Robotis Comprehensive Kit Robot Series Quick Start Manual

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

3

Comprehensive Kit Robot Series

１. Starting Bioloid

4

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)

13

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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

22

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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

26

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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