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BIOLOID STEM

Introduction

Getting Started

Standard Part List

Expansion Part List

Operating

Download the Program

You can find task codes and motion files for other actions on the Standard, Expansion page.

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.

Assembly Check

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

Download

Standard Examples

Robot Description
1. Sequence Racer
Ex_01
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode
Algorithm
Control the robot’s moving direction with the controller’s directional buttons.
Operation Guide
if you press the forward ‘U’, turn left ‘L’, turn right ‘R’, and reverse ‘D’ sequentially pressing ‘START’ the robot will move in the order the directional buttons were pressed.
2. Bug Fighter
Ex_02
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode
Algorithm
Robot follows the black line by following said line.
Operation Guide
The robot remains inbounds and push others out if found in the same area.
3. Tumbler
Ex_03
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode
Algorithm
The IR sensors detect obstacles and control the robot’s direction.
Operation Guide
The robot can go over large or small obstacles; with large obstacles it can change directions or react accordingly if flipped over.
4. Line Follower
Ex_04
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode
Algorithm
The robot can move on a determined in a criss-cross grid.
Operation Guide
The robot can move forward, reverse, turn left or right along its determined path via its IR array.
5. Digital Piano
Ex_05
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Algorithm
Plays a different tune based IR sensor reading.
Operation Guide
The robot can output a musical note from the active sensors from the IR array.
6. Motorcycle
Ex_06
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1]: Wheel Mode, AX-12W ID[2]: Joint Mode
Algorithm
Control action by following the black line and avoiding obstacles
Operation Guide
Follows the line while avoiding obstacles by steering itself away from such obstacle.
7. Avoider
Ex_07
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode
Algorithm
maintains distance by its right sensor.
Operation Guide
The robot can escape a maze by using its left, right and center IR sensors.

Expansion Examples

Robot Description
8. Scribbler
Ex_08
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1]: Wheel Mode, AX-12A ID[3, 4]: Wheel Mode
Algorithm
Robot follows the order of sequentially inputted commands.
Operation Guide
Write ‘가’ and ‘어’ when augmented with a pen.
9. Transporter
Ex_09
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode, AX-12A ID[3 ~ 5]: Joint Mode
Algorithm
The robot follows a pre-determined path and completes a mission.
Operation Guide
Obstacles at certain locations the robot moves them at 2 specific locations from start the robot follows a determined path until finishing.
10. Probe Car
Ex_10
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode, AX-12A ID[3, 4]: Joint Mode
Algorithm
While following a path if the robot encounters an obstacle it will move it.
Operation Guide
If the robot detects obstacles over boxes via its IR sensors it moves them to specified locations.
11. Beetle Gripper
Ex_11
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode, AX-12A ID[3 ~ 5]: Joint Mode
Algorithm
Clamp robot follows button input
Operation Guide
The remote control can control forward, reverse, left and right turns, left and right pivots, grab, lift and lower objects.
12. Robot Arm
Ex_12
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12A ID[3 ~ 6]: Joint Mode
Algorithm
Detects a cup with the IR sensors and move it to a specified location.
Operation Guide
An example robot that moves 2 small cups and 2 big cups to the designated position regardless of the order of dection.
13. Walking Droid
Ex_13
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Motion File
Download Video
Dynamixel Setting
AX-12A ID[3 ~ 6]: Joint Mode
Algorithm
Robot detects obstacles and avoids it with its IR sensors.
Operation Guide
The robot moves forwards and turns left; it shifts to the right if the left sensors detects an obstacle; shifts to the left if the right sensor detects an obstacle; reverses if the center sensor detects an obstacle.
14. Hexapod
Ex_14
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Motion File
Download Video
Dynamixel Setting
AX-12A ID[3 ~ 5]: Joint Mode
Algorithm
Robot detects obstacles and avoids it with its IR sensors.
Operation Guide
The robot shifts to the right if the left sensors detects an obstacle; shifts to the left if the right sensor detects an obstacle; it speeds up when the upper sensor detects a hand.
15. Greeting Penguin
Ex_15
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Motion File
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Joint Mode, AX-12A ID[3 ~ 6]: Joint Mode
Algorithm
Robot remembers the order of input commands and performs in the same input order.
Operation Guide
Robot remembers lifting of left and right arms and clapping and repeats the motions in the same order.
16. Cannon Shooter
Ex_16
Download Basic Phase
Download Application Phase
Download Practical Phase
Download Video
Dynamixel Setting
AX-12W ID[1, 2]: Wheel Mode, AX-12A ID[3 ~ 6]: Joint Mode
Algorithm
Slingshot robot follows input commands for clamping and launching.
Operation Guide
The remote control can control forward, reverse, left and right turns, left and right pivots, grab, lift and lower objects.

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