Robotis BIOLOID GP Quick Start Manual

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All rights reserved. No part of this book may be reproduced, in any form or by any means,
without prior consent or written permission from the publisher.

ⵑ

Attention

Exercise safety when using this product,

Robotis is not responsible for any accidents due to user negligence.

Please read the instructions carefully before getting started.

This product may not be suitable for children aged below 15.

Do not use any other tools other than the ones provided with the kit.

Face the robot away from you during operations.

Do not place your ngers at the robot’s joints.

Do not operate robot near water or direct sunlight.

Do not take apart nor customize the parts.

Use only the battery and battery charger included in the kit.

Replace gears after long or excessive use.

Bioloid GP features

①

Implementation of Dynamixel AX-18F for superior performance

②

Application of high-strength and lightweight aluminum frames

③

Change of direction while walking at high speeds

④

Preloaded humanoid combat, soccer, and a variety of motions

⑤

Posture correction with gyroscope sensor

⑥

Gripper set with sensors for missions

⑦ Remote control included (with Zigbee built-in)

⑧

Includes upgradeability with software programming (RoboPlus)

⑨

Digital packet control and daisy chain for simplied wiring

2

2

Table of Contents

1. Components and features

2. Assembly

3. Robot action

4. Participation in robot competition

5. troubleshooting

6. Assembly manual

7. Part list

4

5

6

9

10

12

31

For more information or tutorials go to http://support.robotis.com

3

1. Bioloid GP Components and Features

AX-12+ : 8 units
AX-18F : 10 units

1

- Networked, robot-dedicated servos

- Versatile, expandable structure

- Torque : 15kgf·cm(at 12V)

- Motion range : 300 degrees

- 360-degree rotation (for wheels)

2

- Networked, robot-dedicated servos

- Versatile, expandable structure

- Torque : 18kgf·cm(at 12V)

- Motion range : 300 degrees

- 360-degree rotation (for wheels)

3

Gyroscope sensor

-

Angular velocity detection(2-axis)
Posture correction during walk

-

5

Remote control (RC-100)

- Dedicated remote control

- Upgradeable with Zigbee

6

ZIG-110 set

- Non-interference signal control
Mu l t i p l e - r o b o t simul t a n e o u s
co ntr ol (w ell -sui ted for rob ot
competition)

7

SMPS and charger

- Input voltage : 100~240V

4

CM-510

- Dedicated robot controller

- Sensor ports : 6

- Dynamixel ports: 5

- Sound sensor, buzzer, and
protective fuse installed.

10

RoboPlus CD

3PCP1MVT

USB2Dynamixel

11

-RS-232, TTL, RS-485 standards

8

Battery pack

- Li polymer(11.1V,1000mAh)

9

Aluminum frames

- Optimized for humanoids

RoboPlus

-robot programming software

12

Serial cable

-robot program downloads

4

4

2. Assembly

Precautions

(1) Convenient AX-12+/AX-18F
nut insertion method

(For more information refer to the website or video in the manual)

Assembling the robot

Please follow the assembly manual
during assembly.

(2) Align horn position before assembling

LED

Try to make the best performance robot

with Bioloid GP

Gyro sensor for position control

High performance

Dyanmixel AX-18F

Ultra lighted high strength

aluminum frame

Remote Control

Zigbee Module

- Weight : 1.6kg, Height : 35cm

5

3. Robot Action

MODE

START

MODE

(1) Turning the robot on

①

Turn the power switch on and the LED will start blinking.

②

③

START

Press MODE until the PLAY LED starts blinking.

Press START (ensure PLAY’s LED is blinking).

If the LED does not turn on check the power cable or connection.
Ensure the battery pack is properly charged (refer to p.8 (4) fo9r more information)

①

Power ON

②

to select PLAY

Press MODE

③

press START

(2) Check the robot’s basic posture (this check veries proper assembly)

The robot assumes the position illustrated in the picture below when turned on.

If the robot does not assume the posture below please refer to page 10.

Ch eck the angle s the arms
and legs.
If different from the illustration
go to page 8.

Check if the cables are connected
on the robot’s outer legs.

If the robot has been assembled
in a way that can be damaged
the system activates a warning
sound.
The LED of motor(s) with
problems will also blink.
When it happens the releases
its torque to zero to prevent
further damage.

6

6

(3) Robot Action

U

D

R

1

3

4

2

POWER/MODE

U

L

U

R

L

L

5

L

5

6

L

5

U

L

5

D

5

R

5

6

U

R

5

D

R

R

2

U

D

L

R

4

U

D

L

R

D

U

5

6

buttons are as follows.

U

L

The remote control (RC-100) controls the robot.

RC-100 Operations

①

②

The following buttons control the robot.

③

Walking(soccer/combat)

U

: Forward

+

D

: Backwards

U

R

D

Hold the button for 2 seconds to power on.

+

6

U

: Fast Forward

: Forward left

+

: Forward right

Soccer Mode

Combat Mode

WER/MODE

: Left turn

+

+

Fast left sidestep

+

: Left sidestep

+

+

+

+

Left frontal diagonal step

:

Left dorsal diagonal step

:

:

: Right turn

+

Right sidestep

:

5

+

+

+

+

Right frontal diagonal step

:

Right dorsal diagonal step

:

+

+

R

Fast right sidestep

:

For more information and tutorials refer to the homepage.
If the robot does not respond to remote commands please refer to page 10.

Soccer mode

Walks by default and follows the buttons illustrated below.

: forward kick

L leg

+

: backwards kick
: left kick

R leg

+

: right kick

: forward kick
: backwards kick
: left kick
: right kick

7

D

Combat Mode

2

U

L

R

Walks by default and follows the buttons illustrated below.

: forward attack

+

knock

: left attack

: right attack

(4) Charging

During robot operation when the battery beeps charge the battery pack immediately.

The LED turns on red during charging; switches to green after completion.

①

Remove battery pack

②

Connect to charger

SMPS

charger

③

Charge

charging

(red LED on)

complete

(green LED on)

Connecting the SMPS directly provides

External power to the robot.

to charger

SMPS

to charger

CM-510

8

8

The charger and robot cables are
connected.

4. Participation in robot competition

(for more information and tutorials visit the homepage)

Competitions

Already existing interests,
contest participation and
registration

Conference exhibitions

Conference exhibitions

Rules

Contest rules and tuning
compliance

Motion and algorith generation

Competition-related
congurations and
algorithm updates.

Programming

RoboPlus robot programming software for motion creation and robot control.
(CD included)

3PCP1MVT

RoboPlus CD

For programming guidelines refer to the included tutorials.

9

5. Troubleshooting

(1) Assembly

Robot’s motions are abnormal.

Abnormal basic posture

Check the assembly of each joint.

Robot falls during walk and gait is unstable.

The gyroscope sensor is not properly connected.

Ensure the gyroscope sensor is properly connected.

Do not change the gyroscope cable orientation (refer to Step 18(p.23)).

Torque is released and Dynamixel’s LED turn on after a warning beep.

The robot activates a warning beep whenever an actuator or frames have not been

properly assembled, or if the actuator cannot properly move.

Locate the actuator(s) with the LED on and refer to the assembly manuals for proper assembly.

Ensure that cables are not stuck between joints.

(2) Remote Control

The remote control does not work properly.

Check the assembly manuals for proper Zigbee connections and settings.

The remote control shows a red LED when Zigbee is disconnected.

Ensure the remote control is powered on. If power does not turn on replace the batteries.

Operating the robot around with many people in its vicinity may cause radio interference.

(3) Power

Robot does not power on.

Is the battery pack properly connected?

Is the battery pack fully charged?

Does the fuse needs to replaced?

Please refer to the homepage for fuse replacement.

10

10

Battery pack power level check.

Turn the CM-510 on then press . The LED’s turn on and show the amount of battery power.

U

① Power ON

③ battery check

U

L

R

D

nearly empty

The robot beeps continuously while in motion.

Battery power is very low. Recharge the battery pack immediately (refer to page 8).

If the robot continues operation under very low power then the robot can suddenly

shut down potentially damaging the robot from a fall.

half full

② press

U

For more information refer to Robotis homepage or contact us.

User Guide

Product Category User Guide

Class B equipment

(residential)

Company : Robotis

homepage : www.robotis.com

E-MAIL : [e-mail]

Address :

#1506 Ace High-end Tower No. 3, 371-50 Gasan-dong Geumcheon-gu Seoul Korea 153-787

Telephone : [phone]

Fascimile : 070-8230-1336

This unit is for residential purpose (class B) complies with all

electromagnetic compatibility regulations and may be used anywhere.

11

6.

Assembly Manual

13

Tip

Dynamixel AX series hinge attachment procedure. Begin with WA.

1

1. Prepare parts

4. Insert WA into BU 5. Attach to the back side of motor

Dynamixel(AX series) is attached with hinge frame now

2. Fasten screws with the horn
(WB M2X06)

3. Insert WA between the frame
and motor

6. Fasten screws(WB M3X12)

Tip

Loctite can help reinforce screw tightening

2

14

14

STEP

STEP

BIOLOID GP Assembly Start

Insert nuts ID1 and ID2 of AX-12+.

1

Connect ID1 and ID2 with CABLE-10, then attach them to chest F(FR04-E120)

2

frame, and then, attach them again to chestB(FR04-E150).
( Do not misalign horn position during attachment)

1-1 1-2 1-3

Robot
upper side

Robot
bottom side

2 3

4

5 6

Robot
upper side

Robot
bottom side

15

STEP

Attach chest frame and FR04-H102 frame together.( do not misalign horn position)

3

1

3-1

STEP

4

2-1

Insert nut to ID3 and ID4 of AX-12+; afterwards attach them to FR04-SC101 frame.
Insert nuts to ID5 and ID6 of AX-12+.

16

16

STEP

Attach ID3 to ID5 and ID4 to ID6.

5

1

STEP

2

Attach screw to FR04-E180(hand frame), then attach them (FR04-H102) hinge frame.

6

17

STEP

7

Attach hand to arm, then attach to body frame.
( refer to tip 1, hand and horn orientation)

STEP

Attach gyroscope board and FR04-E191 bracket to FR04-E131 back frame.

8

Robot
Frontsid

18

18

Robot
Backside

Fasten front-sided 2 bolts only

STEP

1

Attach foor frame and FR04-H101 frame together.

9

STEP

10

Insert nuts to ID15 and ID16 of AX-18F; insert N2 nuts to F7.
Afterward attach F7 to DYNAMIXEL.

19

STEP

1

STEP

Insert nuts to ID 17 and ID18 of AX-18F, then attach to FR04-X101 cross frame.

11

Attach foot to DYNAMIXEL then attach to ankle.

12

20

20

STEP

1

Attach ankle and FR04-H120 foot frame together. ( refer to tip 1)

13

STEP

Attach legs and FR04-SC110 frame(with AX-18F) together.

14

21

STEP

15

Attach ID11 and ID12 of AX-18Fto legs; attach each FR04-HC110 frame to ID9 and
ID10 of AX-18F, then to attach to legs.
Connect ID9 and ID10 with CABLE-14 as shown below. ( refer to tip 1)

STEP

Attach body and legs together. ( refer to tip 1)

16

22

22

STEP

STEP

17

18

Attach PR10-SPACER-01 (body’s back) and BATTERY COVER-B (F60) together.

Attach the CM-510 controller to FR04-E150 (body back frame),
Connect the gyroscope sensor with 5P cable to the CM-510.
(Front : CM-510 port 3 / BACK : CM-510 port 4)

23

X axis cable
Robot front cable

X axis

Y axis

Y axis cable
Robot back cable

Connect ID4 and ID6; ID3 and ID5 with CABLE-10 each pair. Connect ID2 and ID4;

STEP

1. Connect ID9 to CM-510 and ID10 to CM-510 with CABLE-10.

2. Connect ID9 and ID11; ID10 and ID12 with CABLE-14 each pair.

3. Connect ID11 and ID13; ID12 and ID14 with CABLE-14 each pair.

4. Connect ID13 and ID15; ID14 and ID16 with CABLE-18 each pair.

5. Connect ID15 and ID17; ID16 and ID18 with CABLE-14 each pair.

19

ID1 and ID3 with CABLE-18.

24

24

STEP

Following the illustration below organize the wiring with the cable holder (F55).

20

25

STEP

21

Attach head frame and LED Board. ( attention to the direction of 5P-CABLE)
Attach head frame to chest frame, the connect a 5P-CABLE to port 5 of the CM-510.

STEP

22

CM-510 right side
LED BOARD

Connect the battery cable (CABLE-BAT) to the CM-510.
(Tip : run the CABLE-BAT under the body to main better wiring organization)
Connect the other end of CABLE-BAT to the battery pack cable.

26

26

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27

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28

28

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[Optional gripper mounting] Follow the diagram below illustrates right gripper attachment to ID7 and
left gripper attachment to ID8.( refer to tip 1)

29