 S1 F11 N1 Check assembly point ...

Page 94: ...5 Right Wheel 12pcs Assemble taking note of the inserted location of nuts 3pcs motor 3 motor 1 Attach nut stickers Sticker 2pcs Assemble 2 sets N1 S1 F3 12pcs Insert nuts N1 Make sure nuts do not come off 2 motor 4 Attach nut stickers Sticker Make sure nuts do not come off 2pcs Assemble 2 sets 12pcs N1 F3 S1 Assemble taking note of the inserted location of nuts Insert nuts N1 ...

Page 95: ...p 8 Tire Assembly 1 Step 7 Step 5 2pcs 8pcs Step 6 2pcs 8pcs 2pcs S2 F13 F14 Make sure nuts do not come off Top view Attach nut stickers STICKER 2pcs 8pcs S1 Step 8 Step 7 Check screw assembly point 4pcs N1 Whole Body Assembly Step 9 2pcs S2 F14 F13 95 ...

Page 96: ...1 Wiring m otor m otor 6 8 5 1 m otor 1 CABLE 6 2 m otor 1 3 m otor m otor 3 1 2 6 4 CABLE 10 CABLE 10 CABLE 18 CM 5 m otor m otor 3 m otor 4 5 3 m otor m otor m otor 4 m otor m otor 7 4 2 2 CABLE 14 6 m otor 5 7 8 CABLE 14 CABLE 10 CABLE 6 m otor m otor 7 m otor 6 7 m otor 5 m otor 5 Connector Using side connector of connect cable 4 CM 5 4 ...

Page 97: ...e execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pressed LED is on in the order shown below motor 3 moto...

Page 98: ...ior control program In CD Applied Robots Intermediate Probing Robot DemoExample Probing Robot bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When the sensor detects an object in front the Probing Robot will examine the width of an...

Page 99: ...sary parts CM 5 ADAPTOR CM5 motor 1 AX 8 12 motor 8 AX S1 F1 1 F4 2 N1 60 S B 3 BU 3 WA 3 CABLE 6 CABLE 10 2 F3 5 F6 4 F8 1 F13 4 F14 4 SP2 4 S1 72 S2 16 CABLE 14 CABLE 18 CABLE 20 3 2 1 1 1 1 1 S5 4 F10 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part ...

Page 100: ...or 1 motor 3 motor 4 assemble 4sets F13 F14 S2 4pcs Step 4 Drive Assembly 1 5 Assemble after wiring is finished Bottom view 8pcs Insert nuts Step 3 Step 2 8pcs 5 4 1 2 3 motor 3 motor 1 motor 2 motor 4 motor 5 CABLE 10 CABLE 6 motor 5 CABLE 10 CABLE 20 CABLE 6 N1 S1 Step 5 Step 6 Step 7 Joint 1 Joint 2 Joint 3 2 sets 4pcs 4pcs S1 F3 F4 N1 4pcs 4pcs Assemble 2 sets in a same style S1 F4 F1 N1 4pcs ...

Page 101: ...Insert nuts 4pcs Insert nuts Check assembly point 3pcs 20pcs Check assembly point 3pcs 3pcs motor 8 motor 6 motor 7 S B BU S1 WA F8 N1 N1 Step 8 Step 7 Step 7 4pcs Insert nuts Insert nuts 8pcs Insert nuts 12pcs Arm 2 Step 9 ADAPTOR CM5 N1 4pcs 4pcs N1 N1 S1 S1 101 ...

Page 102: ...Step 11 Wiring and Completion 9 8 7 6 1 Left side view S1 m otor Using side connector of CM 5 connect cable Step 10 6 4pcs 1 Wiring 1 m otor 3 CABLE 20 2 m otor 3 m otor 4 3 m otor 2 CABLE 6 CABLE 10 4 m otor 1 CABLE 10 5 m otor 1 6 CABLE 6 CABLE 14 m otor 4 m otor 2 7 m otor 6 CABLE 10 8 9 CABLE 14 CABLE 18 m otor 8 m otor 5 m otor 6 CM 5 CM 5 m otor 7 m otor 7 m otor 8 7 m otor 6 CM 5 Battery in...

Page 103: ...th the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pressed LED is on in the order shown below motor 1 For ID of Dynamixel refer...

Page 104: ...ile which is behavior control program In CD Applied Robots Intermediate Excavator DemoExample Excavator bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 3 Operation of the robot When the sensor detects an object in front its robot arm will perform the excav...

Page 105: ...when there is a sound 1 Necessary parts CM 5 motor ADAPTOR CM5 1 AX 12 6 motor 6 AX S1 F1 3 1 1 1 F3 9 N1 68 S B 6 BU 6 WA 6 CABLE 6 CABLE 10 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part F2 3 3 F9 S1 92 3 3 CABLE 20 105 ...

Page 106: ...F3 F1 S1 Assemble in a same style Insert nuts 4pcs Check assembly point Check assembly point 12pcs 2pcs 2pcs 2pcs Step 2 motor 4 Step 1 Step 4 motor 2 motor 5 motor 4 motor 5 motor 1 Step 3 Petal TYPE 1 2 sets Step 4 Step 3 BU WA S B N1 S1 Insert nuts 4pcs Check assembly point motor 3 motor 6 Step 1 Step 2 2pcs 2pcs 2pcs 12pcs Step 5 Petal TYPE 2 motor 6 S1 N1 BU S B WA Check assembly point ...

Page 107: ...sembly Top view 12pcs 4pcs S1 4pcs Insert nuts F3 ADAPTOR CM5 Check screw assembly location 12pcs N1 Step 6 4pcs N1 S1 Step 8 Assemble Completion Insert nuts 4pcs Step 4 Step 7 12pcs Insert nuts 4pcs 4pcs 2pcs 4pcs CM 5 Battery included N1 S1 N1 N1 F3 S1 Step 3 Step 5 ...

Page 108: ...f connect cables Connector Connector 6 1 4 5 7 2 3 CABLE 20 2 m otor CM 5 1 3 4 CABLE 6 CABLE 10 CABLE 20 CM 5 m otor 4 5 m otor 2 CABLE 10 6 m otor m otor m otor 3 7 CABLE 20 CABLE 10 m otor 6 1 m otor 2 5 CM 5 m otor 4 m otor 1 m otor 3 m otor 3 m otor 6 m otor 2 m otor 5 4 6 CM 5 108 ...

Page 109: ... Step 3 Compare the execution screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever U button is pressed LED is on in the order shown ...

Page 110: ...oExample Robot Flower bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Download Example motion data In CD Applied Robots Intermediate Robot Flower DemoExample Robot Flower bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step...

Page 111: ... an object 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 7 motor 7 AX S1 F1 3 F3 15 N1 100 S B 6 BU 6 WA 6 CABLE 6 CABLE 10 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part F2 2 F9 1 S1 128 CABLE 14 CABLE 18 CABLE 20 2 2 1 2 1 1 1 F4 2 111 ...

Page 112: ...emble 4 sets Assemble 2 sets 4pcs 4pcs F1 S1 N1 S1 N1 S1 F2 F1 F3 N1 F3 F3 S1 Step 5 Right Foreleg Check assembly point Insert nuts 8pcs 2pcs Left Foreleg Step 6 Insert nuts 8pcs 2pcs 2pcs 2pcs 16pcs Step 2 motor 3 motor 5 N1 S B BU WA F3 S1 Step 1 Check assembly point motor 3 motor 5 2pcs 2pcs 16pcs Step 1 N1 S1 F3 WA BU S B Step 2 motor 2 motor 4 ...

Page 113: ...APTOR CM5 1 1 1 CABLE 18 Battery included S1 N1 ADAPTOR CM5 Check assembly point 4pcs Insert nuts 4pcs N1 S1 F4 WA BU S B Step 1 motor 7 Check assembly point 4pcs 4pcs Insert nuts WA Step 1 motor 6 S B BU S1 F4 N1 Head 2 Step 10 Step 11 Head 1 Check assembly point 4pcs motor 1 F3 S1 8pcs Insert nuts Step 4 Step 10 Step 3 12pcs 4pcs N1 N1 S1 113 ...

Page 114: ...ody Assembly Step 12 16pcs Insert nuts 16pcs Step 6 Step 9 Top view Step 5 Using side connector of CM 5 2 4 Connector Connector 2 4 5 3 CABLE 20 CABLE 20 m otor 2 m otor 3 m otor 5 m otor 4 m otor 7 m otor 6 N1 S1 CABLE 14 Step 8 Step 7 CABLE 14 114 ...

Page 115: ... Insert nuts 8pcs 4pcs 4pcs 6 1 8 7 7 8 Bottom view Wiring m otor m otor 1 m otor 1 CABLE 18 2 m otor 2 3 4 CABLE 20 CABLE 14 CABLE 20 CM 5 m otor 4 5 3 CABLE 14 6 m otor 1 7 8 CABLE 10 CABLE 6 CABLE 10 m otor 7 m otor 2 m otor 3 m otor 6 m otor 7 CM 5 CM 5 5 CM 5 m otor 1 N1 S1 S1 F9 N1 F3 115 ...

Page 116: ...n screen with the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever the U button is pressed LED is on in the order shown below For the ID of Dyna...

Page 117: ...emoExample Fawn bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Download Example motion data In CD Applied Robots Intermediate Fawn DemoExample Fawn bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 4 Operation of the ro...

Page 118: ...M 5 ADAPTOR CM5 motor 1 AX 12 8 motor 8 AX S1 F1 4 BU 4 N1 64 CABLE 6 CABLE 10 2 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part Sticker 8 F3 10 WA 4 S B 4 1 1 1 96 S1 1 2 CABLE 14 1 CABLE 18 3 CABLE 20 118 ...

Page 119: ...5 N1 N1 F3 S1 F1 Using and assemble 2sets Attach nut stickers Make sure nuts do not come off Check assembly point motor 2 motor 5 assemble 2 sets Leg 1 2 sets Step 1 Attach nut stickers Sticker 2pcs motor 6 4pcs Insert nuts 4pcs Assemble taking note of the inserted location of nuts 8pcs motor 1 motor 6 N1 motor S1 1 Check assembly point Make sure nuts do not come off N1 F3 F1 Right Foreleg Step 3 ...

Page 120: ...or 5 motor 7 motor 7 N1 S B BU WA F3 S1 Check assembly point ADAPTOR CM5 Insert nuts Attach nut stickers Insert nuts Body Step 7 Sticker 2pcs 8pcs 4pcs 8pcs 4pcs 4pcs 2pcs N1 N1 S1 N1 F3 S1 Making sure nuts do not come off 4pcs 8pcs motor 6 motor 8 motor 8 Step 1 S B BU N1 WA F3 F3 Check assembly point 120 ...

Page 121: ...M 5 S1 8 Top view 16pcs Step 7 Step 3 Step 5 Step 6 Step 4 5 6 4 2 3 1 7 m otor 1 m otor 2 m otor 3 m otor 4 m otor 6 m otor 5 m otor 7 m otor 8 S1 Check screw assembly point Wiring 1 m otor 2 m otor 1 CABLE 6 2 m otor 1 m otor 4 3 m otor 2 4 m otor 5 5 m otor 5 CABLE 14 CABLE 14 CABLE 6 CABLE 20 6 m otor m otor 6 CABLE 20 7 m otor 7 8 9 CABLE 18 CABLE 20 CABLE 10 6 motor 7 CM 5 m otor 3 m otor 8 ...

Page 122: ...image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure Whenever the U button is pressed LED is on in the order shown below 122 motor 7 motor 8 motor 6 For the ...

Page 123: ...r control program In CD Applied Robots Intermediate Turtle DemoExample Turtle bpg Refer to How to download Behavior Control Program from 2 1 2 Downloading Robot Programs Step 2 Download Example motion data In CD Applied Robots Intermediate Turtle DemoExample Turtle bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Act...

Page 124: ...R CM5 motor 1 AX 12 8 motor 8 AX S1 F1 2 F6 4 N1 102 S4 8 S B 6 BU 6 WA 6 CABLE 6 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part Sticker 6 F2 4 F9 2 F10 8 CABLE 14 CABLE 18 CABLE 20 2 1 5 1 1 1 14 F3 118 S1 S5 8 124 ...

Page 125: ...2pcs 2pcs 4pcs 2pcs 2pcs 2pcs Step 2 Assemble 2 sets 2pcs 2pcs 2pcs Completed Completed F3 S1 N1 F3 N1 S1 F9 F3 N1 S1 F2 F6 S5 N1 S4 F10 Using and assemble 2 sets Insets nuts 4pcs 8pcs Step 1 motor 1 Check assembly point motor 1 motor 8 motor 1 motor 8 Step 6 motor 8 Leg TYPE 1 2 sets Step 5 Step 6 Assemble in a same style Step 5 S B BU N1 WA S1 Step 4 125 ...

Page 126: ... Insert nuts 20pcs Top view Step 7 Step 8 20pcs motor 1 motor 2 motor 8 motor 7 N1 S1 ADAPTOR CM5 Step 9 Step 5 Step 6 Check assembly point Insert nuts 4pcs 8pcs motor 2 Leg TYPE 2 2 sets Step 7 Step 8 S B BU Step 4 N1 WA Step 2 Using and assemble 2 sets motor motor 2 7 motor Step 8 7 S1 Assemble in a same style ...

Page 127: ...ake sure nuts do not come off location of nuts Assemble taking note of the inserted Right Leg 2 Step 12 Insert nuts Check assembly point 8pcs Step 11 Step 3 motor 5 WA S B BU S1 4pcs N1 4pcs Insert nuts Assemble taking note of the inserted Check assembly point 8pcs S1 Attach nut stickers Sticker 2pcs 3pcs motor location of nuts F3 Make sure nuts do not come off 3 N1 N1 F1 127 ...

Page 128: ... 14 Whole Body Assembly Step 15 Step 14 6pcs 2pcs Attach nut stickers Sticker Top view N1 4pcs Step 12 S1 Step 6 Make sure nuts do not come off Check screw assembly point Insert nuts Check assembly point 8pcs S B Step 3 Step 13 motor WA BU 6 N1 4pcs S1 ...

Page 129: ...e connector of CM 5 connect cable 4 9 4 Connector 3 Bottom view m otor m otor 3 CABLE 20 7 3 Connector 4 CABLE 14 CM 5 5 m otor 2 CABLE 6 m otor 7 6 m otor 7 2 CABLE 20 CABLE 20 m otor 6 m otor 4 8 m otor 4 9 CABLE 18 CABLE 14 m otor 8 m otor 8 CM 5 m otor 1 m otor 5 m otor 5 m otor 6 m otor 1 m otor 2 m otor 6 m otor 5 m otor 7 m otor 8 m otor 3 m otor 4 9 129 ...

Page 130: ...the image below If different check Dynamixel ID and cable wiring using the assembly diagram comparison part Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure motor 1 motor 5 motor 7 Whenever the U button is pressed LED is on in the order shown below For the ...

Page 131: ... Downloading Robot Step 2 Download Example motion data Programs In CD Applied Robots Intermediate Spider DemoExample Spider bpg ing Robot Programs Step 3 Operate offline robot Refer to How to download Motion Data from 2 1 2 Download Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 4 Operation of the robot While moving forward when an object is detected from the front of head ...

Page 132: ...bot that has legs like bird 1 Necessary parts CM 5 ADAPTOR CM5 motor 1 AX 12 7 motor 7 AX S1 F1 4 F12 2 N1 74 S B 5 BU 5 WA 5 CABLE 10 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part F3 10 S1 102 CABLE 14 CABLE 18 CABLE 20 3 2 1 2 1 1 1 F2 1 132 ...

Page 133: ...sembly point motor 4 motor 2 Step 1 Step 3 Step 2 Assemble Frame Step 3 Step 1 4pcs 4pcs Assemble 2 sets Assemble 2 sets 4pcs 2pcs 4pcs Assemble 2 sets 3pcs 3pcs Top view S1 F3 N1 N1 F1 F3 S1 N1 F1 S1 F12 Check screw location Bottom view Using and Check assembly point motor 2 motor 2 motor 3 4pcs Step 5 Step 4 motor 3 Assemble in a s assemble 2 sets S1 Thigh Step 5 Step 4 F3 ame style 133 ...

Page 134: ... 3 motor 5 motor 7 12pcs 2pcs 2pcs 2pcs 20pcs N1 WA Step 2 Step 1 Step 5 Check assembly point motor 3 motor 7 motor 5 S B BU S1 20pcs S1 Check assembly point ADAPTOR CM5 Insert nuts Body Step 8 4pcs 2pcs 8pcs 12pcs Bottom view 4pcs 4pcs N1 S1 F3 S1 F2 N1 N1 Check nut location ...

Page 135: ... Insert nuts Lower Part of Body Step 9 8pcs s 8pc motor 1 Step 6 N1 S1 motor 1 Step 7 Body Step 10 Check assembly point Step 9 Step 8 4pcs S B BU WA S1 Assembly Completion Step 11 4pcs Step 10 CM 5 4pcs Completed Battery included N1 S1 ...

Page 136: ...otor 5 5 m otor 2 6 m otor 2 7 8 m otor 6 m otor 3 m otor 3 m otor 5 m otor 4 m otor 4 m otor 7 CABLE 20 CABLE 18 CABLE 14 CABLE 10 CM 5 CABLE 20 CABLE 14 CABLE 10 CABLE 10 CM 5 CM 5 m otor 2 m otor 3 m otor 5 m otor 4 m otor 6 m otor 7 m otor 1 Using side connector of connect cables 5 1 Connector CM 5 Connector ...

Page 137: ...screen with the image below If di rent che ynamixel ID ffe ck D and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure comparison part For the ID of Dynamixel refer to the figure below LED on LED on LED on motor 1 motor...

Page 138: ...ont ram In CD Applied Robots I ermediate Gerwa DemoExample Ge alk bpg Refer to How nload Behav trol Program 2 1 2 Do ng Robot Programs Step 2 Download Example motion data nt lk rw to dow ior Con from wnloadi In CD Applied Robots Intermediate Gerwalk DemoExample Gerwalk bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot...

Page 139: ... and that gets up on CM 5 ADAPTOR CM5 motor 1 AX 12 8 motor 8 AX S1 F1 4 F4 2 F3 4 F6 4 F8 2 F12 N1 94 S B 4 BU 4 WA 4 CABLE 10 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part Sticker 3 2 S1 114 S2 2 CABLE 14 CABLE 18 CABLE 20 2 2 1 4 1 1 1 139 ...

Page 140: ...y point Right Leg 1 Step 1 Right Leg 3 Step 3 Step 2 Step 1 4pcs 8pcs N1 S1 W 4pcs motor 1 F3 S1 Check assembly point A S B BU 4pcs Insert nuts Check assembly point Left Leg 3 Step 6 Step 4 Step 5 8pcs N1 S1 WA BU S B motor 4 Left Leg 2 Step 5 4pcs 4pcs N1 F1 F12 S1 Left Leg 1 Step 4 Check assembly point 4pcs motor 2 S1 F3 ...

Page 141: ...d 2pcs 9pcs Insert nuts N1 F6 F1 S1 Left Shoulder Step 10 motor 6 Right Shoulder Step 9 Insert nuts 5pcs Check assembly point Completed 2pcs 9pcs F6 N1 F1 S1 motor 5 2pcs N1 Sticker N1 S1 F8 e nuts do not come off nsert nuts I CABLE 10 CABLE 14 CABLE 20 CABLE 14 4 2 1 3 Lower Part of Body Assembly Step 8 Step 7 Step 3 Step 6 16pcs 16pcs N1 S1 ...

Page 142: ...r Step 13 6 5 8 7 S1 N1 2pcs N1 Make sure nuts do not come off Insert nuts Step 10 8pcs 4pcs Left Arm Step 13 Step 11 motor 8 7 8 CABLE 20 CABLE 18 WA S B S1 BU N1 Check assembly point 4pcs Right Arm Step 12 Insert nuts 8pcs Step 11 Step 9 motor 7 6 5 CABLE 10 CABLE 20 WA S B BU S1 N1 Check assembly point Hand 2 sets Step 11 4pcs 4pcs N1 F3 F4 S1 ...

Page 143: ...r 1 4 m otor 2 5 m otor 5 CABLE 10 CABLE 14 CABLE 14 CABLE 20 6 CM 5 m otor 5 CABLE 10 7 m otor 6 m otor 8 8 m otor 6 9 CM 5 CABLE 20 CABLE 18 CABLE 20 m otor 4 m otor 7 CM 5 m otor 1 m otor 2 m otor 3 m otor 4 m otor 8 m otor 7 m otor 5 m otor 6 Battery included S1 CM 5 Upper and Lower Body Assembly Step 15 Top view Back view Step 14 2pcs Step 8 2 7 4 2 1 3 6 5 S2 Check screw assembly point Pay a...

Page 144: ... with the image below If different check Dynamixel ID and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By of CM 5 in order compare the Dynamixel location of the robot with pressing U button the figure comparison part motor 1 motor 6 motor 8 Whenev button is pressed LED is on in the order shown below er the U F...

Page 145: ...loa xa ple motion a In CD Applied Robots Intermediate Battle Droid DemoExample Battle Droid bpg Refer to How t otion Data from 2 1 2 ading Robot P Step 3 ate offline robot o download M Downlo rograms Oper Refer to Offline Robot Activation from Operating the 2 1 3 Robots Step 4 Operation of the robot When you press the R button of CM 5 the Battel Droid will walk forward When you press the L button ...

Page 146: ...Comprehensive Kit Robot Series ２４ Examples of Advanced Level 1 Dinosaur 2 Puppy 3 King Spider 4 Humanoid 146 ...

Page 147: ...AX 12 15 motor 15 X S1 A F1 8 F3 20 F8 1 F12 2 N1 176 S B 11 BU 11 WA 11 CABLE 6 CABLE 10 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part S3 12 F2 3 F4 1 F9 4 F10 1 F11 1 Expansion PCB F7 2 SP1 4 S1 224 CABLE 14 CABLE 18 CABLE 20 4 6 4 2 1 1 1 1 147 ...

Page 148: ...tep 1 Step 4 Step 3 Assemble 2 sets Step 4 Assemble 2 sets Top view Chec ssembly point k screw a 4pcs 4pcs 2pcs 4pcs 4pcs N1 F3 F9 S1 S1 F3 F1 N1 S1 F3 N1 F1 S1 F12 N1 Completed Right Arm Step 5 Insert nuts 4pcs motor 3 motor 5 Check assembly point motor 3 Step 2 16pcs motor 5 S B N1 BU WA S1 Step 1 F3 Check assembly point 148 ...

Page 149: ...or 6 Left Arm Step 6 N1 S1 WA S B BU F3 Check assembly point Check assembly point Insert nuts 4pcs motor 9 motor 7 Right Leg Step 7 Completed motor 11 2pcs 2pcs 2pcs 24pcs motor 7 motor 9 motor 11 Step 3 Check assembly point N1 F7 WA BU S1 Step 2 S B Che assembly point ck Check assembly point Step 4 ...

Page 150: ... Step 8 Completed motor 12 24pcs Check assembly point Step 3 2pcs 2pcs 2pcs N1 WA BU Step 4 F7 S1 motor 8 Step 2 S B Check assembly point Check assembly point motor 12 motor 10 Step 9 Step 10 Tail 1 Frame As ly semb Step 9 Step 10 4pcs 4pcs 4pcs 4pcs S3 F2 N1 F3 F10 N1 F1 F3 S1 ...

Page 151: ...p 11 4pcs S1 4pcs 8pcs 8pcs Step 12 F3 N1 F2 S1 N1 F11 F9 F3 Tail 3 Step 13 3pcs 3pcs S1 24pcs N1 4pcs Insert nuts Step 11 Check assembly point Completed S B BU WA Step 9 motor 13 motor 14 motor Step 12 Step 10 15 S B S B motor 13 motor 14 motor 15 Check assembly point 151 ...

Page 152: ...ts Leg Tail Assembly Step 14 8pcs 8pcs S1 N1 Step 7 Step 8 Step 13 Head 1 Step 15 Check assembly point 4pcs 4pcs 4pcs S B WA BU S1 motor 1 S1 F1 F3 N1 Head 2 Step 16 Insert nuts N1 4pcs Check assembly point 4pcs motor 2 F4 F8 S1 S B BU WA motor 2 152 ...

Page 153: ...Step 16 Step 15 motor 1 motor 2 S1 N1 F3 S1 N1 Body 1 Step 18 4pcs 4pcs F2 F9 F3 N1 S3 Body 2 Step 19 ADAPTOR CM5 4개 4pcs 4pcs 4pcs N1 4pcs N1 S3 SP1 Expansion PCB Step 18 S1 Body 3 Step 20 CABLE 14 4pcs 4pcs Battery 1 1 CM 5 S1 Step 19 N1 Using the connector inside of connect cable 1 Connector CM 5 153 ...

Page 154: ...pcs 4pcs Step 21 S1 N1 Upper Part of Body Assembly Step 21 12pcs Insert nuts 12pcs N1 S1 15 Step 5 Step 20 Step 6 Step 17 Using side connector of connect cable 15 Connector CM 5 CABLE 14 Lower Part of Body Assembly Step 23 Insert nuts 4pcs N1 4pcs Step 22 S1 Step 14 154 ...

Page 155: ... 14 m o t o r 6 m o t o r 3 4 CABLE 18 m o t o r 3 5 CABLE 14 m o t o r 5 m o t o r 7 6 CABLE 20 m o t o r 7 7 CABLE 10 m o t o r 9 m o t o r 9 8 CABLE 10 m o t o r 11 m o t o r 8 9 CABLE 20 m o t o r 8 10 CABLE 10 m o t o r 10 m o t o r 10 11 CABLE 10 m o t o r 13 12 CABLE 18 m o t o r 13 13 CABLE 14 m o t o r 14 m o t o r 14 14 CABLE 14 m o t o r 15 m o t o r 1 15 CABLE 14 m o t o r 1 16 CABLE 6...

Page 156: ...ne Robot Activation from 2 1 3 Operating the Robots Step Compare the execution screen with the image below If different check Dynamixel ID nli 3 and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be n in the order shown o below By pressing U button of CM 5 in order compare the Dynamixel location of t robo the figure compari p son art he motor...

Page 157: ...d Example motion data avio In CD Applied Robots Advanced Dinosaur DemoExample Dinosaur bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 4 Operation of the robot Upon handclap the dinosaur will awake from sleep and will keep a lookout When it detects an object in front i...

Page 158: ... 15 motor 17 AX S1 F1 1 F3 15 N1 156 S B 10 BU 10 WA 10 CABLE 6 CABLE 10 3 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part S3 12 F2 9 F6 1 F9 2 F10 18 Expansion PCB motor 1 F7 6 SP1 4 CABLE 14 CABLE 18 4 6 4 1 1 1 1 S1 188 S6 16 158 ...

Page 159: ...p 2 Step 3 Step 4 Head 1 Assemble Frame Step 1 Step 4 2pcs 2pcs 4pcs N1 4pcs 4pcs 2pcs 4pcs S1 F7 N1 F9 N1 F9 S1 F7 S1 F3 S1 F3 F1 N1 2pcs Head 2 Step 5 insert nuts N1 8pcs 8pcs Step 2 motor 17 S1 Step 1 Head 3 Step 6 Check assembly point S1 4pcs F3 Step 1 159 ...

Page 160: ...bly point Insert nuts N1 4pcs 8pcs S1 S B BU WA Step 6 motor 16 Step 3 motor 16 Head 5 Step 8 Insert nuts N1 8pcs motor 17 8pcs Step 7 Step 4 S1 Body Step 9 SP1 12pcs N1 12pcs 4pcs 2pcs 2pcs Expansion PCB S3 Top view Check screw assembly point ADAPTOR CM5 F10 F3 ...

Page 161: ...ly point Step 14 Assemble in a same manner Step 13 4pcs motor 4 F7 S1 motor 11 Leg 1 Assemble Frame 4 sets Each Step 11 Step 12 Step 11 Step 12 Assemble 4 sets Assemble 4 sets F2 2pcs 4pcs 4pcs 4pcs 4pcs 4pcs S6 F10 F3 N1 S1 N1 Leg 3 Assemble 2 sets Step 15 Step 16 Check assembly point Step 15 4pcs motor 5 Step 16 Assemble in a same manner motor 10 F7 S1 ...

Page 162: ...7 WA 16pcs 2pcs 2pcs 2pcs motor 6 motor 8 motor 13 motor 15 S B BU S1 Step 11 Step 13 motor 6 Step 12 Step 14 motor 8 Insert nuts 8pcs N1 Check embly Step 19 ass point Assemble in a same manner Step 20 motor 12 WA 2pcs 2pcs 2pcs 16pcs motor 14 motor 7 motor 9 Step 15 Step 16 S B BU motor 9 motor 7 S1 Step 12 Step 11 Leg 5 Type 2 Assemble 2 sets Step 19 Step 20 ...

Page 163: ...cs 4pcs 2pcs S1 8pcs F3 Step 18 N1 F3 S1 Step 20 Hind Leg 2 Step 22 Insert nuts 8pcs Check assembly point 4pcs 4pcs 2pcs N1 2pcs 12pcs motor 1 F6 F3 S2 S B WA BU S1 Step 21 S1 N1 F3 F2 motor 1 N1 Body Hind Leg Assembly Step 23 Insert nuts N1 4pcs 4pcs Step 10 S1 Step 22 163 ...

Page 164: ...164 Comprehensive Kit Robot Series Foreleg Assembly Step 24 CM 5 Assembly Step 25 Battery included 2pc 2pcs s S1 CM 5 Step 24 N1 Insert nuts N1 12pcs 12pcs Step 22 S1 F3 Step 19 Step 17 ...

Page 165: ... o r 17 9 CABLE 14 10 CABLE 14 m o t o r 6 11 CABLE 18 m o t o r 10 12 CABLE 10 9 8 7 10 1 4 5 6 3 2 m o t o r 12 13 CABLE 14 m o t o r 14 m o t o r 1 14 CABLE 18 m o t o r 1 15 CABLE 6 m o t o r 11 16 CABLE 10 m o t o r 13 17 CABLE 14 m o t o r 15 Expansion PCB Expansion PCB Expansion PCB CM 5 CM 5 m o t o r 10 EXpansion PCB m o t o r 12 Expansion PCB m o t o r 11 m o t o r 13 15 14 11 16 12 17 1...

Page 166: ...166 Comprehensive Kit Robot Series Wiring 2 and Completion Step 26 Bottom view 10 1 4 11 14 ...

Page 167: ...Online Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution een with the image below If different check Dynamixel ID scr and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is pressed Dynamixel LED will be on in the order shown below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure comparison part Fo...

Page 168: ...CD Applied Robots Advanced Puppy DemoExample Puppy bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 4 Operation of the robot Upon handclap the puppy will awake from sleep and walk around When it detects an object while walking around it will either avoid it or will make...

Page 169: ...ADAPTOR CM5 motor 1 AX 12 18 motor 18 AX S1 F1 6 F3 20 N1 206 S B 18 BU 18 WA 18 CABLE 6 CABLE 10 6 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part S3 4 F2 6 F4 6 F6 6 Expansion PCB F7 6 SP1 4 S1 256 S2 18 CABLE 14 4 6 1 1 1 1 CABLE 18 4 169 ...

Page 170: ...1 N1 S1 F1 F2 S1 F3 F7 N1 N1 S2 F6 F4 Assemble 6 sets Assemble 6 sets Assemble 6 sets Using and assemble 6 sets motor 1 motor 2 motor 7 motor 8 motor 13 motor 14 Check assembly point 8pcs Step 2 Assemble Leg Assemble 6 sets Step 5 Insert nuts 4pcs N1 S1 WA BU S B Step 1 motor 3 Insert nuts 4pcs Check y point 8pcs assembl motor 3 Leg 1 TYPE 1 Step 6 Step 5 motor 1 N1 S B BU S1 WA Step 3 170 ...

Page 171: ... S B BU N1 motor 5 WA Leg TYPE 1 3 Assemble additional 2 sets Step 8 Step 9 motor 8 Step 9 motor 10 motor 12 motor Step 8 18 motor 16 motor 14 Step 5 Step 5 Following assemble additional 2 sets Step 6 Step 7 Insert nuts 4pcs Check assembly point 8pcs Step 5 Leg TYPE 2 1 Step 10 motor 2 N1 S B BU WA S1 Step 3 motor 4 motor 4 ...

Page 172: ...pcs N1 WA BU S B S1 motor 6 Step 10 Sensor Step 14 1 CABLE 10 Insert nuts 4pcs 4pcs 2pcs 4pcs 4pcs N1 S1 F3 S1 N1 Step 13 motor 7 motor 11 motor 9 Step 5 motor 13 motor 15 motor 17 Step 12 Step 5 Leg TYPE 1 3 Assemble additional 2 sets Step 12 Step 13 Following assemble additional 2 sets Step 10 Step 11 ...

Page 173: ...13 Step 15 Step 12 N1 S1 Step 14 Step 8 4 3 CM 5 Assembly Step 15 2 4pcs 4pcs 4pcs 4pcs ADAPTOR CM5 Expansion PCB CM 5 S1 SP1 N1 S3 Connector Using side connector of connect cables Connector 3 4 CABLE 10 2 CABLE 18 CABLE 18 Wiring CM 5 Battery 3 4 4pcs S1 Using the connector inside of Connector connect cable 2 CM 5 ...

Page 174: ...r 1 6 CABLE 14 m o t o r 3 m o t o r 3 7 CABLE 6 m o t o r 5 m o t o r 2 8 CABLE 10 m o t o r 2 9 CABLE 14 Expansion PCB CM 5 CM 5 CM 5 Expansion PCB Expansion PCB m o t o r 4 m o t o r 4 10 CABLE 6 m o t o r 6 m o t o r 7 11 CABLE 14 m o t o r 9 12 CABLE 6 m o t o r 8 13 CABLE 14 m o t o r 10 m o t o r 10 14 CABLE 6 m o t o r 12 m o t o r 13 15 CABLE 18 m o t o r 13 16 CABLE 14 m o t o r 15 17 CA...

Page 175: ... Robot Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen w the age below If different c amixel ID ith im heck Dyn and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is p ssed Dynamixel LED will be on in the order shown re below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure comparison part mot...

Page 176: ...plied Robots Advanced King Spider DemoExample King Spider bpg Refer to Ho nload Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot w to dow Refer to Offline Robot Activati from 2 1 3 Operating the Robots Step 4 Operation of the robot on Upon handclap the king spider will awake from sleep and avoid abstacle while it moving aound If you put your hand close to sensor while...

Page 177: ...r 18 AX S1 F1 4 F3 8 F8 2 F12 2 N1 157 S B 14 F16 1 WA 10 CABLE 6 CABLE 10 5 Stcker 2 S3 8 F2 2 F4 4 F5 4 F6 8 F9 2 F10 2 F11 2 Expansion PCB F7 4 F15 1 BU 14 N2 4 S1 220 S2 5 CABLE 14 CABLE 18 CABLE 20 4 4 1 1 1 Nuts screws and cables shown below are the same the actual size Place and measure the as parts against the below illustration to choose the correct assembly part 3 4 177 ...

Page 178: ...F5 F12 F3 Bottom View Step 4 Bottte View Check screw location Assemble 4 sets using and 2pcs 4pcs nuts Insert Intersecting Joint 4 sets Step 5 motor 9 motor 10 motor 17 motor 18 4pcs Completed N1 F6 S1 8pcs Intersecting Joint TYPE 1 2 sets Step 7 Step 6 Insert 8pcs Nuts Step 6 Assemble in a same motor 16 motor 18 Step 5 motor 11 motor 16 motor 11 motor 9 2 CABLE 20 4 CABLE 20 CABLE 6 1 N1 S1 F7 N2...

Page 179: ...2 S1 Intersecting Joint TYPE 2 2 sets Step 9 Step 8 Insert nuts 8pcs motor 12 motor 15 N1 Step 8 Assemble in a same manner Right Leg 1 Step 10 Check assembly point Check assembly point Insert nuts 4pcs 3pcs 3pcs 3pcs 16pcs Step 9 Step 1 S B N1 BU WA mot S1 or 13 Step 2 Step 6 Right Leg 2 Step 11 Check assembly point 4pcs S B BU S1 Step 10 Step 3 ...

Page 180: ...es Left Leg 1 Step 12 Check assembly point Check assembly point Insert nuts 4pcs Step 1 16pcs 3pcs 3pcs 3pcs motor 14 motor 14 N1 S1 BU S B WA Step 7 Step 2 Step 8 Left leg 2 Step 13 Check assembly point Step 4 4pcs S1 BU Step 12 S B ...

Page 181: ...ght Arm 1 Step 16 Check assembly point Insert nuts 2개 Assemble taking note of the inserted location of nuts 8pcs motor 1 N1 N1 F3 F1 motor 1 Attac sticker h nut make sure do not nuts come off S1 Sticker Insert nuts motor 3 Check assembly point Right Arm 2 Step 17 4pcs 16pcs motor 5 motor 3 2pcs 2pcs Step 14 N1 S1 BU S B Step 15 Step 16 WA 2pcs motor 5 Check assembly point 181 ...

Page 182: ... Attach nut sticker motor 2 8pcs Make sure nuts do no m N1 t co e off N1 F1 S1 F3 motor 2 Sticker motor 4 Check assembly po Insert nuts int 4pcs motor 6 motor 4 motor 6 16pcs 2pcs 2pcs 2pcs N1 S1 S B WA BU Step 18 Step 14 S 5 tep 1 Left Arm 2 Step 19 Check assembly point Body 1 Step 20 Insert nuts 4pcs 4pcs Insert nuts 4pcs motor 7 motor 8 N1 S1 F8 N1 ...

Page 183: ...4pcs 9 10 11 12 CABLE 18 CABLE 18 CABLE 18 11 12 9 10 S1 F16 N1 Pay attention to wire direction Step 20 Body 3 Step 22 Step 21 4pcs S1 F8 Body 4 Step 23 Check assembly points Step 21 2pcs 8pcs F5 S1 Check assembly point 2pcs 2pcs 8pcs Completed Step 23 Lower Part of Body Assembly Step 24 S B BU Step 13 Step 11 S1 183 ...

Page 184: ...184 Comprehensive Kit Robot Series Arm Assembly Step 25 Step 17 8pcs S1 Step 19 Step 24 17 CABLE 10 Head Assembly Step 6 2 5pcs 5pcs 4pcs S2 N1 F15 S1 Step 26 Expansion PCB ...

Page 185: ...3 CABLE 6 m o t o r 18 m o t o r 14 4 CABLE 20 m o t o r 18 m o t o r 10 5 CABLE 6 m o t o r 12 m o t o r 10 6 CABLE 20 m o t o r 14 m o t o r 15 7 CABLE 6 m o t o r 17 m o t o r 13 8 CABLE 20 m o t o r 17 m o t o r 7 9 CABLE 18 m o t o r 7 10 CABLE 18 m o t o r 11 m o t o r m o t o r 13 11 m o t o r 8 11 CABLE 18 m o t o r 8 12 CABLE 18 m o t o r 3 13 CABLE 10 m o t o r 5 m o t o r 4 14 CABLE 10 ...

Page 186: ...it Robot Series Completion Step 28 CM 5 Connector Connector CM 5 Batte 4pcs 15 20 S1 Completed 19 16 19 connect cabl Using both side connectors of ry es 16 15 Using the connector inside of CM 5 nnect le co 19 Connect cab ...

Page 187: ...Activation from 2 1 3 Operating the Robots Step 3 Compare the execution screen with the image If different check Dynamixel ID below and cable wiring using the assembly diagram Step 4 Whenever U button of CM 5 is pressed Dynamixel LED shown will be on the order in below By pressing U button of CM 5 in order compare the Dynamixel location of the robot with the figure comparison part F f D to the fig...

Page 188: ... Humanoid DemoExample Humanoid bpg Refer to How to download havior Control Program from 2 1 2 Downloading Robot Programs Step 2 Download Example motion data Be In CD Applied Robots Advanced Humanoid DemoExample Humanoid bpg Refer to How to download Motion Data from 2 1 2 Downloading Robot Programs Step 3 Operate offline robot Refer to Offline Robot Activation from 2 1 3 Operating the Robots Step 4...

Page 189: ...self When you press the Start button of CM 5 it will execute a program that commands a robot to dance Step 5 Compare with the provided video clip In CD Applied Robots Advanced Humanoid DemoExample Humanoid wmv 5 Tuning of Joint Offset If the assembled robot does not walk stable as shown in the video clips you have to adjust the joint offset the difference of joint value To do so be used to the Mot...

Page 190: ...lick the Original Robot When setting up the Offset at f For adjusting the previous Joint Offset Joint irst time double click this icon double click this icon tep 4 Make sure that the robot is same as the Front View Rear View The robot must stand Side View Side View of Leg Left and right sides must be balanced when viewed from the side The robot must stand perpendicular to the surface and the hip a...

Page 191: ... Step 6 Save the Joint Offset and close the Motion Editor Step 7 If the robot still walks unstable refer to pictures below and start once again from Step 1 If the robot is tilting side ways adjust the Joint Offset by giving the counter values If the robot is slanting toward front and back adjust the Joint Offset by giving the counter values Drag Drop 191 ...

Page 192: ...Comprehensive Kit Robot Series ３ Bioloid Operation and Maintenance 192 ...

Page 193: ...teps T number Serial COM Ports that can be connected to CM 5 If your PC does not have 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 Right click the My Computer icon of Window desktop and then select Properties Select Port Com LPT from the list Select Hardware tab and select the...

Page 194: ...f CM 5 OFF Click U button of CM 5 LED light will blink when CM 5 is charging The speed of LED blink indicates the charging level The faster blinks signify the closer to full charge When it is fully charged it will blink every two seconds Refer to Help Files Charging CM 5 wmv on the CD 194 ...

Page 195: ...ure that the motor and sensor setup configuration is not out of ID s ranges Refer to video clip of Help Files ID changing wmv on the CD New Dynamixel ID When U button of CM 5 is clicked newly set ID is increased by the unit of 1 When D button of CM 5 is clicked newly set ID is decreased by the unit of 1 When L button of CM 5 is clicked newly set ID is increased by the unit of 10 When R button of C...

Page 196: ...m o charge or it does not power on with the battery only but the SMPS is po e shorted fuse and thus should be repla Fuse inside CM 5 can be easily pur e wmv on the CD Separate the CM 5 and battery Separate the CM 5 s case Take out the fuse from the circuit board Replace with new fuse Direction of fuse does not matter Put back the CM 5 to original condition Refer to video clips of Help Files Exchan...

Page 197: ...F2 10 F4 6 F5 6 F6 12 F9 5 F10 20 F11 2 F13 4 F14 4 Expansion PCB F7 6 SP1 4 SP2 4 F15 1 F16 1 N2 10 S1 400 S2 20 S5 20 S6 20 S7 20 S8 20 CABLE 14 CABLE 18 CABLE 20 4 6 4 5 Battery included 1 1 1 1 SMPS Sereal Cable CD Quick Start Fuse 1 Nuts screws and cables shown below are the same as the actual size Place and measure the parts against the below illustration to choose the correct assembly part ...

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