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BIOLOID GP

Introduction

Getting Started

Part List

Operating

Downloading the Program

Turning the Robot on

  1. Turn the power switch on and the LED will start blinking.
  2. Use the MODE button to move the LED to “PLAY”. (The LED will move each time you press the MODE button)
  3. Press the START button. (Check whether the LED on “PLAY” is blinking)
    • If the LED does not turn on, check the power cable/connection.
    • If there are no problems with cable, recharge your battery. (Please refer to Charging for more information)

The power does not turn on.

  1. Is the battery properly connected?
  2. Is the battery fully charged?
  3. Is the battery fuse intact?

I want to check how much battery I have left.

Turn the CM-530 on and press the U button. The LED will turn on to show how much battery you have left as seen in the figure below.

The robot makes a continuous warning sound while moving.

Checking the robot’s basic posture (To check whether the robot has been assembled correctly)

Note If the robot has been incorrectly assembled to an extent where it may be severely damaged, a warning sound will be activated. Also, the LED of the motor with the problem will turn on and release its torque to prevent damage.

Robot in Action

Note Operating the robot with the RC-100 without selecting the mode will automatically start the soccer mode.

  1. Press the POWER/MODE button for 2 seconds to power on.
  2. Press the buttons below to control the robot.
Walking Motions
Buttons Motion Buttons Motion
U Forward D Backward
L Turn Left R Turn Right
U + L Walk Forward + Left U + R Walk Forward + Right
L + 5 Left Sidestep L + 5 + 6 Fast Left Sidestep
L + U + 5 Left Forward Diagonal Step L + D + 5 Left Backward Diagonal Step
R + 5 Right Sidestep R + 5 + 6 Fast Right Sidestep
R + U + 5 Right Forward Diagonal Step R + D + 5 Right Backward Diagonal Step
Standard

|Buttons| Motion |Buttons| Motion | |:—:|:—:|:—:|:—:| |1 + U|Gets up facing up|1 + D|Gets up facing down| |5+6+U+1|Soccer Mode(Change Mode)|5+6+D+3|Battle Mode(Change Mode)| |5+6+L+2|Performance Mode(Change Mode)|-|-|

U: Soccer Mode
Buttons Motion Buttons Motion
2 + U Left Leg + Forward Kick 4 + U Right Leg + Forward Kick
2 + D Left Leg + Back Kick 4 + D Right Leg + Back Kick
2 + L Left Leg + Left Kick 4 + L Right Leg + Left Kick
2 + R Left Leg + Right Kick 4 + R Right Leg + Right Kick
3 Defense Standby 3 + L Block Ball + Left
3 + U Defense 3 + R Block Ball + Right
D: Battle Mode

Buttons Motion Buttons Motion
2 + U Hit + Forward Attack 3 Defense
2 + L Hit + Left Attack 2 + R Hit + Right Attack
4 + U Upper Body Tackle 4 + D Lower Body Tackle
4 + L Left Strong Tackle 4 + R Right Strong Tackle
L/R: Performance Mode
Buttons Motion Buttons Motion
2 + U Gretting 2 + R Handstand
2 + D Clap(Twice) 3 + U Roll on Side
2 + L Clap(337) 3 + D Push ups

After mounting the IR receiver on CM-530 under control mode, you can set the channels to control it remotely by pressing the Aux button. If you change the channel of the controller, you must also change the channel of RC-100. On how to change the channel of RC-100, please refer to Changing RC-100’s Channel.

Buttons Description
Start + U Set the RC-100 channel as 1
Start + L Set the RC-100 channel as 2
Start + D Set the RC-100 channel as 3
Start + R Set the RC-100 channel as 4
My remote controller does not work properly.
We want to play soccer or battle with several robots.

Battery Charge

You may obtain Lithium polymer batteries from www.robotis-shop-en.com.

If the robot alarm sounds off during operations then recharge the battery.

During charging the charger’s red LED turns on. When complete the green LED turns on.

  1. Take the battery out

  2. Connect the charger

  3. Charge

    Charging(Red LED), Complete(Green LED)

Charging Time and Battery Life/Operating

Charging Time

Caution

  1. Do NOT keep the battery connected with a robot or a charger.
  2. If you will not use the battery for a long time from now on, please keep it HALF-CHARGED.
  3. Do NOT put the battery with an environment with high temperature or humidity.

Video

Tutorial

Screen Output

Objective for this tutorial is to print 1 and 2 on the output screen as below.

Screen-Output-1

Write Task Code

  1. Execute RoboPlus Task Program.

    As seen in the picture below, go to Start > All Programs > ROBOTIS > RoboPlus > Software > RoboPlus Task to execute RoboPlus Task.

    Screen-Output-2

    • RoboPlus Task Initial Screen

    Screen-Output-3

  2. Select a Controller.

    Double click an empty line or press Enter, In the Select Control window, select the controller to use, then press the OK button.

    Screen-Output-4

  3. Generating Start Program.

    Select Start Program from the Select Instruction Type window, Start Program will be automatically generated in RoboPlus Task.

    Screen-Output-5

  4. Input Endless Loop command

    To print the numbers on the screen endlessly, use the Endless Loop command(Create a command line). Double click or press Enter on an empty line between { and } of Start Program to invoke the Select Instruction Type window. Select Loop > Endless Loop(while(1)) from the list.

    Screen-Output-6

  5. Input Load command

    Use Load command to input a Print command, which is needed to print numbers on the screen. Insert Execute > Load (Assignment value) into an empty line between { and } of Endless Loop.

    Screen-Output-7

  6. Load 1 into Print

    Choose the left parameter ( ? ) among the Load parameters(Explanation on the parameter). The left parameter receives input from the right parameter. Double click the left parameter ( ? ), or press Enter key after clicking it once to invoke the Select Parameter Window. Select Controller > Print then press OK.

    Screen-Output-8

    Select Constant Numbers > Number > 1 for the right parameter ( ? ) in the same way.

    Screen-Output-9

    When both parameters of the Load command have been set, it should look like below.

    Screen-Output-10

  7. Load 2 into Print with Line

    Select } under Print command (at the end of the endless loop section), and add new lines by pressing the Space key. Repeat Steps 5 and 6 to input the Load command and to input Controller > Print with Line and 2. The final task code is shown below.

    Screen-Output-11

  8. Save Task Code

    Press Ctrl + S or the Save icon.

    Screen-Output-12

Download Task Code

Download the task code created above.(How to Download Task Code)

Execute Task Code

  1. Open the Program Output Monitor

    To see the output of the program, you must open the Program Output Monitor BEFORE executing the program. There are three ways to open the Program Output Monitor.

    • Click on the View Print of Program in the Download Program window

      Screen-Output-13

    • Click on the View Print of Program button in TOOLS.
    • Press F5 or click on View Print of Program (V) menu under Program (P).
  2. Executing the Program

    When you turn on the controller, the LED will blink, showing it is in standby mode. Press the MODE button to move it to PLAY, then press START to execute the downloaded task code. You should see “1” and “2” being printed on the Program Output Monitor.

    Screen-Output-1

Button & LED

Objective for this tutorial is to program the U button to turn the AUX LED on and the D button to turn it off. Pressing the START button will end the program.

Write Task Code

Button_LED

Download Task Code

Download the task code created above.(How to Download Task Code)

Execute Task Code

Execute the program and check whether the AUX LED turns on when you press the U button and turns off when you press the D button. Press START button to end.

Download

File Type Download
Humanoid Task Code Download
Humanoid Basic Motion File Download
QuickStart Guide PDF File Download

References

Replacing Fuse

The fuse in the CM-510/CM-530 prevents it from overloading,which can damage the circuit.

If the CM-510/CM-530 does not turn on with the battery but turns on when connected to the SMPS, replace your fuse.

※ The size of the fuse is shown below. Use a 125V/5A~10A fuse.

※ How to replace the fuse

  1. Find the fuse on the back of the CM-510/CM-530.

  2. Use a pincette to replace the fuse with a new one.

Dynamixel Management

Dynamixels used as robot actuators possess many functions. This section explains how to change the dynamixel’s settings.

Changing the ID

  1. Select the port the controller is connected to.
  2. Click “Connect”.

    DXL_Management_01

  3. A list of connected dynamixels is shown on the left. Click on the dynamixel you wish to change the ID of.
  4. Click on the ID row in the Control Table.
  5. Click on the ID List combo box to see a list of possible ID’s. Select the ID, then click Apply.

    DXL_Management_02

Changing the Movement Mode

The dynamixel can operate in 2 different modes.

The mode can be changed using RoboPlus Manager. Once the mode is set, it will be maintained, even when turned off.

  1. Select the port the controller is connected to.
  2. Click “Connect”.

    DXL_Management_03

  3. A list of connected Dynamixels is shown on the left. Click on the Dynamixel you wish to change the mode of. Then, click on the CW/CCW Angle Limit line in the Control Table.
  4. To set to Wheel Mode, change the CW/CCW Angle Limit value to “0.” Or, simply click on the “Wheel Mode” button.

    DXL_Management_04

  5. To set to Joint Mode again, set the CW/CCW Angle Limit value to any number other than “0”. The initial values for Joint Mode are “0” for CW Angle Limit, and “1023” for CCW Angle Limit.

Troubleshooting

If you cannot find the dynamixel you are looking for using RoboPlus Manager, try the following :

  1. Connect just 1 Dynamixel and check if there are any duplicate IDs. If you see a Dynamixel on the left even though only 1 Dynamixel is connected, there is a high probability of a duplicate ID. Change the ID immediately.
  2. If you are unable to find any Dynamixels as in the image below, click on “Dynamixel Search”. If the communication speed is not set to 1Mbps, the “Dynamixel Search” function automatically resets the controller’s communication speed to 1Mbps to enable it to be recognized.

DXL_Management_05

If the problem persists, your dynamixel may need repair. Please contact the service department of the company you purchased from.

ZIGBee Wireless Control

ZIGBee

Zig-100/110

ZIG-100/110 uses ZIGBee for wireless communication. ZIGBee, like Bluetooth, is the communication technology commonly used in Personal Area Network (PAN). The communication quality of ZIGBee is better than that of IR, so it allows many users to control their robots without interferences.

Caution Please note that not all products include a zigbee module and may need to be purchased separately.

Controller & ZIGBee

OLLO and Bioloid both use the RC-100, which uses IR communication method. To upgrade to the Zigbee communication method, you must purchase the ZIG-110 set separately. The ZIG-110 set includes one Zig-100 module, which is attached to the RC-100, and one Zig-110 module which is attached to the Controller.

Note The modules in a single Zigbee set have been preconfigured to communicate with each other. Therefore, a module from one set may not work with a module from another set. Please be careful not to mix them up.

ZIG-100 installed in RC-100 ZIG-110 installed in CM-100
Zig-100_RC-100 Zig-110_CM-100
ZIG-110 installed in CM-510 ZIG-100 installed in CM-5
Zig-110_CM-510 Zig-100_CM-5

ZIG-110A Set Assembly Method(GP)

Control Multiple Robots

This method is to give out commands at once to several robots being used for dance or demonstration Gives out commands to the robot at once using the zigbee module’s broadcast mode

Bioloid(Entry/Advanced)

  1. To use the CM-5, connect the controller and ZIG-100 module together.
  2. Use the RoboPlus Manager to set the wireless ID of ZIG-100 module on the opposite party’s robot to 65535.
  3. No need to set the broadcast channel for communication.
  4. Use the RC-100 to give commands directly or use the Zig2Serial to give commands using the PC.
Device Channel Default Value Whether or not the channel can be changed
CM-5 1 Unchangeable
Zig2Serial 1 Changeable
RC-100 1 Changeable

The channel for the ZIG-100 mounted on the CM-5 is unchangeable. Thus, all users must set their channel to #1 for broadcast communication. All channels for the devises must pair to communicate.

Bioloid Premium Kit(CM-700)

  1. When using the CM-510/CM-700, connect the ZIG-100 module with the controller.
  2. Use the RoboPlus Manager to change the opposite party’s wireless ID to 65535.
  3. The channel on the ZIG-110 connected to the controller it set to #4, so the channels on the Zig2Serial and RC-100 must be set to #4.
  4. How to change the RC-100 channel
  5. How to change the Zig2Serial channel
Device Channel Default Value Whether or not the channel can be changed
CM-510
CM530
4 Unchangeable
Zig2Serial 1 Changeable
RC-100 1 Changeable

The channel for the zigbee connected to the controller is not changeable. Thus, all users must set their channel to #4 for broadcast communicationAll channels for the devises must pair to communicate.

Adding Sensors

With the Bioloid Premium Kit, you can connect additional IR Sensor and Touch Sensor to the CM-530. For more information on each sensors, please click on the names of the sensors.

IR Sensor

More information

Touch Sensor

More information

DMS(Distance Measuring Sensor)

More information

Make Your Own Sensor

You can make your own sensor with simple control functions using the ADC port and OUT port on CM-510/CM-530.

Caution Connecting poorly designed circuits may damage the controller. Please be sure to acquire sufficient knowledge about circuits beforehand.

PIN Information

Note Please use the 5P Cable when using other sensors. The 5P cable can be purchased from ROBOTIS.

Controlling User’s Device

External Output Control

Below is an example of an LED circuit to turn the LED on and off using the OUT port (Pin 1). You need to adjust the amound of resistance depending on the type of controller and/or the type of LED.

A high signal can be sent to the OUT port using RoboPlus Task.

  1. Select the user’s device in the writable parameter such as LOAD and CALCULATE, then select the port on which the device is connected.
  2. Then, set the high signal to the readable parameter using a constant.

When the code above is executed, high signal will be sent to the OUT port of the device connected to PORT 3, and the LED will turn on.

Reading the ADC Value

Most of the sensors used in robots, such as IR sensors and distance sensors, support analog output. The CM-510 can use its external ports to read the sensor’s analog output signals. These sensors may be designed by the user or bought from a store.