BIOLOID Premium: Instrucciones de montaje 29 robots

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

TYPE A

A B C

A-01

A-02

A B C 2 16

A-03

A-04

A B C A-03

A-02 3 17

A-01

A-05

A-06

A B C 4 18

A-07

A-08

A B C A-05

A-06

A-07 5 19

A-09

A-10

A B C 6 20

A-11

A-09

A-10

A B C 21 7

A-12

A-13

A B C 22 8

A-14

A-12

A-13

A B C 23 9

A-15

A-16

A B C 24 10

A-17

A-18

A B C 25 11

A-19

A-17

A-15

A-18

A B C

A-16

26 12

A-20

A-19

A-11

A-14

A B C 27 13

A-21

A-20

A-22 A-04

A B C

A-08 A-21

28 14

A-23

A-24

A B C 29 15

A-25

A B C 30 16

A-26

A B C 31 17

A-27

A B C 32 18

A-28

A-29

A B C 33 19

A-30

20

TYPE B

A B C

B-01

B-02 B-01

A B C 22

B-03

B-04 B-03

A B C 23

B-05

B-04

A B C

B-02

24

B-06

A-14 A-11

p.23

p.21

A B C 25

B-07

B-06

B-08 p.17

A-04 A-08

A B C

p.19

B-07

26

B-09

B-10

A B C 27

B-11

A B C 28

B-12

A B C 29

B-13

A B C 30

B-14

B-15

A B C 31

B-16

32

TYPE C

A B C

C-01

C-02

A B C C-01

34

C-03

C-04

A B C 35

C-05 C-02

A B C

C-03

C-04

36

C-06

C-05

A-14 p.9

A-11 p.7

37

A B C

C-07

C-06

C-08 p.3

A-04

A-08

A B C

p.5

C-07

38

C-09

C-10

A B C 39

C-11

A B C 40

C-12

A B C 41

C-13

A B C 42

C-14

C-15

A B C 43

C-16

44

1:1 SCALE

59

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Scorpion

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button, selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power, then check the wiring on the actuator.

14

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors, as pictured below. Robot behavior begins.

If the robot does not behave, as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode. Press START and the robot will play.

15

Dinosaur

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Assembly Check After assembly, please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button, select one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist, then the robot beeps.

Although the LED may lit, if there is no power, then check the wiring on the actuator.

13

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors, as pictured below. Then, robot behavior begins.

If the robot does not behave, as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode, and press START. The robot will play.

14

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Puppy

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

12

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors, as pictured below. Robot behavior begins.

If the robot does not behave, as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode. Press START and the robot will play.

13

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Spider

Assembly Check After assembly, please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist, then the robot beeps.

Although the LED may lit, if there is no power, then check the wiring on the actuator.

11

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors, as pictured below. Then, robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode, press START and the robot will play.

12

Bioloid Premium Kit Lizard Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Lizard

Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn is in line with the notch from the actuator’s body. If not, perform one of the following actions: A.Turn the horn manually until it is properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Lizard – Getting Started Insert N1’s into ID1 through ID14.

N1

x 68

N1

1

2 N 1

N 1

x 11

x2

~ ~

3

N 1

N 1

Attach F3 to F6. (Make 4 sets.)

F 3

1

x4

F 6

x4

S 1

x8

N1

x8 2

N1

F 6

F 3

S 1

x4

x4

3

Attach F1 to F2. (Make 4 sets.)

F 1

x4

x4

F 2

S 1

x 16

N 1

x 16 2

S 1

1 F 1

x4

x4 N 1 F 2

Attach STEP⑥, STEP③, ID3, ID5, ID8, and ID10 together.

(Do not misalign horn position. Align the opposite side too.)

BU

x4

W A

x4

S-B

x4

S 1

x 24

1

2

S 1

S 1

W A BU

S-B

x2 4

1set

1set

Attach STEP⑥, STEP③. ID2, ID4, ID9, and ID11 together.

(Do not misalign horn position. Align the opposite side, too.) x4

BU

W A

x4

S-B

x4

x 24

S 1

1

2

S 1

S 1

W A BU

1set

x2

S-B

1set

Attach F2, F3, and F10 together.

F 2

x2

S 7

x8

F 3 N1

x2

F10

x 10

F10

2

x5

x 24

F10

1

N1

F 2

x4

x2 S 7

N1

F 3

x2 5

Attach STEPтСе to F3.

F 3

x4

S 1

x 16

1

2 S 1

S 1

F 3

x2

x2

Attach F8, F9, F54, and DMS together.

F 8

x1

F 9

x1

1

F54

x1

DMS

x1

RIVET

x3

SP 1

x2

S 1

N 1

2

x4

S 4

x2

N 1

3 S 1

DMS

F54

DMS

RIVET

F 9

SP 1

F 8

4

x6

5 S 4 DMS

N1 F54 F 9

6

Attach STEP⑧, ID1, and F4 together. (Do not misalign horn position.)

F 4

x1

BU

x1

W A

x1

S-B

x1

W A

1

x8

S 1

2

S 1

2

S-B

BU S 1

F 4

F 4

Attach STEP④, STEP⑤, STEP⑦, and STEP⑨ together.

(Attention to the Dynamixel ID#.)

S 1

x 12

2

1

3

S 1

4

7

S 1

Attach F9, F11, F54, and IR SENSOR together.

F 9

x1

F54

x1

x1

F11

x1

IR SENSOR

1

RIVET

x5

x4

S 2

2

N1

x8

N 1

F54

N1 RIVET IR SENSOR S 2

F 9

3

F 9

F11

Attach STEP⑪, F4, and F10 together.

F 4

x1

F1 0

x1

S 3

x4

F 4 S 3 F1 0

8

F54

Attach F3 to F4.

F 3

x1

F 4

x1

S 1

x4

N 1

x4

1

2 S 1 N1

F 3

F 4

Attach F2 to F3.

F 2

x1

F 3

x1

S 1

x4

N 1

x4

1

F 2

2

N1 S 1

F 3

9

Attach STEP⑫, STEP⑬, STEP⑭, ID12, ID13, ID14 together.

(Do not misalign horn position.)

BU

x3

x3

W A

1

S-B

x3

S 1

x 20

S 1

2

S 1

W A

S 1

S-B BU

Attach STEP④, STEP⑤, STEP⑦, and STEP⑮ together.

(Attention to Dynamixel ID#.)

S 1

x 12

1

3

2

S 1

S 1

4

10

Attach ID6, ID7, F3, and F55 together.

F 3

x4

F55

x8

x 16

S 1

N 1

x 16

1

3 F 3

x4

N 1

F 3

2

F55

S 1

S 1

x4 x2

F 3

1set

1set

Attach STEP⑩,STEP⑯, and STEP⑰ together.

(Do not misalign horn position and attention to Dynamixel ID#.)

BU

x2

W A

x2

S-B

x2

S 1

CABLE -6

x8

x2

CABLE -10

x2

1 CABLE -10

S 1

2 CABLE -6

W A CABLE -10

S-B BU

11

Attach STEP⑱, F51, and F60 together.

(Attention to Dynamixel ID#.)

F5 1

x1

F6 0

x1

S 1

x 12

N1

x4 S 1

1 S 1

F5 1 S 1

2 N1

F6 0

Attach STEP⑲ to F52.

F5 2

x1

S 1

x 12

N 1

x4 N1

2 S 1

N1 S 1

1

S 1

F5 2

CABLE -6

12

Attach STEP⑳ to CM-510. (Align CABLE-BAT during the process.)

CM-510

x1

CABLE-BAT

x1

S 1

x4

S 1

CM-510

CABLE -6

CABLE-BAT

CM-510

Perform wiring by following the diagrams below.

CABLE -14

x2

CABLE -18

x2

CABLE -18

CABLE -18

CABLE -10

CABLE -14

CABLE -14

13

CABLE -14

x3

CABLE -18

x2

CABLE -20

x1

x3

F5 5

S1 1

x6

CABLE -14

F5 5

F5 5 CABLE -14

CABLE -18

CABLE -14 CABLE -20

CABLE -10

CABLE -18

CABLE-6

CM-510

CABLE-6

CABLE-10

CABLE-10

CABLE-18

CABLE-18

CABLE-14

CM-510

CABLE-14

CABLE-14

CABLE-18

CABLE-18

CABLE-20 CABLE-14 CABLE-14

14

CM-510

CM-510

Connect SENSOR to Port 1 of CM-510 with 5P CABLE-40.

Connect DMS to Port 6 of CM-510 with CABLE-DMS. Connect the battery through the battery cable.

CABLE-DMS

x1

5P CABLE-40

x1 5P CABLE-40

Port 1

CABLE-DMS

5P CABLE-40

BATTERY

Port 1

x1

1

BATTERY

2

3

15

Port 6

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power, then check the wiring on the actuator.

16

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors, as pictured below, robot behavior begins.

If the robot does not behave, as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode press START and the robot will play.

17

18

Bioloid Premium Kit Biped Walking Robot Assembly manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Biped Walking Robot Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Biped Walking Robot – Getting Started Attach one F7 to ID15; another F7 to ID16. (Attention to direction.)

F7

x2

N 2

x2

N 1

x 16

S 1

x8

2

2

1 F7

N2

N1

3

S 1

F7

Attach ID17, ID18, and F6 together.

x4

F 6

S 1

x8

N 1

x8 2

1 S 1

x2

N 1

F 6

3

With CABLE-6, connect ID15 to ID17; ID16 to ID18.

Connect ID17 to ID18 with CABLE-20.

Attach STEP① to STEP②. x2

CABLE -6

CABLE -20

x2

x8

S 1

11

12 CABLE -20

CABLE -6

CABLE -6

CABLE -20

21

22

S 1

S 1

Attach F5 to F12. (Make 2 sets.)

F5

x2

F1 2

x2

S 1

x 12

N 1

x 12

1

2

S 1

N 1

F5 F1 2

x2

F5

4

Attach STEP③ to STEP④. (Do not misalign horn position.)

x2

BU

S 1

x8

S-B

x2

1

2

BU

S-B

S 1

S 1

Attach F3, F4, and F10 together. (Make 2 sets.) x2

F 3

F4

x2

F1 0

x2

x8

S 3

N 1

x8

1

S 3

2

F4 F 3 N 1

x2

F1 0

F 3

Attach STEP⑥, ID13 and ID14 together.

S 1

11

x8

N 1

N 1

x8

12

21

S 1

N 1

22

S 1

5

Attach ID11, ID12, F3, and F55 together. (Attention to screw position.)

F 3

x2

x4

F5 5

x8

S 1

x 16

N 1

1 F5 5

S 1

x2 3

F 3

2 N 1

N 1

S 1 F 3

Attach F1 to F4. (Make 2 sets.)

F 1

x2

F4

x2

S 1

x8

N 1

x8

1

2

N 1

F 1

x2 F4 S 1

6

Attach STEP⑤, STEP⑦, STEP⑧, and STEP⑨ together.

(Do not misalign horn position.)

BU

x3

W A

x3

S-B

x3

S 1

x 12 W A

BU S 1

BU

x3

W A

x3

S-B

x3

S-B

S 1

x 12 W A

BU S 1

S-B

7

Attach F3, F10, F51, and F60 together. x1

F 3

F1 0 F1 0

x2

F5 1

x1

F6 0

x1

S 1

x4

S 2

x4

N 1

x6

1 F 3

F1 0

S 1

S 1 F6 0

F5 1

F5 1

F6 0

2 S 2 F1 0

N 1

F1 0

F 3

F5 1

Attach IR SENSOR, DMS, and F54 together.

DMS

x1

x2

IR SENSOR

F54

x3

RIVET

x 11

IR SENSOR

1

RIVET

2

IR SENSOR

DMS

RIVET

x2 F54

F54 F54

8

Attach STEP⑫, F10, F52, and CM-510 together.

With 2 5P CABLE-15, connect IR SENSOR1 to Port 2 of CM-510 ; IR SENSOR2 to Port 3 of CM-510 DMS to Port 1 of CM-510 with CABLE-DMS. CM-510 F1 0

x1

x1

CABLE-DMS

x2 F5 2

x1

S 1

x4

x2

5P CABLE-15 S 2

N 1

x4

x2

CABLE-BAT

S12

x4

x 10

F1 0

1

2

S 1

N 1

S12 F5 2

F1 0

F5 2 5P CABLE-15

3

Port 3

5P CABLE-15

Port 3

S 2 IR SENSO R1

CM-510 DMS

Port 2

5P CABLE-15

CABLE-DMS

Port 1

Attach STEP⑩, STEP⑪, and STEP⑬ together.

S 1

x 20

1 S 1

BACK

FRONT

3

2

9

IR SENSO R 2

With 2 CABLE-10, connect ID11 to CM-510; ID12 to CM-510.

With 2 CABLE-18, connect ID11 to ID13; ID12 to ID14.

With 2 CABLE-20, connect ID13 to ID17; ID14 to ID18.

CABLE -18

x2

CABLE -10

x2

CABLE -10

CABLE -18 CABLE -18

10

Connect the battery through the battery cable.

BATTERY

x1

1

3

2

11

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

12

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

13

Bioloid Premium Kit Battle Droid Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Battle Droid

Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Battle Droid – Getting Started Attach one F3 to ID1. Connect one F3 to ID2.

(Do not misalign horn position.) x2

F3

x8

S1

x 16

N1 N1

1

S1

2

F3

F3

Attach one F1 to one F12.

(Attention to left and right direction.)

F1

x2

F12

x2

x8

S1

1

N 1

x8 F1 2

2

N 1

F1

F1

F1 2

Right

F1 2

S1

Left

Attach ID3 and ID4 to STEP① and STEP②. (Do not misalign horn position.)

Attach ID1 to ID3 through F3. Attach ID2 to ID4 through F3.

BU

x2

WA

x2

S 1

x 16

N 1

1

x8

S-B

x2

2 BU S-B N 1

W A

S1

3

4

5

S1

3

Connect one F8 to each leg of STEP③.

Connect ID1 and ID3; ID2 and ID4 with CABLE-14.

Connect ID1 and ID with CABLE-14. x2

F8

S1

x8

x2

N 1

1

x4

CABLE-14

F8

2

3

S 1 S1 N1

U p

down F8

4 U p

U p

dow n

dow n

N 1

F8

CABLE-14

U p

Attach one F1 (at the horn), one F3, two F55 to ID5.

Attach one F1 (at the horn), one F3, two F55 to ID6. x2

F1

F3

x4

F55

x8

S1

x 24

N 1

x 32 F1

F3

1

2

S1

3

F3 F3

4 N 1

5

S 1

S 1

F55 Right

4

F1

Left

Attach one F3 and one F10 to each F4.

F3

x2

F4

x2

x4

F10

S5

x8

N1

x8 F3

F3

1

2 F10

x2

F4 F10 S5

F4

Attach each part from STEP⑤ (do not misalign horn position) and STEP⑥ to ID7.

Attach each part from STEP⑤ (do not misalign horn position) and STEP⑥ to ID8.

BU

1

x2

x2

WA

S 1

x 16

N 1

x8

x2

S-B

3

2

WA

S1

S1 S-B

S-B BU

B U

WA

N1

Attach both parts of STEP⑦ to F51.

F51

x1

S1

x8

1

2 S1

down

F51 F51

5

U p

Attach one F5, One F9, one F10 and one F54 to STEP⑧.

x1

F5

x1

F9

F10

F9

1

x1

F54

x1

S2

x4

x2

S5

N1

x6

3

2 S2

N1

N1

F54 F5

S2 F54

11

F10 S5

F5

F10

F9

S2

F5

Attach one F54 and one F60 to STEP⑨.

F60

x1

F54

x1

S2

x2

1

N 1

x2

2

N 1

S2

F54 F54

N1 F60 F60

6

Attach STEP④ and ⑩.

Connect ID1 and ID5 with CABLE-14.

Connect ID2 and ID6 with CABLE-14.

Connect ID5 and ID6 with CABLE-10.

S2

x2

x2

CABLE-10

1

2 S 2

3

CABLE-10

CABLE-10

Attach an F52, an IR SENSOR, a SINGLE BRACKET, and a PLATE 3x7, to CM-510.

Connect IR SENSOR to CM-510 with 5P CABLE-15 (through Port 1 of CM-510). x 12

S1

5P CABLE-15

SINGLE BRACKET

x2

x1

PLATE 3x7

x1

F52

IR SENSOR

1

IR SENSOR

x1

CABLE-BAT

x1

CM-510

2

RIVET

x8

x1 F5 2

RIVET SINGLE BRACKET

x1

RIVE T

PLATE 3x7

5P CABLE-15

3

31 S1

CM-510 F5 2 PORT 1 ( | ) 5P CABLE

S 1 CABLE-BAT CABLEBAT

7

Connect ID7 to CM-510 with CABLE-18.

Connect ID8 to CM-510 with CABLE-18.

Connect the battery to CM-510 with the battery cable.

BATTERY

x1

x2

CABLE-18

BATTERY

1

2

CABLE-18

3

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Boiloid Premium Kit Smart Car Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Smart Car

Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Smart Car – Getting Started Insert N1 to ID1, ID2, ID3, and ID4. x 24

N1

x2

x2

N1

Attach STEP①, F3, and F55 together. (Attention to left and right sides.) x4

F 3

F55

x8

x 16

S 1

N1

x 16

1

x4

S1

S1

N1

3

F 3

2

F55

4

F 3

F 3

x4

Attach STEP②, F3, F13, and F14 together. (Attention to Dynamixels’ ID numbers.)

F 3

x1

F13

x4

F14

x4

S1

x4

x 16

S2

1

2 F13

S1

F14

S2 ~

x4 3

F 3

Attach STEP③ to F3. (Attention to Dynamixels’ ID numbers.)

With 3 CABLE-6, connect ID2 to ID4; ID3 to ID4; ID1 to ID3.

Connect ID1 with CABLE-14.

F 3

x1

x4

S 1

CABLE-6

x3

CABLE-14

x1

2

S1

CABLE-14 F 3

1

CABLE-6

Attach F3, F10, and F60 together.

F 3

x1

F1 0

x3

F6 0

x1

S6

x4

N1

x4

1

2 F6 0

N1

F1 0

F 3

4

x3

S6

Attach F5 to F9.

Attach F5 to F10. x1

F 5

F 9

x3

F1 0

x1

x4

S2

x4

S1

N1

x8

1

N1

S2

F 5

F 9

F 9

2

N1

S1

x2

F1 0

Attach STEPтСе, F54, and IR SENSOR together.

F54

x1

1

IR SENSER

x1

RIVET

x3

S3

x2

N1

x2

RIVET

F54

x2 S3 IR SENSER

2

5

Attach STEP⑦, F54, IR SENSER, and PLATE 3x7 together.

F5 4

x1

x1

PLATE 3x7

IR SENSER

x1

RIVET

x9

5P-5P CABLE

x2

1 5P-5P CABLE IR SENSER

RIVET PLATE 3x7 RIVET 3

2

RIVET

RIVET

F5 4

5P-5P CABLE

Attach STEP⑧ to F10.

F1 0

x3

S 5

x4

N 1

x4 S 5

x3

F1 0 N1

x4

6

Attach STEP④, STEP⑤, STEP⑨, and F51 together.

S1 2

x4

F51

x1

S1 2

F51

S12

S 1

x8

S 1 F51

7

S 1

Attach STEP⑩, F52, and CM-510 together.

Connect ID2 to CM-510 with CABLE-14.

Connect IR SENSOR1 to Port 1 of CM-510 with 5P CABLE-15.

Connect IR SENSOR2 to Port 2 of CM-510 with 5P CABLE-15.

CM-510

x1

F52

x1

S 1

x6

S12

x4

N 1

x2

N 1 CM-510

S12

S 1

S 1 F52

CABLE-BAT

x1

IR SENSER1

Port 1

CABLE-BAT

IR SENSER2

Port 2

CABLE-14

8

Connect the battery through the battery cable.

BATTERY

1

3

x1 2

4

9

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

10

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

11

Bioloid Premium Kit Excavator Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Excavator Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until it is properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Excavator – Getting Started Insert N1 into ID1; ID2; ID3; ID4; ID5. x 18

N 1

1

2

N1

N1

N1

x4

Attach STEP①, F6, F54, and DMS together.

With 4 CABLE-6 connect ID4 to ID5; ID2 to ID4; ID1 to ID2; ID1 to ID3.

Connect ID 3 with CABLE-18.

F 6

x4

CABLE -6

x8

S 1

F 6

S 1

1

x4

CABLE -18

x1

2

1set

CABLE -6 F 6

DMS F 6

x1 x1

CABLE -6

1set RIVET

F54

x3

S 1

x2

N 1

x2

x1 CABLE -18 DMS

3

S 1

RIVET N 1

CABLE -6 F54

F 6

3

Attach STEPâ‘Ą, F13, and F14 together.

S 1

x 10

x 16

S 2

1

F13

x4

F14

x4

2 S 2

S 1

x4 F13 F14

S 1

Attach F3, F4, and F10 together. Attach F2 to F4.

Attach F3, F9, and F11 together. x1

F 3

F 4

F1 0

x1

x4

N 1

x4 2

F 4

x1

x2

F 9

F 4

x1

F11

S 1

x4

N 1

x4

N 1 F 2

S 7 F1 0

F 3

x1

F 2

N 1

1

3

x4

S 7

F 3

x4

x2

S 1

4

F11

S 1 F 4

x 12

N 1 F11

F 9

F 9

x 12 F11

5 F 9

S 1 N 1

x2

N 1

4

S 1

F 3

Insert N1 into ID6; ID7; ID8.

N 1

x 16

1

2

3

N 1

N 1

N 1

Attach STEP④ to STEP⑤. (Do not misalign horn position.)

With CABLE-14 connect ID6 to ID7; ID7 to ID8.

CABLE -14

x2

BU

x3

W A

x3

S-B

x3

S 1

x 20

2

1

S 1

S 1

W A

3

S-B BU CABLE -14

5

Attach STEP⑥, F10, F54, and IR SENSOR together.

F1 0

x2

x2

F54

IR SENSOR

x2

x 10

RIVET

1

x8

S 1

N 1

x8 F1 0

N 1

2

S 1

3

F54 F54 IR SENSOR RIVET

x2

F1 0 F 3

x1

S 1

x2

x8

x2

x4

N 1 F 3

1

IR SENSOR

2

3 S 1 S 1

N 1

Attach STEP③, F3, F10, and F51 together. (Do not misalign horn position.)

F 3

x1

F1 0

x6

F5 1

x1

SP2

x4

S 5

x4

S 7

F 3

1

x4

S12

x2

N 1

F 3 F1 0

N 1

S 5

F5 1

F5 1

2

S 7

F1 0

SP2

6

x3

x3

S12

x4

Attach STEP⑧, F9, F52, and F60 together. x1

F 9

x1

F5 2

F6 0

x1

S 1

x 12

N 1

1

x 12

F6 0

2 F 9

F6 0 F 9

S 1

N 1

S 1

F6 0

N 1

F5 2

3 N 1

N 1

S 1

S 1

Attach STEP⑦, STEP⑨, and CM-510 together.

With 2 5P CABLE-15: Connect IR SENSOR1 to Port 3 of CM-510; IR SENSOR2 to Port 2 of CM-510.

Connect DMS to Port 1 of CM-510 with CABLE-DMS. CM-510 S 1

x1

CABLE-DMS

x1

x2

5P CABLE-15

CABLE-BAT

x1

CABLE -6

x1

x8

1

S 1

CABLE -6

CM-510 5P CABLE-15

Port 3

CABLE-DMS

Port 1

2 S 1 S 1 5P CABLE-15

Port 2 IR SENSOR 1

IR SENSOR 2

DMS

7

Connect the battery through the battery cable.

BATTERY

x1

1

BATTERY

3 2

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Probing Robot Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Probing Robot Assembly manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until it is properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30 Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Probing Robot – Getting Started Attach ID5, F2, F3, and F10 together. (Do not misalign horn position.)

F3

x2

x2

F10

x1

F 2

x1

W A F2

1

x1

BU

x1

S-B

F3

2

S1 2

x4

S4

x4

N 1

21

x4

S12

S 1 F2 F3

BU

S-B

S12

WA

W A

BU

3

S-B

N 1

31

F10

4 S 4 F3

N 1

S 1 F3

x2

F10

S4

Attach F1, F9, and F11 together.

F1 1

x2

F 9

1

x2

x2

F1

x8

S 1

2

F9

21

F1 1

F1

x8

N 1

3

N1

F1 1

4

F 1

F9

S 1

F1 1

Attach STEP①, STEP②, ID6, and ID7 together. (Do not misalign horn position.)

W A

1

x2

BU

x2

x2

SB

W A

SB

S 1

x8

x8

N 1

2

SB

B U W A

BU N 1

3

3

Attach STEP③, F3, F54, IR SENSOR, and DMS together.

F3

x1

F54

S1

x8

N 1

x1

DMS

x1 x4

IR SENSOR

2

F3

DMS

x4

RIVET

5P CABLE-15

x1

x1

CABLE-DMS

1

x1

5P CABLE-15

21

IR SENSOR

IR SENSOR

F54 RIVET

RIVET

5P CABLE-15

F54

IR SENSOR

4

3

5

F54

DMS

DMS

N1 F3

RIVET

S1

S1

F54

With 2 CABLE-10, connect ID5 to ID7; ID6 to ID7.

Connect ID5 with CABLE-10.

CABLE-10

x3

1

2

CABLE-10 CABLE-10

CABLE-10

4

Attach ID1 through ID4, F3, and F55 together. x6

F3

F55

1

x8

x 24

S1

N1

x 36 2

F3

N1 F55

N1 F3

3

4

F3

F3

S1

F3

Attach STEPâ‘Ľ, F13, F14, and F51 together.

F1 3

x4

x4

F1 4

F1 4

1

x1

F5 1

S 1

x8

x 16

S 2

2

3

F5 1

S 2

F1 3

S1

Attach F3, F10, and F60 together.

F3

x1

F10

x2

F60

x1

S5

N1

x4

x4

F10

x2

1 S5

F3

2

F3

F60 F60

F60

F10

5

N1

Attach STEP⑤, STEP⑦, and STEP⑧ together.

Connect ID4 to ID5 with CABLE-10.

With 3 CABLE-6, connect ID2 to ID4; ID1 to ID2; ID1 to ID3.

Connect ID 3 with CABLE-20.

CABLE-6

x3

CABLE-6

S1

x3

x5

N1

x1

S1

N1

Attach STEP⑨, F52, and CM-510 together.

Connect ID3 to CM-510 with CABLE-20.

Connect IR SENSOR to Port 2 of CM-510 with 5P CABLE-15.

Connect DMS to Port 1 of CM-510 with CABLE-DMS. F52

x1

CM-510

x1

S 1

x 10

N 1

x4

CABLE-BAT

x1

1 CABLE-20

2

F52

CABLE-BAT CM-510

PORT 2 (||) IR SENSOR S 1 PORT 1 ( | ) DMS

S 1

N 1

6

Connect the battery through the battery cable.

BATTERY

x1 2

3

1

BATTERY

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist, then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Turtle Assembly manual v1.0

ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Turtle

Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Turtle – Getting Started Attach ID1, ID6, F1, F3, and F55 together.

(Do not misalign horn position. Make 2 sets.)

F1

F3

x2

F55

x2

S1

x4

1

N 1

x 16

x 16

2

F1

21

N1 S1

22

F3 N1 F55

Attach ID2, ID5, F1, F3, and F55 together.

(Do not misalign horn position. Make 2 sets.)

F1

x2

F3

F55

x2

S1

x4

1

N1

x 16

x 16

2

F1

21

N1

S1

N1

22

F3

F55

Attach STEPâ‘ , ID3, and F3 together. (Do not misalign horn position.)

F3

x1

S1

x8

N1

x4

BU

x1

WA

1

x1

S-B

x1

2

BU S1 S-B

N1 F3

WA

3

Attach STEP①, ID8, and F3 together. (Do not misalign horn position.)

F3

x1

S1

x8

N 1

x4

BU

x1

WA

1

x1

S-B

x1

2

BU

S-B

WA S1

N1 F3

Attach STEP②, ID4, and F3 together. (Do not misalign horn position.)

F3

x1

S1

x8

N 1

x4

BU

x1

WA

1

x1

S-B

x1

BU

2

S-B WA

S1 N1 F3

Attach STEP②, ID7, and F3 together. (Do not misalign horn position.)

F3

x1

S1

x8

N 1

x4

BU

x1

WA

1

x1

S-B

x1

2

BU S1

S-B

N1 WA F3

4

Attach F3, F10, and F60 together.

F3

x1

F10

x2

F60

1

x4

S5

x1

N1

x4

2

F3

F60

N1

F60

F3

x2

F10

F10

Attach F9, F10, F54, and IR SENSOR together.

F9

x2

F10

x1 x2

5P CABLE-15

F54

x2

S1

x2

S2

x4

S3

x2

N1

x4

RIVET

x2

IR SENSOR

F9

1

x6

2 S2 N 1

IR SENSOR F54

S1 RIVET

F10

S3

Attach STEP⑧, F4, and F54 together.

F4

x1

F54

SP2

x1

x2

x2

DMS

S5

x4

N1

x4

RIVET

x2

x1

CABLE-DMS 1

2

SP2

F4 RIVET N1

DMS SP2 F54

5

Attach STEP⑦, STEP⑨, and F51 together.

F51

x1

S12

x4

1

2

S12

S12 F51 F51 BACK

BACK

Attach STEP③, STEP④, STEP⑤, STEP⑥, and STEP⑩ together.

S2

x 12 2

1

S2

6

Attach STEP⑪, F52, and CM-510 together.

Connect IR SENSOR1 to Port 1 of CM-510 with 5P CABLE-15.

Connect IR SENSOR2 to Port 2 of CM-510 with 5P CABLE-15.

Connect DMS to Port 3 of CM-510 with CABLE-DMS. F52

S1

x1

x6

N1

CABLE-BAT

x2

x1

CM-510

x1

CM-510

F52 S1

S1

PORT 3 (|||) DMS

N 1

IR SENSOR2

IR SENSOR1

PORT 2 (||) IR SENSOR2

PORT 1 (|) IR SENSOR1

With 2 CABLE-6 connect ID1 to ID2; ID5 to ID6.

With 4 CABLE-14 connect the following: ID1 to ID3; ID2 to ID4; ID5 to ID7; ID6 to ID8.

Connect ID4 and ID8 to CM-510 each with CABLE-20.

BATTERY

x1

CABLE-6

x2

CABLE-14

x4

CABLE-20

x2

1

2

3

7

BATTERY

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave, as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Gerwalk Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Gerwalk Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Gerwalk – Getting Started Attach a pair F3’s together. (Make 2 sets) Attach F1 to F3. (Make 2 sets) F3

x2

F1

x6

S1

x 16

N1

x 16 F3

1

F3

1-1

N1

S1

x2

2

F3 F1

2-1

F3

F1

S1

N1

x2 F3

Attach ID2, ID3, and F3 together. (Do not misalign horn position. Make 2 Sets.)

Attach F1 to F12. (Make 2 sets) F1

x2

x2

F3

x2

F12

1

S1

x 14

x6

N1

1-1

F3

S1

F3

x2 F12

2

S1

x 2 SET 2-1

N1

F1

x2

F12

F1

3

Attach ID 4 through ID7, STEP①, and STEP② together.

(Do not misalign horn position.)

BU

x4

WA

x4

x 40

S1

x 24

N1

1

S-B

x4 2-1

2

N1

N1

S1

BU

S1

BU S-B S-B WA

WA Left

3

4

3-1

S1

N1

Right

Right

With 2 CABLE-10, connect ID4 to ID6; ID5 to ID7.

With 2 CABLE-14, connect ID2 to ID4; ID3 to ID5.

Connect ID3 with CABLE-14.

Connect ID2 with CABLE-20.

CABLE-10

x2

CABLE-14

x3

CABLE-20

1

x1 2

CABLE-14

CABLE-10

CABLE-14

CABLE-20 Right

Lef t

1-1

2-2

2-1

CABLE-20

CABLE-14 Left Back

Right Back

4

Attach ID1, F1, F51, F54, DMS, and IR SENSOR together.

(Do not misalign horn position.)

F 2

x1

BU

F51

x1

F54

WA

x1

S-B

x1

5P CABLE-15

x3

S 2

x1

IR SENSOR

x4 F2

1

F51

x2

DMS

x1

S 1

B U W A

N 1

x 14 RIVET

x1

S1

F2

N1

5P CABLE15

x8

N1 F54

3-1

3

CABLEDMS

IR SENSOR

F54

x 20

x6

2-1

2

S-B

DMS

CABLE-DMS

x2

N1

x2

IR SENSOR RIVET N1

4-1

4

5-1

5

F54 DMS

N1

RIVET

DMS

F2 S2

6

6-1

7 F51

N1

F2

IR SENSOR

DMS

Attach F52 to F60.

F52

x1

F60

x1

S12

x4

N1

x2 F52

1

F52

1-1 F60 S12

F60 N1

5

Attach STEP④, STEP⑤, and STEP⑥ together.

Connect ID1 to ID3 with CABLE-14.

S1

x8

1

2

S1

Right

Left

Left

Right

Attach STEP⑦ to CM-510.

Connect ID1 to CM-510 with CABLE-14.

Connect ID2 to CM-510 with CABLE-20.

Connect DMS to Port 1 of CM-510 with CABLE-DMS. Connect IR SENSOR1 to Port 3 of CM-510 with 5P CABLE-15.

Connect IR SENSOR2 to Port 4 of CM-510 with 5P CABLE-15.

Cm-510

x1

S 1

x8

Sensor1

Sensor2

2

1

DM S

S1 PORT 1 (| ) DMS

Cm-510 S 1

Sensor1

PORT 3 (||| ) Sensor 1

Sensor2

6

PORT 4 (|||| ) Sensor 2

Connect the battery through the battery cable.

BATTERY

x1 2

1

3

BATTERY

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Walking Droid Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA Global S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Walking Droid Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the “Open Port” icon, and click on “Start Search.”

On address 30, Goal Position, click on “Center Position.” Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Walking Droid – Getting Started Insert 4 N1’s into ID1; ID2; ID3; ID 4. x 20

N1

1

2

N1

X2 N1

3

N1

N1

Attach one F1 to one F12.

F1

x1

F12

x1

S1

x4

N1

x4

1

2 F12 F1

N 1

S 1

F1

3

Attach one F1 into one F12.

x1

F1

F12

x1

x4

S1

x4

N1

1

2

F12

F1 S1 F1 N1

Attach F3 to ID1; ID2. (Do not misalign horn position.)

Attach ID1 to ID3 and to STEP②; ID2 to ID4 and STEP②. x2

F3

BU

x1

WA

x1

S-B

1

x1

S1

x 12

2 F3

S-B S1

BU S1

WA

3

x2 F3

4

Attach STEP③, ④, F3, and F8 together. (Do not misalign the horn position.)

F3

x2

F8

x1

BU

x1

x1

WA

S-B

x1

S1

x 12

F3

1

3

S1 S-B WA

S1

S1 BU

2

F8

S 1

F3

Attach F8 to Step⑤.

Connect CABLE-14 to ID1 and ID2; tidying them up by using F55.

Connect to ID1 and ID2 with CABLE-10.

F8

x1

F55

x2

CABLE-10

x2

CABLE-14

x2

S1

N1

x2

F8

2

1

x8

F8 S1 S1 F55 N1

CABLE-10

CABLE-14

5

CABLE-10

Attach F51, F54, and F60 together.

F51

x1

F54

x1

F60

x1

S2

x2

x4

N1

1

2 N1

N1 F51 F54

F60

S2

Attach Stepâ‘Ľ, â‘Ś, F5, F9, F10, and F54 together.

F5

x1

F9

x1

x1

F10

F54

1

x1

S2

x6

S5

x4

N1

x8

2 S2

N1

F5

3

F9

4 F9

5 F10

S5 S2

N1 F54

F54 F9 F5

6

Attach F52, IR SENSOR, PLATE 3x7, and SINGLE BRACKET together. x1

F52

x1

IR SENSER

5P-5P CABLE

x1

RIVET

SIGLE BRACKET

1

x 11

PLATE 3x7

x2

N 1

x1 PLATE 3x7

x2

2

RIVET

PLATE 3x7

SIGLE BRACKET

IR SENSER

4

RIVET

IR SENSER

5P-5P CABLE

3

F52

N1

Attach STEP⑧, ⑨, and CM-510 together.

Connect ID1 and ID3 with CABLE-14.

Connect ID2 and ID4 with CABLE-14.

Connect ID1 to CM-510 with CABLE-10; ID2 to CM-510 with CABLE-10.

Connect IR SENSOR to Port 1 of CM-510 with 5P CABLE-15.

CM-510

x1

CABLE-BAT

x1

S 1

CM-510

x8 2 CABLE-10

1

S 1

3

CABLE-BAT

4 CABLE-14

5P-5P CABLE

Port 1

7

Connect the battery through the battery cable.

BATTERY

1

x1 2

BATTERY

4 3

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Fawn Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Fawn

Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Fawn – Getting Started Attach F1 to F2. (Make 2 sets.)

F 1

x2

F 2

S 1

x2

x8

N 1

x8

1

2 N1

S1

F 1

F 2

x 2 SET F 2

F 1

Attach STEP①, ID2 through ID5, F3, and F55 together. (Do not misalign horn position.)

F 3

x4

F55

S 1

x4

x 24

N 1

x 24

BU

x4

WA

x4

3

2

S1

S-B N1

N1

1

x4

F 3 BU S-B

S1

S1

F55 WA

F 3

Attach STEP② to F52.

F52

x1

S 1

x8

1

2 Lef t

Lef t

S1

F52 F52

Right Right

3

Attach ID6, ID7, F3, F4, and F55 together. (Do not misalign horn position.)

F 3

F 4

x2

x2

F55

x4

S 1

N 1

x 16

x8

x2

B U

1

WA

2

F55

S-B

x2

F 4

N 1 F 4

x2

BU

S1

S-B

F 3

WA

N 1

Lef t

F 3

Right

Attach STEP④ to F51.

F51

x1

S2

x8

1

2

Left

Right

F51 S2

Attach STEP③ to STEP⑤.

S1

x4

N 1

x4

1

2

S1

N1 S1

Attach F2, F54, and IR SENSOR together.

F 2

F54

x1

x1

x1

IR SENSOR

5P CABLE-15

x1

RIVET

x3

S 1

x4

N 1

IR SENSOR

2

1

3

IR SENSOR

RIVET F54

F 2

N 1

F54

4

F 2

S1

x4

Attach ID1, F2, and F7 together.

F 2

F 7

x2

S 1

x2

x4

S 3

N1

x4

x8

N 2

N 2

1

x2

2

S 1

F 7

S 3 F 7 N 1

F 2

F 2

Attach STEP⑦, STEP⑧, F2, and F9 together.

F 2

x1

F 9

B U

x1

x2

WA

x2

S-B

x2

S 3

1

x4

N1

x4

S 3

N 1

2

BU F 9 S-B

F 2

W A

Attach STEP⑥ to STEP⑨. (Do not misalign horn position.)

BU

x1

WA

x1

S-B

x1

S 1

S12

x4

BU

1

x3

2 S-B

S1 WA

S12

5

F 9

Attach F6, F60, and STEP⑩ together.

F 6

x1

F60

x1

S 1

S12

x2

1

x4

N 1

x2

2

3

F 6

N 1

S1 2

S1

F60

F 6

Connect ID6 to ID7 with CABLE-6.

With 2 CABLE-10, connect ID3 to ID1; ID7 to CM-510.

Connect ID1 to CM-510 with CABLE-14.

With 3 CABLE-18, connect ID4 to ID2; ID3 to ID5; ID2 to CM-510.

Connect IR SENSOR to Port 1 of CM-510 with 5P CABLE-15.

x1

CABLE-6 CM-510

1

x1

CABLE-10

x2

CABLE-BAT

x1

CABLE-14

x4

SP2

x1 S3

CABLE-18

x3

x4

2 CM-510

S3

SP2

PORT 1 (|) IR SENSOR

6

Connect the battery through the battery cable.

BATTERY

x1

2

1

BATTERY

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Robot Arm Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Robot Arm

Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the “Open Port” icon, and click on “Start Search.”

On address 30, Goal Position, click on “Center Position.” Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Robot Arm – Getting Started Attach ID4 to F3. (Do not misalign horn position.)

F3

S1

x1

x4

1

2

S1

F3

Attach ID2, ID3, F1, and F3 together. (Do not misalign horn position.)

F 1

x1

1

N 1

F 3

x1

S 1

x 12

F 1

N1

x 12

x1

B U

WA

x1 3

N 1

2

x1

S-B

F 1 S1

F 3

S1

BU S-B

F 3 W A

N 1

Attach F3, F4, and F10 together.

F3

1

x1

F4

x1

F10

x1

S3

x4

N 1

S3

x4 F3

2

F10

F10

F4

F3

F4 N1

3

Attach F2, F3, F8, and F10 together.

F 2

x1

F 3

x1

F 8

F1 0

x2

F 8

1

x2

S 2

N 1

x 12

x 12 F 2

2

F 2

S 1

F 8

F10

3

N 1

F 8

F10

F 3

F 3

Attach STEP④ to ID1. (Do not misalign horn position.)

S1

x8

N 1

x8

BU

x1

WA

x1

S-B

x1

BU S-B S1

WA

N1 S1

Attach STEP③ to STEP⑤.

S 1

x4

S1 S1

4

Attach STEP①, STEP②, and STEP⑥ together. (Do not misalign horn position.)

S1

x8

x1

BU

x1

WA

S-B

x1

S1

BU S-B WA S1

Attach ID6, ID8, and F3 together. (Do not misalign horn position.)

F 3

x2

S 1

x8

N 1

x8

F 3

1

3

2 F 3

S 1

S 1

N 1

N 1

Attach ID5, ID7, and F4 together. (Do not misalign horn position.)

F4

x2

S1

x8

N 1

x8

BU

x2

WA

x2

S-B

x2 F4

1

2 S1

BU S-B

F4 WA

x2

x2 N1

5

Attach STEP⑧ to STEP⑨.

S1

x8 2

1

S1

S1

Attach F3 to F52.

F3

x2

F52

S1

x1

x8

x8

N1

2

1

S1

F52 N1

F3

F52 N1

Attach F3 to F51.

F3

x1

F51

x1

S1

x4

N1

x4 2

1 N1

S1

F51 F3

F51

6

Attach F3, F10, and F60 together.

F3

x1

F10

F60

x2

x1

S5

N1

x4

x4

F60

1

F10

S5

2

F3

F3

N1 F60 F60

F10

Attach STEP⑪, STEP⑫, and STEP⑬ together.

S1

S12

x4

x4

N1

x4

1

3

N1 S12

2

S1 S12 S1

Attach STEP⑦, STEP⑩, STEP⑭, and CM-510 together.

S1

x 16

CM-510

x1

1

2

S1 S1

CM-510

7

x2

With 2 CABLE-10 connect ID6 to ID8; ID8 to CM-510.

With 6 CABLE-14 connect the following: ID1 to ID2; ID2 to ID3; ID3 to ID4; ID4 to CM-510; ID5 to ID6; ID7 to ID8.

CABLE-10

x2

CABLE-14

x6

Connect the battery through the battery cable.

BATTERY

x1

2 1

BATTERY

8

9

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Quadruped Walking Robot Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Quadruped Walking Robot Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Quadruped Walking Robot – Getting Started Attach F1 to F2. (Make 4 sets.)

Attach F3 to F6. (Make 4 sets.)

F1

x4

F2

F3

x4

F6

x4

x4

S1

x 24

N1

x 24

F1 S1

1

S1

F6

2

N1

F2 F1

F2

F3

F3

x4

F6

Attach STEPâ‘ , ID2, ID3, ID6, and ID7 together. (Do not misalign horn position.)

S1

x 16

N1

1

x 16

BU

x1

WA

x1

S-B

x1

2

N1

S1

21

BU

S-B

N1 WA

1set

3

1set

Attach STEP①, ID1, ID4, ID5, and ID8 together. (Do not misalign horn position.)

S1

N1

x 16

x 16

BU

x1

x1

WA

1

S-B

x1

2

N1 S1 BU S-B

21

WA

S1

N1

1set

1set

Attach F9, F54, IR SENSOR, and DMS together.

F9

F54

x1

5P CABLE-15

x2

x1

DMS

x1

CABLE-DMS

x4

S1

N1 RIVET

x1

x4

IR SENSOR

x1

x3

F54

RIVET

2 DMS

3

4 N 1

5P CABLE-15

1 IR SENSOR F54 PLATE 3x7 IR SENSOR

PLATE 3x7

5

6

S1

DMS

F9 F9

F54

IR SENSOR

CABLE-DMS

DMS

4

Attach STEP④, F3, and F51 together.

F3

x2

F51

S1

x1

x 12

x 12

N1

1

F3

2 S1 F3

F51 N1

F51

Attach F3 to F52.

F3

x2

F51

x1

S1

x8

N1

x8 F3

1

2

F3

S1

N1

F52

F52

Attach STEP⑤ to STEP⑥.

S1

x4

N1

x4

1

2 S1 S1

N1

5

Attach STEP②, STEP③, STEP⑦, F60, and CM-510 together.

Connect ID1, ID2, ID3, and ID4 to CM-510 each with CABLE-10.

With 4 CABLE-14, connect ID1 to ID5; ID2 to ID6; ID3 to ID7; ID4 to ID8.

Connect DMS to Port 1 of CM-510 with CABLE-DMS. Connect IR SENSOR to Port 2 of CM-510 with 5P CABLE-15.

S1

x 20

CABLE-10

S12

x4

CABLE-BAT

x4

CABLE-14

x4

x1

CM-510

F60

1

x1

x1 2

CM-510

PORT 1 (|) DMS S1

PORT 2 (||) IR Sensor

S12

F60

3

S1

Connect the battery through the battery cable.

BATTERY

x1

2

1

21

BATTERY

11

6

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Line Tracer Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Line Tracer Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Line Tracer – Getting Started Insert N1 to ID1; ID2. x8

N1

1

2

N1

Attach STEP①, F3, and F55 together.

Attach F13 to F14.

Connect ID1 to ID2 with CABLE-6; connect ID2 with CABLE-14. x2

F 3

F5 5

x4

x8

S 1

x8

N 1

1

x2 2

F 3

F5 5

F1 3

3

N 1

x2

F1 4

x2

S 1

F 3

4

S 1

F 3

x2

CABLE-6

x1

CABLE-14

x1

F1 3

1

S 2

x8

2

CABLE-14

S 2

x2

F1 4

3

CABLE-6

Attach F54 to IR SENSOR. (Make 2 sets.)

F54

x2

x2

IR SENSER

RIVET

x6

1

5P-5P CABLE

x2

2

IR SENSER F54

x2

x2

RIVET

5P-5P CABLE

Attach F9, BU, and WA together.

F 9

x2

BU

x1

W A

x3

x1

S 5

N1

x2

1

2

N 1

N 1

S 5

BU

F 9

3 W A

4

x3

F 9

Attach F3, F10, and F60 together.

F 3

x1

F1 0

x6

F6 0

x1

x4

S 8

x4

N1

1

2 N1 F 3

S 8 F1 0

x6

F6 0

Attach F5, F9, and F52 together.

F 5

x1

F 9

x1

F5 2

x1

S 2

1

x4

x2

S 1

N 1

2

x6

S 2

N 1

F 9

F 5

F 5

3

N 1 F 9

F5 2

5

S 1

Attach STEP②, STEP③, STEP④, STEP⑤, F10, and F51 together.

F10

x4

S 1

x8

S 7

x4

S12

x2

x8

N 1

F5 1

x1

N 1

S 1

S 1

F5 1

S 7

S1 2

N1

F10

6

x4

Attach STEP⑥ to ⑦.

S 1

x3

S12

x2

N 1

x3 N 1

S 1

x3

S12

S 1

S 1

Connect ID2 to CM-510 with CABLE-14.

Connect IR SENSOR1 to Port 6 of CM-510 with 5P CABLE-15.

Connect IR SENSOR2 to Port 5 of CM-510 with 5P CABLE-15. x1

CM-510

S 1

CABLE-BAT

x1

S 1

x4

CABLE-BAT

CABLE-14

7

IR SENSOR1

Port 6

IR SENSOR2

Port 5

Connect the battery through the battery cable.

BATTERY

1

3

x1 2

4

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Attacking Duck Assembly manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Attacking Duck Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Attacking Duck – Getting Started Attach F3 to F9. (Attention to left and right oppositional sides.)

F 3

F 9

X2

x 32

N 1

X2

x4

S 1

2

1 N 1

F 3

N 1

31

F 9

32

F 9 S 1

S 1

F 3

F 3

Attach STEPâ‘ , ID1, and F1 together. (Do not misalign horn position.)

F1

x1

S 1

x 12 F1

11

12

13

S 1

S 1

S 1

Attach F2, F3, and ID2 together.

F3

11

x1

F 2

x1

S 1

12

F3

x8

N 1

X4 S 1

13 F 2 F3

14 N 1

S 1

3

F 2

Attach F54, PLATE 3X7, and IR SENSOR together.

Attach F3, F9, F11 together. x1

F5 4

x1

PLATE 3X7 IR SENSOR

11

RIVET

x4

S 1

N 1

11

x4

F3

x1

F9

12

x4

F5 4

x1

F11

13

x1

F11

21

14

S1

F9

F9

22

F3

F 3

23

F9

F11

Attach ID3 to STEP④. x4

N 1

IR SENSOR

PLATE 3X7

N1

S 1

x6

RIVET

12

F5 4

N 1

x2

IR SENSOR

S 2

x4

11

S 2

12

S 1

4

F 3

Attach STEP②, STEP③, and STEP⑤ together. (Do not misalign horn position.)

x2

BU

S-B

x2

WA

x2

S1

x8

11

S 1

12

S-B, BU, WA

Attach F3 to F51.

N 1

x4

S 1

x4

F3

x1

F51

x1

1

11

S1 F51

2

3 N 1

F3

5

Attach STEP⑦ to F52.

N1

x4

S1

x4

F52

x1

1

11 S1

F52

N1

Attach STEP⑥ to STEP⑧.

S1

x4

1

11

S1

6

Connect 2 IR SENSORS with 5P CABLE-40 each. Run 5P CABLE-40 beneath F3 from ID2, ID3, and through STEP⑨.

Connect ID2 and ID3 with CABLE-10.

Connect ID1 and ID2 with CABLE-14.

x2

F3

S1

x8

11

5P CABLE-40

x2

x1

CABLE-10

12

S 1

x1

CABLE-14

13

5P CABLE-40

CABLE-14

CABLE-10

IR SENSOR 2

IR SENSOR 1

Attach CM510 to STEP⑩.

Connect IR SENSOR 1 (right) to Port 2 of CM-510 with 5P CABLE-40.

Connect IR SENSOR 2 (left) to Port 6 of CM-510 with 5P CABLE-40.

Connect ID1 to CM-510 with CABLE-10.

S1

x4

CABLE-BAT

x1

CABLE-10

11

CM-510

x1 12

CM-510

x1

IR SENSOR 1 PORT 2 IR SENSOR 2 PORT 6

S 1

7

Connect the battery through the battery cable.

BATTERY

x1

S12

x2

F60

x1

11

1

F60

12

2

S12 BATTERY

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1. ] U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

9

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

10

Bioloid Premium Kit Crocodile Mouth Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Crocodile Mouth Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Aligator Mouth – Getting Started Attach IR SENSOR, F10, and F8 together. x6

N 1

S 2

x6

F 8

x1

F10

x1

F54

x1

IR SENSOR

13

11

x1

RIVET

x3

22

IR SENSOR F54

21

12

S2 F10

N 1

IR SENSOR

RIVET

31

32

F10

33

N 1 F 8

F 8

S2

Attach STEP① to ID1.

S1

x4

N1

x4

1

22

21

N1

S1

Attach F6 to F8.

S2

x2

N1

x2

F6

x1

x1

F8

F8

11

12

2

S2 N1

F6

3

Attach STEP③, F3, and F10 together. x2

S 5

x6

N 1

F 3

x1

x2

F10

1

F10

2

x2 S5

F3 F 3

N1

Attach STEP④ to F1.

S 5

x4

F 1

x1

11

12

F1 S5

Attach STEP② to STEP⑤. (Do not misalign horn position.)

S1

x4

S-B, BU, WA

x1

11

12

S1

4

S-B, BU, WA

Attach F3, F10, and F60 together.

S5

x4

N 1

x4

11

F3

x1

F10

x2

F60

12

x1 13

F10

x2

N1 S5

F60 F3 F3

Attach F51 to F52.

N1

x4

S1

x4

F51

x1

F52

x1

1

11

N1

F52

F51

21

2

S1

5

Attach STEP⑥, STEP⑦, and STEP⑧ together.

S12

x8

11

12

13

S12

21

22

Connect STEP⑨ to CM-510.

S1

x4

CM-510

x1

x1

CABLE-BAT

1

11

S1

CM-510

CABLE-BAT

Connect ID1 to CM-510 with CABLE-10.

Connect IR SENSOR to Port 1 of CM-510 with 5P CABLE-15.

CABLE-10

x1

5P CABLE-15

x1 5P CABLE-15

11

12

CABLE-10

PORT 1

6

Connect the battery through the battery cable

BATTERY

x1

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Clapping Crab Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Clapping Crab Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Clapping Crab – Getting Started Attach F3, F51, and F60 together.

S 2

x2

N 1

x4

F 3

x1

F51

x1

F60

x1

1-2 1-1

F51

N1

1-3

1-4 2

F51

3-1

N1

F 3

3-2

S2

F60

3

3-3

Attach two F1’s to F52.

N 1

x 10

S 1

x8

F52

1-1

x1

F1

x2

1-2

2-1

N 1

N 1

F1

x2 F52

F1

2-2

2-3

F52

S1

F1

F1

Attach STEP① to STEP②.

S1

x4

1-1

1-2

S1

4

Attach additional STEP③.

x2

N 1

x2

S 5

x2

S12

F10

x1

1-1

F54

F54

x1

SP 2

x2

1-2

2-1 F10

x2 N 1

F54

S5 + SP2 F10

2-2

2-3

S12

Attach F1, F5 and F10 together. (two sets)

x8

S6

N 1

x8

F5

1-1

x2

F10

x4

2-1

F2

x2 2-2

F10

2-3

x2

F10

F2

F5

1-2

x2

N1 S6

x2

F2 F5

5

Attach STEP④ to STEP⑤. x8

S12

1-1

1-2 1-4

1-3

S12

Attach F3, F9, and F11 together. (two sets)

S 1

11

x8

N1

N 1

x8

F3

x2

12

F9

x2

F11

13

x2 21

14

F11

F3

22

S1

F9

F9

23 F9

F3

배터리와 STEP⑥을 체결한다.

F 3

F11

x2 6

Attach STEP⑥, STEP⑦, ID1, and ID2 together. (do not misalign horn position)

S 1

x 16

N 1

x8

x2

S-B, BU, WA

1-1

1-2 N1

S1

2-1

S1

2-2

S-B, BU, WA

S1

Attach STEP⑧ , CM-510, and the battery together.

Connect the battery to through the battery cable.

S 1

x4

BATTERY

1-1

x1

x1

CABLE-BAT

CM-510

x1

1-2

CABLE-BAT

CM-510

BATTERY

S1

7

Connect ID1 and CM-510 with CABLE-14.

Connect ID2 and CM-510 with CABLE-14.

8

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Robot Flower Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Robot Flower Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Robot Flower – Getting Started Attach F2 to F9. (Make 3 sets.)

F2

F9

x3

x3

S 1

N 1

x 12

1

2

F2

N1

x 12 F9

F9 F2

S1

Attach F1 to F3. (Make 3 sets.)

F1

F3

x3

x3

S1

N 1

x 12

x 12

1

2 S1

F1

F1

F3

F3

N1

Attach STEP①, STEP②, ID1, ID2, ID4, and ID5 together.

(Do not misalign horn position.)

S1

x 24

N1

x 16

BU

x4

WA

x4

S-B

x4

1

N1

N1

2

S1

BU S-B

S1 WA

3

Attach STEPâ‘ , STEPâ‘Ą, ID3, and ID6 together. (Do not misalign horn position.)

S1

N1

x 12

x8

x2

BU

x2

WA

S-B

x2

S1

BU N1

N1

S-B WA

Attach F3, F10, F52, and F60 together.

F3

x4

F1 0

F5 2

x1

F6 0

x1

S 1

x1

x6

S 2

x2

S13

N 1

x2

2

1

F 3

3

F 3

F5 2

x8

F5 2

F 3

S 1 F1 0

F6 0

F 3

F 3

S 2

S1 3

N 1

F6 0

Attach F3 to F51.

F3

x3

F51

x1

S 1

x6

N 1

x6 F 3

2

1 F51

3 N1 S1

F 3

F51

4

F 3

Attach STEP⑤ to STEP⑥.

S 2

x4 U P

1

DOW N

2

3

S 2

S 2

Attach STEP③, STEP④, and STEP⑦ together.

With 3 CABLE-10, connect ID1 to ID4; ID2 to ID5; ID3 to ID6.

Connect ID1, ID2, and ID3 to CM-510 each with CABLE-20. x3

CABLE-10

CABLE-20

x3

x1

CM-510

CABLE-BAT

2

1

CM-510

Connect the battery through the battery cable.

BATTERY

x1 3

2

1

BATTERY

5

x1

6

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

7

Bioloid Premium Kit Distance Level Meter Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Distance Level Meter Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Distance Level Meter – Getting Started Attach ID1, F3, and F6 together. (Do not misalign horn position.)

F 3

F 6

X1

N 1

X1

x6

S 1

x4

S 2

1

x2

11

F 3

N 1

S2

2

F 6

3

F 6

F 3

N 1

S 1

Attach F3, F10, and F51 together. (Attention to left and right sides.)

N 1

x4

S 6

x4

F3

x1

F51

x1

F10

x3

1

S6 F51

2

N 1

F3

3

F3 F10

x3 3

Attach F9, F54, and DMS together.

N 1

x8

S 1

x4

1

F9

x1

F54

x1

2

x1

DMS

3

N 1

x3

RIVET

31 F9

S1

F9

F9 F54

4

5 RIVET

41

DMS

RIVET

DMS

Attach STEP② to STEP③.

S 2

x4

1

2

S 2

Attach STEP① to STEP④.

S1

x4

1

11 S1

4

F54

Attach STEP⑤ to F52.

N1

x4

S1

x4

F52

x1 1-1

1 S1

F52

N1 F52

Attach STEP⑥ to CM-510. (Tidy up CABLE-BAT location during the process.)

S1

x4

CABLE-BAT

x1

x1

CM-510

1

1-1

CM-510

CABLE-BAT

S1

Connect ID1 to CM-510 with CABLE-06.

Connect DMS to Port 1 of CM-510 with CABLE-DMS. CABLE-06

x1

CABLE-DMS

x1

1

1-1 PORT 1 (| ) DMS

5

Attach STEP⑧ to BATTERY. BATTERY

x1

S12

x2

F60

x1

1

1-2

F60

1-3

2 S12

BATTERY

Connect the battery through the battery cable.

1

2

6

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Parking Gate Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid

Premium Kit Parking Gate Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn is in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Parking Gate – Getting Started Attach F3 to F6.

F3

F6

X3

N1

X1

x6

S2

x6

1

1-1

N1

S2 F3

F3

2 F3

F3

Attach STEP① to ID2. (Do not misalign horn position.) x4

N 1

1

S 1

x4

2

N 1

3

F6

Attach STEPâ‘Ą, F3, and ID1 together. (Do not misalign horn position.)

N 1

x4

S1

x8

F3

1

x1

2

N1

F3

F3

2-1

1-1

S1 S1

Attach F3, F52, F54, and IR SENSER together. (Attention to left and right sides.)

N 1

x8

S 1

1-1

x4

S 2

x8

1-3

F3

x1

x1

F51

IR SENSOR

F54

x1

IR SENSOR

3

F54 N 1

1-2 2

F51

N 1

RIVET

S2

F3

5

4

IR SENSOR

F51

F54

4

x1

RIVET

x3

Attach STEP④ to F52.

N 1

x4

S1

x4

F52

x1

1

1-1

N1

2

2-1

F52

S1

Attach STEP③ to STEP⑤.

S1

x4 1-1

1

S1

Attach STEP⑥ to CM-510.

S1

x4

CM-510

x1

CABLE-BAT

x1 1-1

1 CM-510 S1 CABLE-BAT

5

Connect ID1 to CM-510 with CABLE-14.

Connect ID1 to ID2 with CABLE-10.

Connect IR SENSOR to Port 6 of CM-510 with 5P CABLE-15.

CABLE-10

x1

x1

CABLE-14

5P CABLE-15

3

2

1

CABLE-10

CABLE-14

Attach the battery to STEP⑧.

BATTERY

x1

S12

x2

x1

F60

x1 1-1

1

1-3

2 F60 S12

BATTERY

6

Connect the battery through the battery cable.

1

2

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit, if there is no power then check the wiring on the actuator.

8

Sensor and behavior check From STEPâ‘Ą press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors,as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEPâ‘Ą.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

9

Bioloid Premium Kit Crossing Gate Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Crossing Gate Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Crossing Gate– Getting Started Attach F2, F3, and F6 together.

F 3

F 6

X3

F 2

X1

N 1

X1

x8

x8

S 2

1

2

N 1

F 3

S2

F 2

N 1

F 6

3

F 3

F 3

F 2

F 3

Attach STEP① to ID1. (Do not misalign horn position.)

N 1

1

x4

S 1

x4

BU

x1

WA

x1

S-B

x1

21

2

S1 BU , WA , S-B N 1

3

F 6

Attach F3 to F51. (Attention to be fixed at correct direction; left and right.)

N 1

x4

S 1

x4

F3

x1

F51

x1

11

1

F51

3

2 N1 F3

Attach STEP③ to F52.

N1

x4

S1

x4

F52

x1

11

1

N1

2

F52

21

S1

4

S1

Attach STEP② to ④.

S1

x4

11

1

S1

Attach STEP⑤ to CM-510.

S1

x4

CM-510

x1

x1

CABLE-BAT

11

1

S1

CABLE-BAT CM-510

Connect ID1 to CM-510 with CABLE-10.

CABLE-10

x1

11

1

CABLE-10

5

Connect STEPâ‘Ś to the battery.

BATTERY

x1

S12

x2

F60

x1

11

1

F60

12

2

S12

BATTERY

Connect the battery through the battery cable.

1

2

6

7

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

8

Bioloid Premium Kit Pan Tilt Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit Pan Tilt

Assembly Manual

1

Attention!

Before proceeding with assembly you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Pan Tilt – Getting Started Attach ID1 to F2. (Do not misalign horn position.)

Attach ID2 to F3. (Do not misalign horn position.)

F 3

F 2

X1

x8

N 1

X1

1

S 1

x8

BU

2

x1

F 2

N 1

S-B

x1

WA

x1 F 3

3

2-1

S 1

S 1

Attach F3 to F51.

N 1

x4

S 1

x4

F3

x1

F51

x1

1

1-1

S1

F51

2

3

N 1

F3

3

Attach STEP② to F52.

N1

x4

S1

x4

F52

x1 1-1

1 S1

F52

N1

Attach STEP① to STEP③.

S1

x4 1

1-1

S1

STEP④와 CM-510을 체결한다. (CABLE-BAT 케이블 위치를 정리한다.)

Attach STEP④ to CM-510. (Tidy up CABLE-BAT location during the process) S1

x4

CABLE-BAT

x1

x1

CM-510

1

11 CM-510

CABLE-BAT S1

4

Connect ID1 to CM-510 with CABLE-14.

Connect ID1 to ID2 with CABLE-14. x2

CABLE-14

1

2

CABLE-14

Attach the battery to STEPтСе.

BATTERY

x1

S12

x2

F60

x1

1

12

F60

13

2

S12

BATTERY

5

Connect the battery through the battery cable.

1

2

6

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

7

Bioloid Premium Kit Universal Gauge Assembly Manual v1.0 ROBOTIS EXCLUSIVE DISTRIBUTOR. RO-BOTICA GLOBAL S.L. C/ Hercegovina 22, bajos 08006 Barcelona (Spain) www.ro-botica.com Tel: +34 934 143 581 info@ro-botica.com

Bioloid Premium Kit

Universal Gauge Assembly Manual

1

Attention!

Before proceeding with assembly, you must ensure each actuator’s horn is properly aligned.

To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuator’s body.

If not, perform one of the following actions: A.Turn the horn manually until its properly aligned.

B.Use Dynamixel Wizard.

1.

2.

3.

4.

Start RoboPlus and run Dynamixel Wizard.

Connect the actuator to the computer through USB2Dynamixel. Don’t forget to supply power to the actuator separately.

Select the correct port, click on the Open Port icon, and click on Start Search.

On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can visually verify horn alignment afterwards.

(For more information, please refer to Dynamixel Management.)

Dynamixel Wizard

properly aligned horn

*Some robots may require a specific horn alignment before assembly.

Please follow assembly instructions closely if such horn alignment is necessary.

Tips!

I.

Always assign ID numbers to the actuators before assembly. Robotis recommends you assign ID’s by one actuator at a time.

II. You may need apply gentle pressure to fit nuts into the actuator’s body. The tight fit is necessary to facilitate assembly.

A. Insert only one nut at a time.

B. Use your screwdriver to apply pressure on the nut.

C. Point the screwdriver away from your body and away from other people.

2

Bioloid Universal gauge – Getting Started Attach ID1, F3, and F6 together. (Do not misalign horn position.)

F 3

X1

F 6

X1

N 1

S 1

x6

x4

S 2

x2

1

1-1

F 3

F 6

S2

N1

2

F 3

3

N1

S 1

Attach F3 to F51. (Attention to left and right sides.)

N1

x4

S 1

x4

F3

x1

F51

x1

1

11

S1 F5 1

2

3

N 1 F3

3

Attach STEP② to F52.

N1

x4

S1

x4

F52

x1

1

1-1

N1

F52

2

2-1

S1

Connect STEP① to STEP③.

S1

x4

1

1-1

S1

4

Attach STEP④ to CM-510. (Tidy up CABLE-BAT location during the process.)

S1

x4

CABLE-BAT

x1

CM-510

x1

1

1-1 CM-510

S1

CABLE-BAT

Connect ID1 to CM-510 with CABLE-10.

CABLE-10

x1

1

1-1

CABLE-10

Attach the battery to STEP⑥.

BATTERY

x1

S12

x2

F60

x1 1-1

1

1-3

F60

2

S12

BATTERY

5

Connect the battery through the battery cable.

1

2

6

Assembly Check After assembly please check the following procedure to ensure correctness.

Run the assembly check program Set the robot in PLAY mode; hold the D button then press START. Once the START button is pressed, the assembly check program begins.

AX12+ initial position and ID check Select each actuator separately and compare it to the picture below.

Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).

Pressing the U or D button selects one actuator at a time.

The selected actuator’s LED lights up and goes to its initial position.

Check starts from ID1.

U moves to the next ID in ascending numerical order; D, in descending numerical order.

If the actuator’s ID does not exist then the robot beeps.

Although the LED may lit if there is no power, then check the wiring on the actuator.

Sensor and behavior check From STEP② press R. The robot returns to its initial position as pictured above.

Place your hand close to the sensors as pictured below. Robot behavior begins.

If the robot does not behave as pictured below, then check the sensor wiring and its port.

Pressing L will return the robot back to STEP②.

If everything works fine, play the robot.

Set the robot in PLAY mode and press START. The robot will play.

7