Robotis Beginner level robot series Quick Start Manual

v1.0

Closer to Real,

ROBOTIS CO.,LTD.

www.robotis.com

Bioloid QuickStart

Beginner Level Robot Series

Beginner Level Robot Series

Contents

１. Starting Bioloid ························· 3

１-１. What is Bioloid? ······································· 4

１-２. Parts of Bioloid ········································ 5

１-３. Installing Bioloid Software··································· 7

１-３-１. The Contents of Bioloid’s CD ······················· 7
１-３-２. Installing Software····························· 7

１-４. How to Use Bioloid ······································ 8

２. Assembling Bioloid························ 10

２-１. Robot Assembling Orders ···································11

２-１-１. Assembling the Robots··························· 11
２-１-２. Downloading Robot Programs ······················· 12
２-１-３. Operating the Robots ··························· 16

２-２. Examples of Beginner Level ··································18

２-２-１. Crossing Gate ······························· 19
２-２-２. Universal Gauge ······························ 24
２-２-３. Sound-Level Meter ···························· 28
２-２-４. Crocodile Mouth ······························ 32
２-２-５. Pan Tilt ·································· 37
２-２-６. Parking Gate ······························· 42
２-２-７. Melody Car ································ 47
２-２-８. Robot Arm································· 52
２-２-９. Obstacle Detection Car ·························· 57
２-２-１０. Greeting Penguin ···························· 62
２-２-１１. Attacking Duck ····························· 68
２-２-１２. Cliff Detection Car ···························· 73
２-２-１３. Clapping Penguin ···························· 78
２-２-１４. Walking Droid ······························ 84

３. Bioloid Operation and Maintenance ················ 90

３-１. Finding the Serial COM Port Number of the PC ·························91

３-２. Charging CM-5 ········································92

３-３. Changing DYNAMIXEL’s ID ···································93

３-４. Exchanging Fuse ·······································94

３-５. Beginner kit’s parts ·····································95

2

Beginner Level Robot Series

１. Starting Bioloid

3

Beginner Level 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.

Users can easily assemble

various robots as it consists

of many blocks of different

shapes.

QuickStart book explains

how to assemble various

robots step by step. Take

apart and assemble various

robots of your choosing

.

4

Beginner Level 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

■ AX-12

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.

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

5

Beginner Level 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

START button

MODE button

U button

L button

D button

R button

ON OFF

6

Beginner Level 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.

Sofware

Manual

Applied Robots

Examples

Help Files

: Programs that needs to be installed in PC in order to operate Bioloid robot.
: QuickStart, User’s Guide and manuals for the Dynamixel (AX-12, AX-S1).

: Various programs and video clips for Bioloid robots
: Robot program sources that are explained in the User’s Guide.

: Help documents and video clips that assist in operating Bioloid robots

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

Behavior Control Programmer

Motion Editor

Robot Terminal

Å When software is installed

7

Beginner Level 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.

8

Beginner Level 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

Intermediate Level Robots

Advanced Level Robots

Beginner kit

Beginner kit

AX-12, 4 pcs

Comprehensive kit

OR

Beginner kit

AX-12, 14 pcs

F
r
a

m
e

s
e
t

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

◈ In addition, you can assemble various robots in more creative ways.

We also provide Expert Level kit that has systematic education process.

9

Beginner Level Robot Series

２. Assembling Bioloid

10

Beginner Level Robot Series

２-１. Robot Assembling Orders

Robot assembling orders .

Step 1

Downloading Robot Programs

Operating the Robots

２-１-１. Assembling the Robots

Assemble the robots in orderly refer to assembly map in QuickStart.

Step 2

Step 3

Assembling the Robots

[Example]

※ Easy instruction to insert nuts for AX-12, refer to“Help Files\Inserting nuts for AX-12.wmv”

video clip In CD.

11

Beginner Level 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 multi­joints 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)

12

Beginner Level 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

When download is complete, progress bar color

changes and download button changes to complete.

OFF

Close the download dialog box

Execute Behavior Control Programmer

(it doesn’t need when a program already executed)

Go to File (F) =>Select Open(o) menu and open

the behavior control program you want.

※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.

13

14

Beginner Level Robot Series

◎ How to download Motion Data
The filename extension of Motion Data is “mtn.” The users download this program whenever it

is necessary..

Close the download dialog box.

Select “Write to Robot” and open

the motion data file you want.

ON

Connect PC and CM-5

Serial Cable

OFF

※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.

Turn on

Power

of CM-5.

Execute Behavior Control Programmer

(If it has done previously,not necessary)

When download is complete,

progress bar color changes.

Download is completed.

Select Management(M)=>Robot Motion (R)menu.

Beginner Level Robot Series

◎ Download Troubleshooting
If the users see error messages while downloading a program, take the following steps.

※ 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.

[ Types of Error Message ]

(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.

15

Beginner Level 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.

Press MODE button to make PLAY LED flash on and

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.

Disconnect Serial Cable from CM-5

Serial Cable

16

Beginner Level 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.

Execute Behavior Control Programmer

(If it has done previously,not necessary)

Click”Play”to start to program.

Click the “stop”to finish the program.

ON

Connect PC and CM-5

Turn on Power of CM-5.

Click”Close”to close the

download dialog box.

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”.

17

Beginner Level Robot Series

２-２. Examples of Beginner Level

1. Crossing Gate

2. Universal Gauge

8. Robot Arm

9. Cliff Detection Car

3. Sound-Level Meter

10. Greeting Penguin

4. Crocodile Mouth 11. Attacking Duck

5. Pan Tilt

6. Parking Gate

13. Clapping Penguin

14. Waking Droid

7. Melody Car

12. Obstacle Detection Car

18

Beginner Level 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

F3

× 5

F6

× 1

BU

× 1

WA

× 1

N1

× 24

S1

× 20

S2

× 8

※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.

S-B

× 1

19

Beginner Level Robot Series

(2) Assembling

CM-5

ADAPTOR-CM5

CM5

Step 1

: 4pcs

: 4pcs

S1

N1

[Battery included]

Step 2

Joint

: 2pcs

F3

: 4pcs

S1

N1

: 4pcs

Step 3

Bar

F2

: 8pcs

S2 F6

: 8pcs

N1

: 3pcs

F3

Step 1

Step 2

※Check
assembly point

motor

1

Step 4

Whole Body Assembly

WA

※Insert nuts

: 8pcs

N1

S-B

BU

Step 3

: 12pcs

S1

20

Beginner Level Robot Series

CABLE-14

CM-5

1

motor

1

CABLE-14

※Wiring

Wiring and Completion

Step 5

1

motor

1

※Using side connector of , connect cable.

CM-5

Connector

1

21

22

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Crossing Gate\CheckAssembly(Crossing Gate).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot
Programs.”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

1

LED on

motor

U button

1

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Side View

The Bar is parallel to surface

Step 6 Close the CM-5 online robot activation

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “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.

- When you press D button of CM-5, the Crossing Gate closes.

Step 4 Compare with the provided video clip

(In CD, Applied Robots\Beginner\Crossing Gate\DemoExample(Crossing Gate).wmv)

23

Beginner Level Robot Series

２-２-２. Universal Gauge
Let’s build a Universal gauge that can control 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

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.

24

Beginner Level Robot Series

(2) Assembling

Joint

Step 3

S1

: 2pcs

F3

: 2pcs

: 2pcs

N1

F6

Bar

Step 2

N1

: 2pcs

S2

: 2pcs

F3

※Check
assembly point

Step 1

Step 3

Step 2

※Insert nuts

Whole Body Assembly

Step 4

motor

2

: 8pcs

S1

: 12pcs

N1

CM-5

Step 1

CM-5

ADAPTOR-CM5

[Battery included]

: 4pcs : 4pcs

S1 N1

Step 5

Wiring and Completion

motor

2

※Wiring

motor

1

CABLE-14

CM-5

2

CABLE-14

1

※Using side connector of , connect cable.

1

CM-5

Connector

25

26

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Universal Guage\CheckAssembly(Universal Guage).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot with
the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

LED on

motor

2

U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Top View

The bar is perpendicular to CM-5

Step 6 Close the CM-5 online robot activation

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” 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.

- If you keep pressing D button of CM-5, the speed of gauge decreases.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Universal Guage \DemoExample(Universal Guage).wmv)

27

Beginner Level Robot Series

２-２-３. Sound-Level Meter
Let’s build a sound-level meter that shows the sound 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.

28

Beginner Level Robot Series

(2) Assembling

Joint 1

Step 2

S1

: 2pcs

F3

: 2pcs

Step 1

Step 3

CM-5

Joint 2

ADAPTOR-CM5

: 4pcs

N1

S1

: 4pcs

CM-5

N1

[Battery included]

: 2PCS

Whole Body Assembly

Step 5

※Insert Nuts

※Check
assembly point

motor

1

N1

: 8pcs

N1

: 8pcs

S1

: 20pcs

Step 2

Step 4

Step 1

Step 3

S1

: 4pcs

: 4pcs

N1

F3

: 2pcs

Step 4

Bar

F6

S2

: 2pcs

N1

: 2pcs

F3

CABLE-14

2

Wiring

Step 5

CABLE-14

CM-5

1

motor

1

CABLE-14

※Wiring

2

motor

1

CABLE-14

Connector

※ Using side connector of

CM-5

1

connect cable.

1

29

30

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\ Sound-Level Meter \CheckAssembly(Sound-Level Meter).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs.”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

LED on

motor

1

U button

1

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Top View

The Bar is perpendicular to CM-5

Step 6 Close the CM-5 online robot activation.

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

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 gauge moves equivalent to the loudness

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\ Sound-Level Meter \DemoExample(Sound-Level Meter).wmv)

31

Beginner Level Robot Series

２-２-４. Crocodile Mouth
Let’s build a crocodile mouth that opens a mouth when a sensor detects an object and that
makes sound when an object is not 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

※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.

32

Beginner Level Robot Series

(2) Assembling

Mouth 2

Step 4

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

Head

Step 2

S2

: 6pcs

: 2pcs

F10

N1

F8

ADAPTOR-CM5

Step 1

CM-5

CM-5

[Battery included]

: 4pcs

N1

: 4pcs

S1

Step 3

Mouth 1

Step 2

※Insert nuts

motor

3

S1

: 6pcs

: 6pcs

N1

33

Beginner Level Robot Series

Step 6

Wiring and Completion

CM-5

1

motor

3

CABLE-18

※Wiring

motor

3

CABLE-10

CABLE-18

2

1

motor

3

2

CABLE-10

34

35

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\ Crocodile Mouth \CheckAssembly(Crocodile Mouth).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※ For ID of Dynamixel refer to the figure below

motor

LED on

motor

3

U button

3

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Side View

The Mouth of crocodile is parallel to surface.

Step 6 Close the CM-5 online robot activation

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(In CD, Applied Robots\Beginner\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 inside of a mouth when the Crocodile Mouth closes, it opens the mouth

again.

- When an object is not detected by the sensor for 10 seconds, it chimes.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Crocodile Mouth \DemoExample(Crocodile Mouth).wmv)

36

Beginner Level Robot Series

２-２-５. Pan Tilt
Let’s build a pan tilt robot that can be controlled with the pan(right and left) and tilt(up and down)
buttons.

(1) Necessary parts

CM-5

ADAPTOR-CM5

AX-12 × 2

F3

×

3

N1

× 20

S1

× 28

S-B

× 1

BU

× 1

WA

× 1

CABLE-14

× 2

F2

× 1

motor

4

motor

3

※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.

37

Beginner Level Robot Series

(2) Assembling

CM-5

CM-5

Step 1

S1

: 4pcs

N1

: 4pcs

[Battery included]

ADAPTOR-CM5

Joint 1

Step 2

: 2pcs

F3

: 4pcs

S1

: 4pcs

N1

F3

Joint 2

Step 3

※Check assembly point

S1

motor

3

: 4pcs

S-B

Joint 3

Step 4

motor

4

: 4pcs

F2

WA

S1

BU

※Check
assembly point

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

38

Beginner Level Robot Series

connect cable.

CM-5

1

motor

3

CABLE-14

※Wiring

1

2

motor

3

CABLE-14

2

motor

4

motor

4

motor

3

CABLE-14

CABLE-14

※ Using side connector of

CM-5

1

Connector

Step 6

Wiring and Completion

39

40

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Pan Tilt\CheckAssembly(Pan Tilt).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure

※Whenever U button is pressed LED is on in the order shown

LED on LED on

motor

3

motor

4

U button

U button

※For ID of Dynamixel refer to the figure below.

motor

4

motor

3

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram..

※ Top View ※ Side View

Step 6 Close the CM-5 online robot activation.

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(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 joint moves downward

- If you keep pressing R button of CM-5, the pan joint rotates to the right.

- If you keep pressing L button of CM-5, the pan joint rotates to the left

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Pan Tilt \DemoExample(Pan Tilt).wmv)

The Pan Tilt is perpendicular to CM-5 The Pan Tilt is parallel to CM-5

41

Beginner Level Robot Series

２-２-６. Parking Gate

Let’s build a parking gate that automatically opens and closes the door 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

S2

× 6

CABLE-10

× 2

motor

2

※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.

42

Beginner Level Robot Series

(2) Assembling

※Check assembly point

Bar

Step 3

motor

2

: 4pcs

S1

: 6pcs

: 6pcs

F3

: 3pcs

S2

N1

F6

※Check
assembly point

Joint

Step 2

: 4pcs

motor

1

S1

F3

ADAPTOR-CM5

Step 1

CM-5

[Battery included]

CM-5

: 4pcs

N1

: 4pcs

S1

Joint 1

Step 4

F3

: 2pcs

S1

: 2pcs

N1

: 2pcs

※Insert nuts

Whole Body Assembly

Step 6

motor

1

motor

2

N1

: 8pcs

: 8pcs

S1

: 20pcs

Step 4

※Insert nuts

: 4pcs

Step 2

Step 1

N1

Step 3

Step 5

N1

Joint 2

Step 5

F3

: 2pcs

S1

: 4pcs

N1

: 4pcs

43

Beginner Level Robot Series

CABLE-14

Wiring and Completion

Step 7

motor

1

motor

2

CABLE-10

CABLE-10

1

2

3

1

CM-5

motor

1

※Wiring

2

motor

1

CABLE-14

CM-5

3

CABLE-10

motor

2

CABLE-10

※ Using side connectors of , connect cables.

CM-5

Connector

Connector

1 3

44

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Parking Gate \CheckAssembly(Parking Gate).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot
Programs”

Step 2 Operate 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 robot

with the figure.

45

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

1

motor

2

LED on LED on

motor

2

U button

U button

motor

1

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Side View

The bar is parrael to the surface

※ Top View

The bar is perpendicular to CM-5

Step 6 Close the CM-5 online robot activation

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(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 crossing bar is pushed by an object at the same

time, the crossing bar opens horizontally.

- When an object is not detected by the sensor, the crossing bar closes.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Parking Gate\DemoExample(Parking Gate).wmv)

46

Beginner Level Robot Series

２-２-７. Melody Car

Let’s build a melody car that chimes and moves in a direction corresponding to a button

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

4

AX-S1

F3

× 6

F13

× 4

F14

× 4

N1

× 48

S1

× 48

S2

× 16

CABLE-10

CABLE-14

× 2

× 1

Sticker

× 10

CABLE-6

× 2

※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.

47

Beginner Level Robot Series

(2) Assembling

※Assemble 2 sets using and

F13

F14

motor

2

※Insert nuts

motor

4

※Attach nut stickers :

Left Wheel : 2 sets

Step 1

Sticker

:2pcs

motor

2

motor

4

※Assemble taking

note of the inserted
location of nuts .

F3

Make sure nuts do

not come off.

S1

: 4pcs

N1

: 4pcs

S2

: 4pcs

N1

: 4pcs

※Assemble 2 sets using and

F3

motor1motor

3

※Insert nuts ※Attach nut stickers :

motor

3

motor

1

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
: 4pcs

N1

: 4pcs

S1

: 4pcs

S2

: 4pcs

Joint

Step 3

F3

: 2pcs

N1

: 4pcs

S1

: 4pcs

ADAPTOR-CM5

※Insert nuts

※Attach nut stickers :

Head

Step 4

Step 3

Sticker

:2pcs

: 8pcs

N1

: 4pcs

S1

: 8pcs

N1

Make sure nuts do not

come off.

48

Beginner Level Robot Series

motor

3

motor

4

motor

2

motor

1

CABLE-10

CABLE-6

CABLE-6

CABLE-14

※Top viwe :

※Assemble after wiring is finished

1

2

4

5

3

Step 2

Step 1

Step 4

Whole Body Assembly and Wiring

Step 5

motor

1

motor

3

motor

2

1

CABLE-6

2

3

4

5

CABLE-10

CABLE-10

CABLE-6

CABLE-14

※Bottom view

※Wiring

motor

motor

1 2

motor

2

motor

motor

1 3

motor

motor

3 4

motor

CM-5

4

CABLE-10

: 16pcs

S1

Check screw assembly point

Step 6

Completion

CM-5

: 4pcs

S1

※ Using side connector of

CM-5

connect cable.

5

5

connector

[Battery included]

49

50

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Melody Car \CheckAssembly(Melody Car).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

motor

4

motor

3

motor

1

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

Beginner Level Robot Series

Step 5 Close the CM-5 online robot activation.

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(In CD, Applied Robots\Beginner\Melody Car\DemoExample(\Melody 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

- 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 D button of CM-5, the Melody Car chimes and turn to the left.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\\Melody Car \DemoExample(\Melody Car).wmv)

51

Beginner Level Robot Series

２-２-８. Robot Arm

Let’s build a robot arm that can be controlled by a button.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 3

motor2 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

F2

× 1

※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.

52

Beginner Level Robot Series

(2) Assembling

Joint 1

Step 2

F3

: 2pcs

S1

: 4pcs

N1

: 4pcs

Joint 2

Step 3

F1

※Check
assembly point

: 4pcs

S1

motor

1

Hand

Step 5

F11

F9

F3

S1

: 8pcs

N1

: 8pcs

CM-5

ADAPTOR-CM5

Step 1

CM-5

: 4pcs

S1

: 4pcs

N1

[Battery included]

F3

F2

Joint 3

Step 4

N1

: 4pcs

S1

: 4pcs

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

BU

S-B

Step 5

Step 1

N1

※Check
assembly point

※Insert nuts

53

Beginner Level Robot Series

connect cable.

Complete Wiring and Assembly

Step 7

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

motor

1

CABLE-14

CABLE-10

motor

1

3

motor

3

motor

2

motor

2

54

55

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Robot Arm\CheckAssembly(Robot Arm).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

motor

1

motor

3

LED on LED on

motor

1

motor

2

motor

3

LED on

U button U button U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Front View ※ Side View

The palm of the hand is facing the front

The robot arm is perpendicular to CM-5

Step 6 Close the CM-5 online robot activation

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior 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 Robot Arm rotates to the left.

- When you press U button of CM-5, an elbow of the Robot Arm extends.

- When you press D button of CM-5, an elbow of the Robot Arm folds.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Robot Arm\DemoExample(Robot Arm).wmv)

56

Beginner Level Robot Series

２-２-９. Obstacle Detection Car
Let’s build a car that detects an obstacle with a sensor and that avoid the obstacle
automatically.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

4

AX-S1

F3

× 6

F13

× 4

F14

× 4

N1

× 48

S1

× 48

S2

× 16

CABLE-10

CABLE-14

× 2

× 1

Sticker

× 10

CABLE-6

× 2

※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.

57

Beginner Level Robot Series

(2) Assembling

※Assemble 2 sets using and

F13

F14

motor

2

※Insert nuts

motor

4

※Attach nut stickers :

Left Wheel : 2 sets

Step 1

Sticker

:2pcs

motor2 motor

4

※Assemble taking

note of the inserted
location of nuts .

F3

Make sure nuts do

not come off.

S1

: 4pcs

N1

: 4pcs

S2

: 4pcs

N1

: 4pcs

※Assemble 2 sets using and

F3

motor1motor

3

※Insert nuts ※Attach nut stickers :

motor

3

motor

1

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
: 4pcs

N1

: 4pcs

S1

: 4pcs

S2

: 4pcs

Joint

Step 3

F3

: 2pcs

N1

: 4pcs

S1

: 4pcs

ADAPTOR-CM5

※Insert nuts

※Attach nut stickers :

Head

Step 4

Step 3

Sticker

:2pcs

: 8pcs

N1

: 4pcs

S1 : 8pcs

N1

Make sure nuts do not

come off.

58

Beginner Level Robot Series

motor

3

motor

4

motor

2

motor

1

CABLE-10

CABLE-6

CABLE-6

CABLE-14

※Top viwe :

※Assemble after wiring is finished

1

2

4

5

3

Step 2

Step 1

Step 4

Whole Body Assembly and Wiring

Step 5

motor

1

motor

3

motor

2

1

CABLE-6

2

3

4

5

CABLE-10

CABLE-10

CABLE-6

CABLE-14

※Wiring

CM-5

motor

4

motor

1

motor

2

motor

2

motor

1

motor

3

motor

3

motor

4

※Bottom view

CABLE-10

Check screw assembly point

S1

: 16pcs

Completion

Step 6

CM-5

: 4pcs

S1

※ Using side connector of

CM-5

connect cable.

5

5

connector

[Batteries included]

59

60

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Obstacle Detection Car\CheckAssembly(Obstacle Detection

Car).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

※Whenever

※For ID of Dynamixel refer to the figure below.

motor

2

motor

4

motor

1

motor

3

Beginner Level Robot Series

Step 5 Close the CM-5 online robot activation.

(4) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(In CD, Applied Robots\Beginner\ Obstacle Detection 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\Beginner\ Obstacle Detection Car\DemoExample(Obstacle Detection

Car).wmv)

61

Beginner Level Robot Series

２-２-１０. Greeting Penguin

Let’s build a penguin robot that greets when it detects an object in front and that raises hand
when detecting an object on side.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

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

× 4

※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.

62

Beginner Level Robot Series

(2) Assembling

※Assemble 2 sets in

a same style

.

Shoulder : 2 sets

Step 1

F1

N1

: 4pcs

S1

: 4pcs

F3

F9

F3

Hand : 2sets

Step 2

N1

: 4pcs

S1

: 4pcs

※Assemble 2 sets in
a same st

y

le.

F3

Head

Step 3

S1

: 4pcs

※Insert nuts

Step 1

Step 2

motor

2

motor

1

N1

: 12pcs

S1

: 28pcs

WA

: 2pcs

BU

S-B

: 2pcs

: 2pcs

Step 3

: 8pcs

N1

motor

2

motor

1

※Check assembly point

※Check assembly point

Upper part of body Assembly

Step 4

Step 1

Step 2

63

Beginner Level Robot Series

F3

F2

Leg : 2 sets

Step 5

F3

F12

Foot : 2sets

Step 6

N1

: 3pcs

S1

: 3pcs

※Assemble 2 sets in a same

style.

※Assemble 2 sets in a same

style.

N1

: 4pcs

S1

: 4pcs

※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

N1

S-B

motor

3

Step 6

Step 6

Step 5

※Check
assembly point

64

Beginner Level Robot Series

connect cable.

1

motor

3

motor

1

CABLE-14

2

3

4

5

motor

3

CABLE-14

CABLE-6

CABLE-10

CABLE-10

※Wiring

motor

2

Step 8

CM-5 Assembly and Wiring

CM-5

CABLE-14

CABLE-14

CABLE-6

3

1

2

: 4pcs

N1

motor

2

motor

1

5

motor

3

motor

4

motor

4

motor

1

CM-5

4

4

※Using side connector of

CM-5

Connector

[Battery included]

CM-5

CABLE-10

: 4pcs

S1

CABLE-10

65

66

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Greeting Penguin\CheckAssembly(Greeting Penguin).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

4

motor

2

motor

3

motor

1

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram

※ Side View ※ Back View

Two legs are perpendicular to the surface. Two arms are wide open.

Step 6 Close the online robot activation.

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which 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 the right side of a head, it raises right hand

- When you place a hand on the left side of a head, it raises left hand.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Greeting Penguin\DemoExample(Greeting Penguin).wmv)

67

Beginner Level Robot Series

２-２-１１. Attacking Duck

Let’s build a duck robot that attack with a beak when the sensor detects an object.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 3

motor2 motor

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

p

arts

against the below illustration to choose the correct assembly part.

68

Beginner Level Robot Series

(2) Assembling

Joint 1

Step 2

F3

: 2pcs

S1

: 4pcs

N1

: 4pcs

Joint 2

Step 3

F1

※Check
assembly point

: 4pcs

S1

motor

1

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

BU

S-B

Step 5

Step 1

N1

※Check
assembly point

※Insert nuts

F3

F2

Joint 3

Step 4

N1

: 4pcs

S1

: 4pcs

Hand

Step 5

F11

F9

F3

S1

: 8pcs

N1

: 8pcs

CM-5

ADAPTOR-CM5

CM-5

Step 1

: 4pcs

S1

: 4pcs

N1

[Battery included]

69

70

Beginner Level Robot Series

connect cable.

Wiring

Step 7

CABLE-10

CABLE-14

CABLE-10

2

3

motor

1

motor

2

motor

3

※Left side view

※Using side connector of

CM-5

1Connector

1

CM-5

1

CABLE-14

※Wiring

motor

1

※Insert nut

※Assemble sensor

4

CABLE-10

※Wiring

motor

3

CABLE-10

S1

: 4pcs

4

N1

: 4pcs

※Left side view

Step 7

S1

: 4pcs

Assemble sensor and completion

Step 8

F3

2

motor

1

CABLE-14

CABLE-10

3

motor

motor

2

motor

2 3

71

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Attacking Duck\CheckAssembly\Attacking Duck).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

For ID of Dynamixel refer to the figure below

motor

2

motor

1

motor

3

LED on LED on

motor

1

motor

2

motor

3

LED on

U button U button U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Front View ※ Side View

The Robot Arm is perpendicular to CM-5

The palm of the hand is facing the front

Step 6 Close the CM-5 online robot activation

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is 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 place a hand on the right side of the head, the head turns to the right.

- When you place a hand on the left side of the head, it turns to the left

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner\ Attacking Duck \DemoExample(Attacking Duck).wmv)

72

Beginner Level Robot Series

２-２-１２. Cliff Detection Car

Let’s build a car that detects and avoids cliff and obstacle automatically by a sensor.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

4

AX-S1

F3

× 6

F13

× 4

F14

× 4

N1

× 48

S1

× 48

S2

× 16

CABLE-10

CABLE-14

× 2

× 1

Sticker

× 10

CABLE-6

× 2

※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.

73

Beginner Level Robot Series

(2) Assembling

※Assemble 2 sets using and

F13

F14

motor

2

※Insert nuts

motor

4

※Attach nut stickers :

Left Wheel : 2 sets

Step 1

Sticker

:2pcs

motor

2

motor

4

※Assemble taking

note of the inserted
location of nuts .

F3

Make sure nuts do

not come off.

S1

: 4pcs

N1

: 4pcs

S2

: 4pcs

N1

: 4pcs

※Assemble 2 sets using and

F3

motor1motor

3

※Insert nuts ※Attach nut stickers :

motor

3

motor

1

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
: 4pcs

N1

: 4pcs

S1

: 4pcs

S2

: 4pcs

Joint

Step 3

F3

: 2pcs

N1

: 4pcs

S1

: 4pcs

ADAPTOR-CM5

※Insert nuts

※Attach nut stickers :

Head

Step 4

Step 3

Sticker

:2pcs

: 4pcs

N1

: 4pcs

S1

: 8pcs

Make sure nuts do not

come off.

N1

74

Beginner Level Robot Series

motor

3

motor

4

motor

2

motor

1

CABLE-10

CABLE-6

CABLE-6

CABLE-14

※Top view :

※Assemble after wiring is finished

1

2

4

5

Step 2

Step 1

Step 4

Whole Body Assembly and Wiring

Step 5

motor

1

motor

3

motor

2

1

CABLE-6

2

3

4

5

CABLE-10

CABLE-10

CABLE-6

CABLE-14

※Wiring

CM-5

motor

4

motor

1

motor

2

motor

2

motor

1

motor

3

motor

3

motor

4

※Bottom view

3

S1

: 16pcs

Check screw assembly point

CABLE-10

Completion

Step 6

CM-5

5

※ Using side connector of

CM-5

connect cable.

Connector

: 4pcs

S1

5

[Battery included]

75

76

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Cliff Detection Car\CheckAssembly(Cliff Detection Car).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

motor

4

moto r

1

moto r

3

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

Beginner Level Robot Series

Step 5 Close the CM-5 online robot activation.

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(In CD, Applied Robots\Beginner\Cliff Detection Car \DemoExample(Cliff 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
(In CD, Applied Robots\Beginner\Cliff Detection Car \DemoExample(Cliff Detection Car).wmv)

77

Beginner Level Robot Series

２-２-１３. Clapping Penguin

Let’s build a penguin robot that greets when it meets an object in front and that imitates the

handclap action

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

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

p

arts

against the below illustration to choose the correct assembly part.

CABLE-18

× 1

× 1

CABLE-20

78

Beginner Level Robot Series

(2) Assembling

Step 2

Step 3

Step 1

Upper part of body Assembly

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

F1

F3

※Assemble 2 sets in a same

style

.

Shoulder : 2 sets

Step 1

S1

: 4pcs

N1

: 4pcs

F9

F3

Hand : 2sets

Step 2

N1

: 4pcs

S1

: 4pcs

※Assemble 2 sets in a same

st

y

le.

F3

Head

Step 3

S1

: 4pcs

79

Beginner Level Robot Series

F3

F2

Leg : 2 sets

Step 5

Step 6

Foot : 2 sets

※Assemble 2sets 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

N1

: 8pcs

S1

: 24pcs

S-B

: 2pcs

BU

: 2pcs

WA

: 2pcs

N1

: 8pcs

※Check
assembly point

※Check
assembly point

80

Beginner Level Robot Series

connect cable.

1

motor

3

motor

1

CABLE-20

2

3

4

5

motor

3

CABLE-18

CABLE-6

CABLE-10

CABLE-14

※Wiring

motor

2

CM-5

motor

4

motor

1

CM-5

CABLE-6

CM-5 Assembly and Wiring

Step 8

CABLE-10

CABLE-20

CABLE-14

CABLE-18

motor

1

motor

2

motor

3

motor

4

1

2

4

3

5

※ Using side connector of

CM-5

Connector

[Battery included]

CM-5

N1

: 4pcs

S1

: 4pcs

81

82

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Clapping Penguin\CheckAssembly(Clapping Penguin).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure.

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

motor

1

motor

3

motor

4

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Front View ※ Back View

Two arms are wide open. Two legs are perpendicular to the surface

Step 6 Close the online robot activation

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 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 penguin robot greets.

- When you handclap, the penguin robot claps same number of times.

Step 4 Compare with the provided video clip
(In CD, Applied Robots\Beginner \Clapping Penguin \DemoExample(Clapping Penguin).wmv)

83

Beginner Level Robot Series

２-２-１４. Walking Droid
Let’s build 2-legged walking robot, Droid. This robot continues to move forward, and when it
meets an obstacle, it will avoid it.

(1) Necessary parts

CM-5

ADAPTOR-CM5

motor

1

AX-12 × 4

motor2 motor3 motor

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

Sticker

× 3

S2

× 2

WA

× 2

※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.

84

Beginner Level Robot Series

(2) Assembling

S-B

BU

WA

※Insert nuts

motor

3

F12

F1

Right Leg2

Step 2

N1

: 4pcs

S1

: 4pcs

Right Leg1

Step 1

F3

motor

1

S1

: 4pcs

※Check

assembly point

Step 3

Right Leg3

※Check
assembly point

Step 2

Step 1

N1

: 4pcs : 8pcs

S1

S-B

BU

※insert nuts

motor

4

Step 4 Step 6

Left Leg1 Left Leg3

※Check
assembly point

Step 4

Step 5

WA

: 8pcs

: 4pcs

S1

N1

F1

※Check
assembly point

Left Leg2

Step 5

F12

N1

: 4pcs

S1

: 4pcs

F3

motor

2

S1 : 4pcs

85

86

Beginner Level Robot Series

Waist Assembly

Step 7

※Attach nut stickers:

Sticker

※Insert nuts

N1

: 2pcs

N1

: 12pcs

F8

: 2pcs

S1

: 12pcs

make sure nuts do not come off

※Insert nuts

CABLE-10

CABLE-14

CABLE-14

CABLE-10

4

2

1

3

Lower part of body

Step 8

Step 7

Step 3

Step 6

N1

: 16pcs

S1

: 16pcs

ADAPTOR-CM5

ADAPTOR-CM5 Assembly

Step 9

※Top view :

Sticker

Step 8

※Back view :

1

3

2

4

4

2

1

N1

: 4pcs

S1 : 2pcs

※Attach nut stickers:

make sure do not come off.

check screw assembly point

Check wiring direction

: 2pcs

Beginner Level Robot Series

Connect cables.

CABLE-14

CABLE-10 CABLE-10

CABLE-14

CABLE-10

5

2

4

3

1

1

CM-5

motor

3

motor

1

CABLE-14

2

motor

2

motor

4

3

motor

1

4

motor

2

5

motor

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

87

88

Beginner Level Robot Series

(3) Check Assembly

You should confirm whether assembled uprightly before operate.

Step 1 Download “Check Assembly”file which is behavior control program

(In CD, Applied Robots\Beginner\Walking Droid\CheckAssembly(Walking Droid).bpg)

※Refer to “How to download Behavior Control Program” from “2-1-2 Downloading Robot

Programs”

Step 2 Operate 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 robot

with the figure..

※Whenever U button is pressed LED is on in the order shown

※For ID of Dynamixel refer to the figure below.

motor

2

motor

1

motor

2

motor

4

motor

3

motor

1

motor

3

motor

4

LED on LED on LED on

motor

1

motor

2

motor

3

motor

4

LED on

U button U button U button U button

Beginner Level Robot Series

Step 5 When START button of CM-5 is pressed, the robot will look like the figures below. If

different, check the assembly points of Dynamixel using the assembly diagram.

※ Front View ※ Back View

Both feet are flat on the surface.

The legs are pararrel facing the front.

Step 6 Close the online robot activation.

(4) ) Operating the Robot

Operate completed robot using demonstration(example)program.

Step 1 Download “Example” file which is behavior control program.
(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 Robot Activation”from “2-1-3. Operating the Robots.

Step 4 Operation of the robot

- Robot continues to move forward and when it meets an obstacle, it will avoid it.

Step 5 Compare with the provided video clip
(In CD, Applied Robots\Beginner\Walking Droid \DemoExample(Walking Droid).wmv)

89

Beginner Level Robot Series

３. Bioloid Operation and
Maintenance

90

Beginner Level Robot Series

３-１. Finding the Serial COM Port Number of the PC

To use the software of Bioloid, the users must know the CM-5 corresponding communication port
number. To find out the port number, follow the next steps.

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

“Device Manager”

91

Beginner Level Robot Series

３-２. Charging 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.

Connect SMPS to CM-5.

Turn on

PoWER

of CM-5.

ON OFF

Click

U

button of CM-5.

92

Beginner Level Robot Series

３-３. Changing DYNAMIXEL’s ID

▷ Connect only one Dynamixel that will change the ID to CM-5..

▷ Download behavior control program that can change Dynamixel’s ID.

(Use the Examples\ID changing .bpg file)

▷ After download, execute the program via online activation mode.

▷ Using CM-5 button, insert new ID.

▷ Close the program after you change the ID.

※ Caution: Check the chart below to make sure 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.

Current Dynamixel ID

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 CM-5 is clicked, newly set ID is decreased by the unit of 10.

When the users click Start button, new Dynamixel ID will be set.

Dynamixel type Available ID

AX-12 0~30

AX-S1 100~109

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Beginner Level Robot Series

３-４. Exchanging Fuse

Inside the CM-5, there is a fuse that protects circuits from over-current. If CM-5 does not
recharge or it does not power on with the battery only but the SMPS is powered on, it indicates
the shorted fuse and thus should be replaced.

※ Fuse inside CM-5 can be easily purchased in local electric stores. (220V/5A)

※ Refer to video clips of “Help Files \Exchanging Fuse. 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.

(Directi tter) on of fuse does not ma

Put back the CM-5 to original condition.

94

95

Beginner Level Robot Series

３-５. Beginner kit’s parts

CM-5

ADAPTOR-CM5

motor

1

AX-12×4

motor

4

AX-S1

F1

×4

F3

×12

F8

×2

F12

×2

N1

×150

S4

×20

S-B

×10

BU

×6

WA

×6

CABLE-6

CABLE-10

×2

Sticker

×32

S3

×20

F2

×4

F4

×2

F5

×1

F6

×4

F9

×3

F10

×10

F11

×2

F13

×4

F14

×4

SP1

×4

SP2

×4

S1

×150

S2

×20

S5

×20

CABLE-14

CABLE-18

CABLE-20

×3

×2

×1

×1

×1

×1 ×1

~

SMPS

Serial Cable CD

QuickStart

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.