Edit on GitHub



Please be aware of your own safety as you assemble. ROBOTIS CO., LTD is not responsible for the result of any accidents caused by the user’s negligence.

Safety Precautions

Assembly Precautions

Precautions During Use

Charging the Li-ion battery

Frame Assembly for DYNAMIXEL XL-320

There are two different marks on the horn. Top marked and the bottom marked Before assembly, make sure the marks are in their proper position.

How to use the Rivet Tool

The Rivet is a simple tool to assemble plates.
The Rivet is made up of a pair of pin and pinhole.

In order to remove the rivet pick the pin head with the tool and pull it up.

In order to reuse the removed rivet, pinhole should fit into the hole first then pin should be inserted.

Try using provided tool when re-inserting the removed rivet.
Hold the rivet with the tool and insert the pinhole into the plate hole.

Checking the li-ion battery voltage

The controller checks the battery voltage when the power is turned on.

Status Movement
Good All LEDs blink in RED 1 time
Low Battery All LEDs blink in RED 5 times

NOTE : The controller acquires voltage from a specific DYNAMIXEL(ID 3) so ID 3 should be connected properly.

WARNING : Please immediately turn off the power and contact ROBOTIS when you encounter any of the following symptoms.

  • When you see smoke from the product.
  • When the LED on DYNAMIXEL XL-320 does not blink during the Actuator Test.
  • When the robot has been exposed to water or any debris has gone into the parts.
  • When you feel odd smell from the product.
  • When the robot is damaged.

Getting Started

Part List



ROBOTIS MINI App for smart device supports various operations. Please refer to Operating MINI section for installing and operating the app.

Connect to MINI

Bluetooth device must be installed in your computer to connect to ROBOTIS MINI. If you do not have it installed, you must purchase a Bluetooth dongle. If you already have a Bluetooth device, use the method below to register ROBOTIS MINI’s Bluetooth (BT-210) to your computer(The instruction below is based on Windows 7/8/8.1).

For Windows 7 / 8 / 8.1

For Windows 8/8.1, to open the Control Panel click on the right side of the charm bar then click Setting.

  1. Connect the Bluetooth (BT-210) to your robot and turn the power on.
  2. Select ‘Control Panel’ > ‘Hardware and Sound’ > ‘Add a device’ on your computer

  3. Select ‘ROBOTIS BT-210’ from your list and click ‘Next.’

  4. When there is more than one device, check the ‘Properties’ of the device by clicking on the right side of your mouse. Make sure the Unique Identifier number of your Bluetooth under the ‘Bluetooth’ tab is the same number you wish to use.

  5. Select ‘Enter the device’s pairing code’ from the Connection Option.

  6. Input ‘0000’ then click ‘Next.’

  7. Device has been successfully added.

Check Connection

  1. Select ‘Control Panel’ > ‘Hardware and Sound’ > ‘View devices and printers’ on your computer.

  2. Select ‘Properties’ by right clicking on the BT-210 that you just added.

  3. Check the COM port under the ‘Hardware’ tab.

For Windows 10

  1. Open Windows Setting menu and select Devices

  2. Select the Bluetooth & other devices tab on the left column and click Add Bluetooth or other device button on the right column.

  3. In the popped up window, select Bluetooth.

  4. Search for the Bluetooth module. The last two characters in the device name should be matching to the last two characters of the Bluetooth module ID.

  5. Enter the default PIN 0000 and click the Connect button.

  6. If BT-210 Bluetooth module is successfully paired, below message will appear.

Operating MINI

App Install

Introduction & Installation

ROBOTIS-MINI uses a smart device to operate various motions.

System Requirements

Open the Play Store or App Store on the smart device. (Play Store is for Android Market App)
Search for ROBOTIS MINI or ROBOTIS and select MINI, then click to install. An authorization request message may appear.

In order to use ROBOTIS MINI on ios (for iPhone/iPad), BT-410 is required for a bluetooth comunication between a smart device and the ROBOTIS MINI.

Installing ROBOTIS MINI for ios

Bluetooth Connection

When the controller is turned on and the LED of the Bluetooth (BT-210) blinks, the robot and Bluetooth are successfully connected.

Connecting the robot with the app using Bluetooth

Execute the ROBOTIS-MINI app.

CAUTION : If the smart device is configured as a Client, it will skip to the operation screen directly instead of the registering screen.
Please refer to the App Setting section for Server/Client settings.

Check the Bluetooth (BT-210) connection

Enter Bluetooth PIN number

Assembly Check using the App

Select Setting option, then use Actuator Test feature to check the assembly. Once your smart device and ROBOTIS MINI are connected, the image of ROBOTIS MINI on the right will appear.

Tap on each ID while Bluetooth is connected. If there is no problems in the assembly, the DYNAMIXEL LED will blink in red, green, then blue.

If you tap on an ID but the wrong DYNAMIXEL LED lights up in the actual robot, there is an assembly problem. In this case, change the ID, or reassemble the joint by switching with the correct DYNAMIXEL.


NOTE : The ROBOTIS-MINI app uses smart device’s functions such as the button, gesture (sensor), voice recognition, and messenger to play motions.

Stop Motion, Initial Position, and Stand Up are 3 basic buttons on the Run tab.

Below are the functions of each button.

NOTE : When the robot is playing a motion, all other motions except the Stop Motion will be ignored.

TIP : You can create (or edit) the motion button using the follow Motion Index Number.

  • Motion Index Number number 0 only plays a current Motion Unit.
  • Motion Index Number number -1 stops a current Motion Unit in Motion and plays an Exit Motion Unit.
  • More information on Key-Frame, Motion Unit and Motion is available at Motion Data

Control with Buttons

In order to Add/Edit/Delete/Arrange buttons, use the Edit tab.

Control with Gestures

The Gesture tab uses the acceleration sensor of the smart device to command the robot to do certain motions. For example, if the user draws an O or X when holding the smart device, the robot will either walk or sit down based on the assigned motion. This works when the smart device is held straight up 90 degrees to the ground.

Operate with Voice Recognition

NOTE : ROBOTIS-MINI uses Google’s voice recognition.

Touch the microphone icon in the center of screen then speak(input) the command. To use this function, you must have an internet connected smart device.

Touch the ‘Edit’ button to add, edit, or delete any voice command.

CAUTION : To delete a command added during the training, delete the voice command first and then re-register.

Voice Recognition Test To check whether the registered voice command is recognized properly, use the MIC icon under the ‘Edit’ tab to test the word. This does not operate the robot.

Operate with Messenger

Your robot can be controlled using the various Messengers in your smart device. [Does not work on all Messengers.] To receive commands via Messenger, you must have internet access to your smart device.

Messenger, uses the notification bar of your smart device to check whether the command corresponds to the message then runs the command if it is the same. Messenger uses the registered voice commands.

CAUTION : Your Accessibility Setting for the ROBOTIS-MINI App must be enabled(Please refer to the ROBOTIS-MINI App Accessibility Setting). If your exact message is not displayed in the notification bar, you may not have access to your robot via Messenger.

Operate with Remocon

App Setting

The ‘Setting’ is located on the top right corner of your device and below are the explanations for the menus.

Server/Client Setting

This setting is for controlling one ROBOTIS-MINI with many smart devices. One smart device will be set as Server to connect directly with the ROBOTIS-MINI, and the other smart devices will be set as Client to send commands to the Server. The Server will receive the commands sent from the Clients, then send the commands to ROBOTIS-MINI to make it perform a motion.

By using the server/client setting, the user can hold one smart device in each hand to control the ROBOTIS-MINI. The left hand device may perform gestures for left motions, and the right hand device may perform gestures for right motions.

This function cannot be used under mobile network connection (3G/4G/LTE). The smart devices that are set under server and client setting must be connected in the same network.

1) They can be connected to the same router, or 2) One device may have its Wi-Fi hotspot function turned on, with the other devices connected to this hotspot

Motion Sound Setting

Users can add a sound file to be played when a certain motion number is performed. With this function, users can play a music on the smart device while performing dance motions.

Select ‘Add sound’ to input the specific motion number and register the sound file to be played. Registered sound files can be played, edited, or deleted from the sound list.

Motion File Setting

‘Motion page number’ is the numbers that are given to the motions in the motion group. Users can save time on checking each motion page number by registering the motion files in the ‘Motion file setting’.

Once a motion file is registered, the ‘list’ button will be shown on the ‘add command’ window. Select the ‘list’ button to show the list of motion pages in the motion file. Select one of the motion pages shown, then its motion name and motion page number will be automatically inputted on the screen.

The default value is set to the basic motion file provided with the ROBOTIS-MINI.

Once a motion file is registered, the ‘list’ button will be shown on the ‘add command’ window. Select the ‘list’ button to show the list of motion pages in the motion file. Select one of the motion pages shown, then its motion name and motion page number will be automatically inputted on the screen.

Accessibility Setting

Accessibility Setting is required to use the ‘Messenger’ function of the ROBOTIS-MINI App. The App must be able to access the message received through the messenger to verify that it is a correct command registered in the command list.

Once this function is activated, the ROBOTIS-MINI App can access the received messages that show up on the smart device’s notification bar.

So, if this function is deactivated, the ROBOTIS-MINI App won’t be able to access and read the commands sent via messenger, so the robot will not be able to carry out the command.

Unlike the Server/Client setting, this function uses the messenger as a media of sending the command, so the smart device (not connected to the ROBOTIS-MINI) sending the message to the main smart device (connected to the ROBOTIS-MINI) doesn’t have to be connected in the same network.

The user must activate the ‘ROBOTIS-MINI’ on the accessibility setting list to activate this function.

Gesture Margin of Error Setting

This setting is used to adjust the gesture recognition rate when using the Gesture function. Setting the margin of error tolerance range low will require more precise gesture movement. Setting the range high will improve gesture recognition but will be more sensitive to other similar movements.

Please refer to ‘Operating ROBOTIS-MINI’ for more information on the Gesture function.

Actuator Test

Touch ‘Setting” then “Actuator Test’ to check your assembly. Once your smart device and ROBOTIS-MINI are connected, the image of ROBOTIS-MINI on the far right will appear. Tap on each of the ID, and if the Bluetooth is connected and there is no problems in the actuators, the joint’s LED will blink in red, green, then blue.

If you tap an ID but the wrong joint lights up on the actual robot, there is an assembly problem. In this case, change the ID, or reassemble the joint into the correct position.

Motion Offset

Offset refers to the difference of standard value. Even when assembling the same type of robots, minor deviations exist between each of their respective motors, resulting in the final posture to be slightly different between them. Adjusting the motion offset value will compensate the deviated amount to perform motions more accurately.

If a joint’s position is not as shown on the image and is crooked, use the torque ON/OFF function of the joint to adjust the joint into its correct initial position.

CAUTION : Please hold up the ROBOTIS-MINI to accurately check the position of the joints.Checking the position with the ROBOTIS-MINI on the ground may cause its legs or waist joints to alter.

Touch an ID to turn the respective joint’s torque OFF, and you will be able to physically move the joint. The image shown on the screen shows how the correct standard position of the joint should be.

Refer to the image to move the joint to its correct position, and select ‘Okay’ to turn the torque back ON. The app will read the adjusted value of the position to calculate and show the offset value on the screen.

If it is difficult to position the joint into an accurate position, touch (hold) the ID number long to go into a precise setting mode from the smart device. This way, users will be able to precisely adjust the joint position using the slide bar displayed on the screen.

Applying the changed offset to the ROBOTIS-MINI requires downloading. Touch the download button on the top right to download the value to the ROBOTIS-MINI controller.


This functions returns the settings for the Button/Gesture/Voice to it’s default setting.


RoboPlus Task

A Task is a set of motions to perform a certain actions. RoboPlus refers to the source code that specifies tasks to be executed by the robot as Task Code’. The robot moves according to your task codes. RoboPlus Task is a software to make writing these task codes easier.

RoboPlus Task Download and Usage

RoboPlus(R+) Task can be downloaded from the ROBOTIS website under Support à Download. Please refer to the RoboPlus Task for detailed on how to use the program.

Task programming example

Below is a program example for ROBOTIS MINI. This program is a master and slave program where the left arm makes the same motions as the right arm.

The example file can be downloaded at Download Section

Download Task Code

The composed task code must be downloaded to the DARWIN-MINI. Downloading will save the task code to the controller.

RoboPlus Motion

Motion data is a set of motor position and speed data, which is required to make the robot move in a certain way. The robot requires the motion file to move, so the correct file must be downloaded to the robot to perform the correct action. RoboPlus MOTION is used to program various motions.

The Task Code composed in RoboPlus Task is a program. Motion file, on the other hand, is a data. Task codes decide how the robot moves, and making the moves to be carried out requires motion data. Roboplus Motion is the program that helps to easily make the robot motion data.

How to download and use RoboPlus Motion

The RoboPlus Motion program can be downloaded from the ROBOTIS homepage. Further instructions on how to use it can be found on the e-Manual.

DARWIN-MINI basic motion file

The basic ROBOTIS MINI motion file can be also downloaded on the e-Manual page.

The example file can be downloaded at Download Section

Try editing the sample file referring to the RoboPlus Motion instructions on e-Manual.

Download Motion File

Download the edited motion file to the robot to use it in the ROBOTIS MINI App or task code. Like the task code, the motion data needs to be downloaded to the controller once.


Adding Peripheral Devices

The controller OpenCM9.04-C Type used in ROBOTIS MINI has four ports to connect 5P devices.

※ Please refer to our online shop to purchase the sensors above. GO TO ROBOTIS SHOP

Port number for each port is written in white.

LED Module : Use ports 2 and 3(LED will not light up when using ports 3 and 4)
IR Sensor : Use ports 1 and 4
Color Sensor : Use ports 2 and 3

Images of ROBOTIS-MINI with different devices assembled.

Customize Appearance

The stickers come with your package but if you want to re-reprint them, please refer to the link below. You can also draw your own design. Sticker file can be downloaded at Download Section



Firmware Update

Please follow the procedure below to recover or update the ROBOTIS MINI’s controller (OpenCM9.04C) firmware.

  1. Separate the ROBOTIS MINI’s chest with the body to disassemble the controller.

  2. With the power off, push the user button (marked red below).

  3. Keep holding the user button, then connect the OpenCM9.04C with the PC with the mini USB cable (marked red below).

  4. When a green light shows up on the LED marked below, let go of the user button.

  5. Run RoboPlus. If the version is low, an automatic update will be run through the internet. If the automatic update doesn’t run, please download the latest version from the ROBOTIS website’s Download site.

  6. Run R+ Manager (ver. or higher).

  7. Click the button on the top right to update RoboPlus to the latest version.

  8. If any updates were made, close R+ Manager and open the program again.

  9. Click the controller firmware management button on the top.

  10. Click [Next].

  11. Select the port the OpenCM9.04C is connected on and click search.

  12. When the controller is found, click [Next].

  13. Click [Next].

  14. Click [Next].

  15. Click [Finish].

ID Map