v1.0
Closer to Real,
Bioloid QuickStart
Comprehensive Kit Robot Series
ROBOTIS CO.,LTD.
www.robotis.com
Comprehensive Kit Robot Series
Contents
１. Starting Bioloid ························· 4
１-１. What is Bioloid? ······································· 5
１-２. Parts of Bioloid ········································ 6
１-３. Installing Bioloid Software··································· 8
１-３-１. The Contents of Bioloid’s CD ······················· 8
１-３-２. Installing Software····························· 8
１-４. How to Use Bioloid ······································ 9
２. Assembling Bioloid························ 11
２-１. Robot Assembling Orders ···································12
２-１-１. Assembling the Robots··························· 12
２-１-２. Downloading Robot Programs ······················· 13
２-１-３. Operating the Robots ··························· 17
２-２. Examples of Beginner Level ··································19
２-２-１. Crossing Gate ······························· 20
２-２-２. Universal Gauge ······························ 25
２-２-３. Sound-Level Meter ···························· 29
２-２-４. Crocodile Mouth ······························ 33
２-２-５. Pan Tilt ·································· 38
２-２-６. Parking Gate ······························· 43
２-２-７. Melody Car ································ 48
２-２-８. Robot Arm································· 53
２-２-９. Obstacle Detection Car ·························· 58
２-２-１０. Greeting Penguin ···························· 63
２-２-１１. Attacking Duck ····························· 69
２-２-１２. Cliff Detection Car ···························· 74
２-２-１３. Clapping Penguin ···························· 79
２-２-１４. Walking Droid ······························ 85
２-３. Examples of intermediate Level ································91
２-３-１. Probing Robot ······························· 92
２-３-２. Excavator ································· 99
２-３-３. Robot Flower ······························ 105
２-３-４. Fawn ·································· 111
２-３-５. Turtle ·································· 118
２-３-６. Spider ································· 124
２-３-７. Gerwalk ································· 132
２-３-８. Battle Droid ······························· 139
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Comprehensive Kit Robot Series
２-４. Examples of Advanced Level································· 146
２-４-１. Dinosaur ································ 147
２-４-２. Puppy ·································· 158
２-４-３. King Spider ······························· 169
２-４-４. Humanoid ································ 177
３. Bioloid Operation and Maintenance ··············· 192
３-１. Finding the Serial COM Port Number of the PC ························ 193
３-２. Charging CM-5 ······································· 194
３-３. Changing DYNAMIXEL’s ID ·································· 195
３-４. Exchanging Fuse ······································ 196
３-５. Comprehensive kit’s parts ································· 197
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Comprehensive Kit Robot Series
１. Starting Bioloid
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Comprehensive Kit Robot Series
１-１. What is Bioloid?
Bioloid is composed of block-shaped parts where users can assemble robots in various shapes
and functions - making it truly all-around robot kit. Furthermore, we provide software that enable
users to connect assembled robots to PC, allowing them to program the robots. With the
instruction guides that clearly explain the details of assembling the robots, and with the
downloadable materials that will further help users, the users can create the robots in any styles
they choose.
.
QuickStart book explains
how to assemble various
robots step by step. Take
apart and assemble various
robots of your choosing
Users can easily assemble
various robots as it consists
of many blocks of different
shapes.
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Comprehensive Kit Robot Series
１-２. Parts of Bioloid
◎ Main Parts of Bioloid
Main Controller CM-5
The main controller of Bioloid robot. Using parts,
you can set up the robots by connecting
Dynamixel(actuator module, sensor module) to a
CM-5.
■ CM-5
Robot Exclusive Actuator, Dynamixel AX-12
Actuator module that functions as joint of robot. It
is a two-way (Bilateral) communication servo
driven by network and has endless turn mode.
■ AX-12
Robot Exclusive Sensor Module: Dynamixel AX-S1
Dynamixel sensor module AX-S1 consists of three
pairs of sensors that detect distance ,brightness
and heat. It also has many other fuctions such as
sounds detector, remocon transceiver and sound
buzzer as well.
■ Frame
■ Cable
■ Bolt & Nut
Assembly Parts
Various frames, cables and bolts that connect CM-
5, AX-12 and AX-S1 to assemble robot.
■ AX-S1
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Comprehensive Kit Robot Series
◎ Names of each part of AX-12 ( Acutator)
LED
Connector
ID
◎ Names of each part of AX-S1 (Sensor Module)
Sensor
ID
Connector
◎ Names of each part of CM-5
POWER
POWER JACK
Serial Cable Jack
ON OFF
START button
U button
MODE button
L button
D button
R button
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Comprehensive Kit Robot Series
１-３. Installing Bioloid Software
１-３-１. The Contents of Bioloid’s CD
Many helpful materials and instruction are included in the CD.
: Programs that needs to be installed in PC in order to operate Bioloid robot.
Sofware
: QuickStart, User’s Guide and manuals for the Dynamixel (AX-12, AX-S1).
Manual
: Various programs and video clips for Bioloid robots
Applied Robots
: Robot program sources that are explained in the User’s Guide.
Examples
: Help documents and video clips that assist in operating Bioloid robots
Help Files
１-３-２. Installing Software
The CD will execute autorun when the users put the CD inside. If the automatic setup does not
initialize, go to “Software\Setup.exe” and setup the program manually. When the setup is
finished, Robot Terminal, Motion Editor, and Behavior Control Programmer will appear in the Start
Menu of Window
Å When software is installed
Robot Terminal
Behavior Control Programmer
Motion Editor
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Comprehensive Kit Robot Series
１-４. How to Use Bioloid
◎ Manuals
▷ QuickStart
QuickStart explains how to assemble and operate robots quick and easily,
and how to download a program. Printed QuickStart book is provided for your
convenience.
▷ User’s Guide
User’s Guide explains the operating principle and the program process of
Bioloid Robot in detail. Once mastered, the users can assemble robots in any
styles that they like. The User’s Guide (PDF document) is included in the CD.
.
▷ AX-12 Manual
This manual is generally referred by the experts in the field. If the users want to know the
advance functions of AX-12, they can check out this manual. It is a PDF document and it is
included in the CD.
▷ AX-S1 Manual
This manual is generally referred by the experts in the field. If the users want to know the
advance functions of AX-S1, they can check this manual. It is a PDF document and it is
included in the CD.
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Comprehensive Kit Robot Series
◎ Robot examples and Bioloid Kit Series
Intermidiate Level Robots Robots with 8 and less joints that
can be assembled with Comprehensive kit. If you want to
assemble intermediate level robots with a Biegginer kit.You
need to purchas four Dynamixels(AX-12) additionally.
Beginner Level Robots
Beginner kit
Intermediate Level Robots
Advanced Level Robots
Beginner kit
AX-12, 4 pcs
Comprehensive kit
OR
Beginner kit
AX-12, 14 pcs
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 level with Biginner kit, You need to
purchas frame set and Dynamixels(AX-12) additionally
We also provide Expert Level kit that has systematic education process.
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Comprehensive Kit Robot Series
２. Assembling Bioloid
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Comprehensive Kit Robot Series
２-１. Robot Assembling Orders
Robot assembling orders .
Downloading Robot Programs
Step 1
Operating the Robots
Step 2
Step 3
Assembling the Robots
２-１-１. Assembling the Robots
Assemble the robots in orderly refer to assembly map in QuickStart.
[Example]
※ Easy instruction to insert nuts for AX-12, refer to“Help Files\Inserting nuts for AX-12.wmv”
video clip In CD.
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Comprehensive Kit Robot Series
２-１-２. Downloading Robot Programs
To activate the robots, the users must use the program. Transferring robot program from the PC
to CM-5 is called “download.”
There are behavior control program and motion data for the robot program of Bioloid.
As the name indicates , the behavior control program controls the movement of the robot.
In case of robot that involves many number of joints, it is difficult to manage the robot’s
movement with the behavior control program only. Motion data was added to control the 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)
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Comprehensive Kit Robot Series
◎ How to download Behavior Control Program
The filename extension of Behavior Control Program is “bpg.” The users must download this
program to activate the robots.
ON
Connect PC and CM-5
Turn on
Power
of CM-5.
Select Program(P) => Download(D).menu
Click “Download”button.
Serial Cable
OFF
When download is complete, progress bar color
changes and download button changes to complete.
Close the download dialog box
Execute Behavior Control Programmer
(it doesn’t need when a program already executed)
※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.
Go to File (F) =>Select Open(o) menu and open
the behavior control program you want.
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Comprehensive Kit Robot Series
◎ How to download Motion Data
The filename extension of Motion Data is “mtn.” The users download this program whenever it
is necessary..
Select “Write to Robot” and open
the motion data file you want.
ON
Connect PC and CM-5
Turn on
Power
of CM-5.
Close the download dialog box.
Serial Cable
OFF
※ If problem occurs in this progress above formality, refre to “Download
Troubleshooting”from page“2-1-2. Downloading Robot Programs”.
Execute Behavior Control Programmer
(If it has done previously,not necessary)
Download is completed.
When download is complete,
progress bar color changes.
Select Management(M)=>Robot Motion (R)menu.
Comprehensive Kit Robot Series
◎ Download Troubleshooting
If the users see error messages while downloading a program, take the following steps.
[ Types of Error Message ]
※ To find the correct communication port number, refer to “Finding the Serial
COM Port Number of the PC” from “3. Bioloid Operation and Maintenance.”
[Troubleshooting Step 1] Make sure CM-5 is connected to the PC.
(Troubleshooting Step 2) Make sure CM-5 power is on.
(Troubleshooting Step 4) Set up correct communication port number.
After setting up correct
communication port number, try
the connection again by clicking
“Connect CM-5.”
(Troubleshooting Step 3) Close the programs that are using the communication port and try it again.
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Comprehensive Kit Robot Series
２-１-３. Operating the Robots
◎ Offline Robot Activation
Offline robot activation, as name indicates, is the operation of the robots without the
connection to PC.
Disconnect Serial Cable from CM-5
Serial Cable
Press MODE button to make PLAY LED flash on and
Whenever MODE button is
pressed LED will be on in the
order.
When START button is pressed, program is executed
When program is executed the LED no longer flashes on and off, but it is still turned on.
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Comprehensive Kit Robot Series
◎ Online Robot Activation
Online robot activation, as name indicates, is the operation of the robots with the connection to
PC. This mode involves the confirmation of the message via monitor when the robot is sending a
message to the PC.
Connect PC and CM-5
Execute Behavior Control Programmer
(If it has done previously,not necessary)
Click”Play”to start to program.
Click the “stop”to finish the program.
Click”Close”to close the
download dialog box.
ON
Turn on Power of CM-5.
Serial Cable
OFF
Select Program(P)=> Download (D) menu
You can check the output message
from download robot program
※ If problem occurs in this progress above formality,refre to “Download Troubleshooting”from
page“2-1-2. Downloading Robot Programs”.
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Comprehensive Kit Robot Series
２-２. Examples of Beginner Level
1. Crossing Gate
2. Universal Gauge
8. Robot Arm
10. Greeting Penguin
4. Crocodile Mouth
6. Parking Gate
9. Cliff Detection Car
3. Sound-Level Meter
11. Attacking Duck
5. Pan Tilt 12. Obstacle Detection Car
13. Clapping Penguin
14. Waking Droid
7. Melody Car
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Comprehensive Kit Robot Series
２-２-１. Crossing Gate
Let’s build a crossing gate that opens and closes with a button.
(1) Necessary parts
CM-5
ADAPTOR-CM5
motor
1
AX-12 × 1
CABLE-14
× 1
F2
× 1
× 1 × 1
× 5 × 1
F3 F6 BU
× 1
WA
× 1
N1
※Nuts, screws, and cables shown below are the same as the actual size. Place and measure the
p
arts
against the below illustration to choose the correct assembly part.
× 20
S2
× 8
× 24
S1
S-B
× 1
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Comprehensive Kit Robot Series
(2) Assembling
Joint
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]
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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
motor
CABLE-14
1
1
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Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
LED on
motor
1
U button
1
Comprehensive Kit 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.
The Bar is parallel to surface.
※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\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)
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Comprehensive Kit 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
× 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
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Comprehensive Kit 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
CM-5
Step 1
CM-5
ADAPTOR-CM5
[Battery included]
: 4pcs : 4pcs
S1 N1
Step 4
Whole Body Assembly
: 12pcs
: 8pcs
motor
2
S1 N1
Wiring and Completion
Step 5
motor
2
※Wiring
motor
1
CABLE-14
CM-5
2
CABLE-14
1
※Using side connector of , connect cable.
CM-5
1
Connector
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Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
LED on
motor
2
U button
2
Comprehensive Kit 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)
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Comprehensive Kit 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.
1 × 1 × 1 ×
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Comprehensive Kit Robot Series
(2) Assembling
CM-5
Step 1
S1
: 4pcs
: 4pcs
[Battery included]
CM-5
ADAPTOR-CM5
N1
Joint 2
Step 3
S1
: 4pcs
N1
: 4pcs
: 2pcs
F3
Step 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
motor
1
CABLE-14
※Wiring
2
motor
1
CABLE-14
※Using side connector of ,
CM-5
connect cable.
Connector
1
1
30
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Comprehensive Kit 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 below.
LED on
motor
1
U button
※For ID of Dynamixel refer to the figure below.
motor
1
Comprehensive Kit 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)
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Comprehensive Kit 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
× 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.
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Comprehensive Kit Robot Series
(2) Assembling
ADAPTOR-CM5
Head
Step 2
S2
: 6pcs
CM-5
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
Comprehensive Kit Robot Series
CM-5
1
motor
3
CABLE-18
Step 6
Wiring and Completion
※Wiring
motor
3
CABLE-10
CABLE-18
1
2
motor
2
CABLE-10
3
35
36
Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
3
LED on
motor
U button
3
Comprehensive Kit 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)
37
Comprehensive Kit 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
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
Comprehensive Kit Robot Series
(2) Assembling
S-B
Joint 3
Step 4
motor
4
: 4pcs
F2
WA
S1
BU
※Check
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
Comprehensive Kit 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
Wiring and Completion
Step 6
40
41
Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
4
motor
3
LED on LED on
motor motor
3 4
U button
U button
Comprehensive Kit 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
The Pan Tilt is perpendicular to CM-5 . The Pan Tilt is parallel 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\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)
42
Comprehensive Kit 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
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
Comprehensive Kit 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
: 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
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Comprehensive Kit Robot Series
CABLE-14
Wiring and Completion
Step 7
motor
motor
2
CABLE-10
Connector
1
2
1
3
CM-5
1
CABLE-10
motor
1
※Wiring
2
motor
1
CABLE-14
CM-5
3
CABLE-10
motor
2
CABLE-10
Connector
※Using side connectors of , connect cables.
3 1
CM-5
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Comprehensive Kit 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.
46
※Whenever U button is pressed LED is on in the order shown below.
※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
Comprehensive Kit 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
The bar is perpendicular to CM-5 .
The bar is parrael to the 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\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)
47
Comprehensive Kit 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
× 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
p
arts
against the below illustration to choose the correct assembly part.
× 2
CABLE-6
48
Comprehensive Kit 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
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
Step 3
Joint
Make sure nuts do not
come off.
: 2pcs
F3
: 4pcs
N1
: 4pcs
S1
49
Comprehensive Kit 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
3
Step 2
Step 1
Step 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
motor
4
motor
1
motor
2
motor
2
motor
1
motor
3
motor
3
motor
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
Comprehensive Kit 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 below.
※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
51
Comprehensive Kit 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)
52
Comprehensive Kit 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
× 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
Comprehensive Kit Robot Series
(2) Assembling
CM-5
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
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
Comprehensive Kit Robot Series
connect cable.
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
motor
1
CABLE-14
CABLE-10
motor
2
motor
1
3
motor
motor
2
3
55
56
Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
2
motor
1
motor
3
LED on LED on
motor motor mot or
1 2 3
LED on
U button U button U button
Comprehensive Kit 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)
57
Comprehensive Kit 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
motor
1
AX-12 × 4
motor2 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
p
arts
against the below illustration to choose the correct assembly part.
× 2
CABLE-6
58
Comprehensive Kit 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
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
:2pcs
: 8pcs
N1
: 4pcs
S1 : 8pcs
Make sure nuts do not
come off.
N1
: 4pcs
59
Comprehensive Kit Robot Series
motor
Step 5
Wiring and Whole Body Assembly
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
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
motor
4
motor
1
motor
2
motor
2
motor
1
motor
3
motor
3
motor
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
61
Comprehensive Kit 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.
※Whenever U button is pressed LED is on in the order shown below.
※For ID of Dynamixel refer to the figure below.
motor
2
motor
4
motor
3
motor
1
LED on LED on LED on
motor motor motor motor
1 2 3
U button U button U button U button
4
LED on
Comprehensive Kit 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)
62
Comprehensive Kit 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
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
p
arts
against the below illustration to choose the correct assembly part.
63
Comprehensive Kit Robot Series
(2) Assembling
F9
F3
Hand : 2 sets
Step 2
N1
: 4pcs
S1
: 4pcs
※Assemble 2 sets in
a same st
y
le.
F3
Head
Step 3Step 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
Comprehensive Kit Robot Series
F3
F2
Step 5
Leg : 2 sets
※Assemble 2 sets in a same
style.
N1
: 4pcs
S1
: 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
Comprehensive Kit 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
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
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
66
67
Comprehensive Kit 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 below.
※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 motor motor
2 3 4
LED on
U button U button U button U button
Comprehensive Kit 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)
68
Comprehensive Kit 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
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
p
arts
against the below illustration to choose the correct assembly part.
1
× 1 × 1
×
69
Comprehensive Kit 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
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
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Comprehensive Kit Robot Series
connect cable.
Wiring
Step 7
CABLE-10
※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
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
motor
2
CABLE-14
1
CABLE-10
motor
1
3
motor
3
motor
2
motor
2
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Comprehensive Kit 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 below.
For ID of Dynamixel refer to the figure below.
motor
2
motor
1
motor
3
LED on LED on
motor motor motor
1 2 3
LED on
U button U button U button
Comprehensive Kit 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)
73
Comprehensive Kit 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
※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
Comprehensive Kit 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 2 sets using and
※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
motor
F3
motor1motor
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 do not
come off.
: 4pcs
F3
: 2pcs
N1
: 4pcs
N1
: 4pcs
S1
: 8pcs
S1
: 4pcs
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Comprehensive Kit Robot Series
motor
Whole Body Assembly and Wiring
Step 5
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
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
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
Comprehensive Kit 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 below.
※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 motor motor motor
1 2 3 4
LED on
U button U button U button U button
77
Comprehensive Kit 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)
78
Comprehensive Kit 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
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
p
arts
against the below illustration to choose the correct assembly part.
CABLE-18
× 1
CABLE-20
× 1
× 1 × 1
× 1
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Comprehensive Kit Robot Series
(2) Assembling (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
F9
F3
Hand : 2 sets
Step 2
N1
: 4pcs
S1
: 4pcs
※Assemble 2 sets in a same
st
y
le.
F3
Step 1 Step 3
Shoulder : 2 sets Head
S1
: 4pcs
F1
F3
※Assemble 2 sets in a same
style
.
: 4pcs
S1
: 4pcs
N1
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Comprehensive Kit Robot Series
Step 5 Step 6
Leg : 2 sets Foot : 2 sets
F3
F2
※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
: 8pcs
N1
: 2pcs
S-B
※Check
assembly point
: 24pcs
S1
BU
: 2pcs
: 2pcs
WA
※Check
assembly point
: 8pcs
N1
81
Comprehensive Kit 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
CM-5 Assembly and Wiring
Step 8
CABLE-10
CABLE-20
CABLE-14
CABLE-18
2
CM-5
motor
4
motor
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
83
Comprehensive Kit 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 below.
※For ID of Dynamixel refer to the figure below.
motor
2
motor
1
motor
3
motor
4
LED on LED on LED on
motor motor motor motor
1 2 3 4
LED on
U button U button U button U button
Comprehensive Kit 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)
84
Comprehensive Kit 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
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
× × 11 × 1
× 3
× 2
Sticker
WA
※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.
S2
× 2
85
Comprehensive Kit Robot Series
(2) Assembling
S-B
BU
WA
※Insert nuts
motor
3
Step 1 Step 3
Right Leg 1 Right Leg 3
※Check
assembly 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
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Comprehensive Kit Robot Series
Step 7
Waist
※Attach nut stickers:
Sticker
※Insert nuts
make sure nuts do not come off
S1
: 12pcs
N1
: 2pcs
: 12pcs
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
Comprehensive Kit 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
88
89
Comprehensive Kit 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 below.
※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 motor motor motor
1 2 3 4
LED on
U button U button U button U button
Comprehensive Kit 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)
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Comprehensive Kit Robot Series
２-３. Examples of intermediate Level
1. Probing Robot
2. Excavator
3. Robot Flower
4. Fawn
8. Battle Droid
5. Turtle
6. Spider
7. Gerwalk
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Comprehensive Kit Robot Series
２-３-１. Probing Robot
Let’s build a probing robot that picks up an object in front and that moves it aside.
(1) Necessary parts
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
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Comprehensive Kit Robot Series
(2) Assembling
Step 2
Step 1
Joint
Sensor Assembly
: 8pcs
※Insert nuts
: 8pcs
: 4pcs
: 2pcs
: 4pcs
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
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Comprehensive Kit Robot Series
Step 4
Body
: 4pcs
※Insert nuts
※Insert nuts
: 4pcs
: 2pcs : 4pcs
Step 3
ADAPTOR-CM5
: 8pcs
S1
: 4pcs
F3
N1
N1
S1
N1
Left Wheel
Step 6
: 3pcs
: 12pcs
motor
Step 5
Right Wheel
: 12pcs
※Assemble takin
g
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
Comprehensive Kit Robot Series
Tire Assembly 2
Step 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
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Comprehensive Kit Robot Series
Wiring and Completion
Step 10
: 4pcs
S1
Step 4
CM-5
[Battery included]
4
2
5
6
7
3
※Bottom view
※Left side view
1
※Wiring
motor
motor
6
8
5
1
motor
1
CABLE-6
2
motor
1
3
motor
motor
3 1
2
6
4
CABLE-10
CABLE-10
CABLE-18
CM-5
motor
motor
3
motor
4
5
3
motor
motor
motor
4
motor
motor
7
4 2
2
CABLE-14
6
motor
5
7
8
CABLE-14
CABLE-10
CABLE-6
motor
motor
7
motor
6
7
motor
5
motor
5
Connector
※Using side connector of ,
connect cable.
4
CM-5
4
Comprehensive Kit 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\Intermediate\Probing Robot\CheckAssembly(Probing Robot).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 below.
motor
3
motor
4
※For ID of Dynamixel refer to the figure below.
LED on LED on LED on
motor motor motor
1 2 3
motor
4
LED on
U button U button U button U button
motor
7
motor
6
motor
5
U button
U button U button
LED on LED on LED on
motor
7
motor
motor
6
5
motor
motor
1
2
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Comprehensive Kit 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 ※Top View
Claws are balanced with each other.
Claw is horizontal to the 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\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
object. If the width is manageable size, it will pick up an object and move it aside. If not, it will go
around without moving it aside.
Step 4 Compare with the provided video clip
(In CD, Applied Robots\Intermediate\Probing Robot\DemoExample(Probing Robot).wmv)
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Comprehensive Kit Robot Series
２-３-２. Excavator
Let’s build an excavator that performs excavation works with its robot arm when the sensor
detects an object.
(1) Necessary 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.
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Comprehensive Kit Robot Series
(2) Assembling
~ Drive 1
Step 2Step 1 Step 3
Wheel : 4 sets
: 2pcs
※Insert nuts
: 4pcs
: 2pcs
motor
3
motor
1
motor
2
※Assembl in a same style.
Step 3
motor
4
Step 2
N1
F6
S1
※Using and
motor
2
motor
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
: 4pcs
N1
S1
: 2pcs
F3
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