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Introduction

RoboPlus Manager is used to handle devices used by a robot. Major functions of this program are as follows. Manage controller firmware. (Update and Restore) Inspect the status of the controller and peripheral devices. (Test) Set the required modes. (Settings)

Install

Download RoboPlus

RoboPlus is a software to create a customized programme for every ROBOTIS product.

RoboPlus System Requirements

img_install

Note To execute RoboPlus, .NET FrameWork 3.5 or higher version is required. When installing RoboPlus, if the automatic installation of .NET FrameWork fails, .NET FrameWork must be installed separately.

RoboPlus Install Failure

Most reason for installation failure is caused by .NET Framework install error. Please manually intsall Windows Installer 3.1 and .NET Framework 3.5

Windows installer and .NET Framework can be downloaded from Microsoft Download Center.

Download Windows installer 3.1, .NET Framework 3.5

Getting Started

Connect Controller

  1. Connect controller to the PC. (Please refer to each controller information for connecting the controller to the PC.)
  2. Select the communication port to use. Use the “Automatic Search” function to easily select the appropriate port.

    If the chosen communication port is being used by another program, you must first find and stop the program.

    If RoboPlus Manager is unable to find a controller, the following error message will be shown.

    • Check if the controller is connected to the PC. (See controller information for information on how to connect the controller.)
    • Check if the controller is turned on.
    • Check if the correct communication port was chosen.
  3. Start management. (Please refer to the managing information of each controller.)

Firmware Management

Firmware Update

Firmware is the program installed in the controller, and is used to execute .tsk programs or to manage the controller.
RoboPlus Manager automatically connects to the internet and searches for firmware updates.

Updating Controller Firmware

  1. When the controller is connected, the controller’s firmware version will be retrieved. If a newer firmware is available, it will ask whether to download the latest firmware.

  2. When the ‘OK’ button is pressed, it will begin updating the firmware.

  3. You can check your controller’s model number and firmware version.

  4. Press the “Next” button to begin updating your firmware. Be careful not to turn the power off or disconnect the cable while the firmware is being updated.

  5. Once the firmware has been updated, Press the “Finish” button to return to the controller maintenance page.

Firmware Recovery

When there is a problem with the controller’s firmware, RoboPlus Manager can be used to recover the firmware.
For CM-150 and CM-200, you will need the latest RoboPlus Manager (ver. 1.0.31.0 or higher) to execute the recovery.

Recover Controller Firmware

  1. Connect the controller to the PC using LN-101.

  2. Run RoboPlus Manager and open the controller firmware management wizard. On the menu bar, click the firmware management button to run the firmware wizard.
    (CM-150 and CM-200 require some pre-steps prior to proceeding. Please refer to the message below.)

  3. Select the port number for connecting the controller.
    Because the firmware is broken, the controller cannot be automatically found. So, you must manually select the port number the controller is connected to.
    The controller cannot be found if the port is being used, so please close other programs before proceeding. Select the port number then click search.

  4. Turn OFF then turn ON the controller (this process can be skipped for CM-150 and CM-200).
    Turn OFF and turn ON the controller to proceed with the recovery

  5. Check the controller information.
    When the controller is found, the information for the firmware to be downloaded will be displayed.
    Please check whether the model name is the same as the name of the connected controller (the version on the controller information is the version of the boot loader, not the firmware)

  6. Firmware Recovery

  7. Check the results of the firmware recovery

Video

How to Use

Controllers

CM-5

When the CM-5 controller is connected to RoboPlus Manager, the following screen is displayed.

The controller and its peripheral devices are listed in the left window. In the right window is the “controller management” window.
If the controller’s firmware version is older than that of RoboPlus Manager, it can be updated. (Please refer to the Firmware Update section)

CM-510

When the CM-510 controller is connected to RoboPlus Manager, the following screen is displayed.

The controller and its peripheral devices are listed in the left window. In the right window is the “controller management” window.
If the controller’s firmware version is older than that of RoboPlus Manager, it can be updated. (Please refer to the Firmware Update section)

CM-530

When the CM-530 controller is connected to RoboPlus Manager, the following screen is displayed.

The controller and its peripheral devices are listed in the left window. In the right window is the “controller management” window.
If the controller’s firmware version is older than that of RoboPlus Manager, it can be updated. (Please refer to the Firmware Update section)

CM-700

When the CM-700 controller is connected to RoboPlus Manager, the following screen is displayed.

The controller and its peripheral devices are listed in the left window. In the right window is the “controller management” window. (Please refer to the “Test” page).
If the controller’s firmware version is older than that of RoboPlus Manager, it can be updated. (Please refer to the Firmware Update section)

RoboPlus Manager has two search modes.

Note If a Dynamixel is no longer detected after a detailed search, there might be an ID duplication. In this case, connect only the undetected device, and change its ID to an unused one. (Refer to the ID Setup section.)

Aux LED

This parameter is used to turn the controller’s Aux LED on or off.

Characteristic

The controller’s Aux LED can be manipulated using the On/Off button.

Corresponding RoboPlus Task Command

Button

This parameter is used to read the controller’s button status (whether it is pressed).

Characteristic

When a button on the controller is pressed, you can see which button has been pressed.

Corresponding RoboPlus Task Command

Timer

This parameter is used to set or read the controller’s timer.

Characteristics

Corresponding RoboPlus Task Command

High Resolution Timer

Internally the controller sets a counter; this is the parameter for the high resolution timer. This timer is set for every 1ms, useful for more accurate timing.

Characteristics

Corresponding RoboPlus Task Command

Remocon ID

The parameter is used to set or read the ID of the ZigBee communication module that communicates with the robot’s Zigbee module.

Characteristics

Corresponding RoboPlus Task Command

My ID

This parameter is used to read the ID of the ZigBee module installed in my robot.

Characteristics

Corresponding RoboPlus Task Command

Sound Count

Sounds can be detected using the microphone in the controller.

Characteristics

Corresponding RoboPlus Task Command

Current Sound Count

It is also possible to know how many sounds have been counted by the controller’s microphone so far.

Characteristics

Corresponding RoboPlus Task Command

Buzzer Index

This parameter is used to set the musical note played by the controller’s buzzer.

Characteristics

Corresponding RoboPlus Task Command

Buzzer Time

This parameter is used to set the sound mode and how long the note or melody will be played.

Characteristics

Corresponding RoboPlus Task Command

Exterior I/O Devices

The controller supports exterior I/O devices, such as IR sensors, touch sensors, and DMS sensors.

Characteristics

Corresponding RoboPlus Task Command

Dynamixel

In the program as shown below, users can set up and test Dynamixels.

Note When an actuator with an ID in ① is double clicked, the actuator is selected and its LED will blink for a moment. This is used to check where the actuator is located.

Note Actuators can be managed in a group.

ID Setup

Each Dynamixel has its own ID, and the controller manages each Dynamixel using its ID. This parameter is used to manage the Dynamixel’s ID.
(Please refer to Dynamixel Management for more information about changing ID)

Characteristics

Position Limit and Mode

This parameter is used to limit the position of the actuator or to set the movement mode.
(Please refer to Changing the Movement Mode for more information about changing Movement Mode)

Characteristics

Movement Mode

Drive Mode

Tis parameter is used to set the drive mode of EX actuators. Depending on the drive mode, the Ex actuator’s special modes, such as dual mode and reverse mode can be used. Please refer to EX-series Dual Mode Setting for detailed information about drive mode.

Characteristics

Temperature Setting

This parameter is used to set the temperature limit for Dynamixel movement.

Characteristics

Temperature

This parameter is used to read the Dynamixel’s current temperature.

Characteristic

Corresponding RoboPlus Task Command

Voltage Setting

This parameter is used to set the voltage limit for Dynamixel movement.

Characteristics

Voltage

This parameter is used to read the Dynamixel’s current voltage.

Characteristic

Corresponding RoboPlus Task Command

Alarm & Shutdown

The LED alarm or shutdown operation can be set for specific cases.

Parameter Characteristics

Torque Enable

This parameter is used to turn the actuator on or off.

Characteristics

Corresponding RoboPlus Task Command

LED

This parameter is used to turn the Dynamixel’s LED on or off.

Characteristics

Corresponding RoboPlus Task Command

CW/CCW Margin

This parameter is used to set the actuator’s compliance margin.

Parameter Characteristics

Corresponding RoboPlus Task Command

CW/CCW Slope

This parameter is used to set the actuator’s compliance slope.

Parameter Characteristics

Level Real Data Value Representative Data Value
1 0 (0x00) ~ 3(0x03) 2 (0x02)
2 4(0x04) ~ 7(0x07) 4 (0x04)
3 8(0x08)~15(0x0F) 8 (0x08)
4 16(0x10)~31(0x1F) 16 (0x10)
5 32(0x20)~63(0x3F) 32 (0x20)
6 64(0x40)~127(0x7F) 64 (0x40)
7 128(0x80)~254(0xFE) 128 (0x80)

Corresponding RoboPlus Task Command

Parameter : CW/CCW Slope

Goal Position

This parameter is used to set the actuator’s goal position.

Characteristics

Corresponding RoboPlus Task Command

Moving Speed

This parameter is used to set the speed of the actuator.

Characteristics

Corresponding RoboPlus Task Command

Torque Limit

This parameter is used to set the maximum load on the actuator.

Characteristic

Corresponding RoboPlus Task Command

Present Position

This parameter is used to read the actuator’s current position.

Characteristic

Corresponding RoboPlus Task Command

Present Speed

This parameter is used to read the actuator’s current speed.

Characteristic

Corresponding RoboPlus Task Command

Present Load

This parameter is used to read the actuator’s current load.

Characteristics

RoboPlus Task Referring Command

Moving

This parameter is used to determine whether the actuator is currently moving or not.

Characteristic

Corresponding RoboPlus Task Command

Sensed Current

This parameter is used to check the current being consumed.

Characteristics

EX-Series
MX-Series

Corresponding RoboPlus Task Command

PID Gain

For MX-Series actuator PID values read/write availability

Characteristics

Corresponding RoboPlus Task Command

IR Left/Center/Right

For AX-S1 these parameters are used to read the DMS sensor value.

Characteristics

Corresponding RoboPlus Task Command

Light Left/Center/Right

For AX-S1 this parameter is used to read the light brightness.

Characteristics

Corresponding RoboPlus Task Command

Object Detected

For AX-S1 this parameter is used to determine whether an object is detected.

Characteristics

RoboPlus Task Referring Command

Object Detection Threshold

For AX-S1 this parameter is used to set the object detection threshold.

Characteristics

Corresponding RoboPlus Task Command

Light Detected

For AX-S1 this parameter is used to determine whether a light is detected.

Characteristics

Corresponding RoboPlus Task Command

Light Detection Threshold

For AX-S1 this parameter is used to set the light detection threshold.

Characteristics

Corresponding RoboPlus Task Command

Sound Data

For AX-S1 this parameter is used to read the volume of the sound detected.

Characteristics

Corresponding RoboPlus Task Command

Sound Max Data

For AX-S1 this parameter is used to read the volume of the loudest sound detected.

Characteristics

Corresponding RoboPlus Task Command

Sound Count

TheAX-S1 is equipped with a function to count sounds louder than a certain threshold. For example, it is possible to count claps. This parameter is used to read or initialize the number of detected sounds.

Characteristics

Corresponding RoboPlus Task Command

Buzzer Index

AX-S1 is equipped with a buzzer. This parameter is used to set the musical note played by the buzzer.

Characteristics

Corresponding RoboPlus Task Command

Buzzer Time

AX-S1 is equipped with a buzzer. This parameter is used to set how long the sound is played by the buzzer.

Characteristics

Corresponding RoboPlus Task Command

IR Sensor Value

For IR Sensor Array these parameters are used to read the current IR sensor value.

Characteristics

Corresponding RoboPlus Task Command

Auto Threshold Mode

For IR Sensor Array Setting for start/set for automatic detection for set black.

Characteristics

Corresponding RoboPlus Task Command

IR Obstacle Detected

For IR Sensor Array Paramenters to determine IR array obstacle values

Characteristics

Binary value Decimal value Black detection
0000001 1 Black detection for IR sensor #1
0000010 2 Black detection for IR sensor #2
0000100 4 Black detection for IR sensor #3
0001000 8 Black detection for IR sensor #4
0010000 16 Black detection for IR sensor #5
0100000 32 Black detection for IR sensor #6
1000000 64 Black detection for IR sensor #7

Corresponding RoboPlus Task Command

Set IR Threshold

For IR Sensor Array Determine set values for black and white for the IR array.

Characteristics

Corresponding RoboPlus Task Command

ZIG2Serial

Follow these steps to manage the Zig-100 module through RoboPlus Manager using Zig2Serial.

  1. Attach Zig-100 to Zig2Serial and connect Zig2Serial to the PC’s serial port.(Please refer to ZIG2Serial for connection)
    If your PC does not have a serial port, you may use USB2Dynamixel, as in the picture below.

  2. Select the port to which Zig2Serial is connected and click the “Zig2Serial Management” icon.
    (Unlike with a controller, this port cannot be detected automatically.)

  3. The following screen is displayed when the “Zig2Serial Management” icon is pressed. Click the “Zigbee Setting” button.

  4. Press the reset button within 3 seconds of clicking “OK”.

  5. When the Zigbee module is connected, a window to set functions is displayed.
    • Can check my ID and remote ID.
    • Can change the remote ID.
    • Can set to “Broadcast” mode.
    • Can set to “Wait” mode.

  6. If no ZIg100 module is detected, check whether the module has been connected properly.