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English
"-- 3*()54 3&4&37&% âľ‘ $PQZSJHIU CZ 30#05*4 $0 -5% All rights reserved. No part of this book may be reproduced, in any form or by any means, without prior consent or written permission from the publisher.
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한국어
PRECAUTION
ENG
We will not be held responsible for the result of any accidents caused by the user’s negligence.
日本語
Read the instructions carefully before getting started. Not suitable for children under 15 years of age. Do not use any other tools other than those provided in the kit. Keep robot away from face and body when moving. Prevent from getting fingers stuck between servos. Do not place near water, heat, or fire. Do not take apart or customize the parts. Only use battery and charger included in the kit. Gears must be replaced after long excessive use.
BIOLOID PREMIUM KIT Humanoid Samples Included Includes a Balance Sensor, Absolute Distance Measurement Sensor, IR Sensor, etc.. Includes a remote controller (IR is the basic default, but you may add a zigbee module) ROBOPLUS Software for programming Humanoid Skin and Cable Holder Digital Packet Communication & Organized Wires with Daisy Chain Topology Versatile Expansion Capability Capable of Building
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한국어
CONTENTS
ENG
日本語
1. Bioloid components and function
4
2. Assembly
5
3. Robot Action
6
4. My Own Robot
9
5. Troubleshooting
10
6. Assembly Manual
12
3
한국어
1. Bioloid components and functions
ENG
Dynamixel AX-12+ : 18 pcs
1
6
- Robot Exclusive Actuators using network method - Versatile Expansion Capability Capable of Building Various Robots. - Torque : 12kgcm(at 7V) - Movement Range : 300° - Rotates 360° (Works with wheels)
日本語
2
CM-510 - Robot Exclusive Controller - Sensor Ports : 6 ports (For User Created Sensors) - Dynamixel Connection Port : 5 ports - Sound Sensor, Buzzer and Fuse installed
7
Absolute Distance Measurement Sensor
RC-100 - Robot Exclusive Remote Controller - Capable of adding zigbee communication
- Accurate Distance Measurement (10cm~80cm)
3
8
Balance Sensor Module
4
- Acceleraton Detection (3 Axis) - Direction Detection (3 Axis, 360°)
SMPS & Charger - Input Voltage100~220V
6
2 3
1
4
9
9
IR Receiver Rechargeable Battery Pack
- Remote Controller Receiver Module
- Lithium Polymer11.1V1000mAh
5
10
10
5
IR Sensor : 2 pcs
Frame - All-round light weight frames
3P
CP
1M V
T
- Detects Objects
RoboPlus CD
USB2Dynamixel - RS-232, TTL, RS-485
RoboPlus - Robot Programming Software
Serial Cable - Program Download Cable
4
한국어
2. Assembly
ENG
Precautions (For more information, please refer to the website or video in the manual) 日本語
(1) Convenient method for assembling nut
(2) Line the horn accordingly and assemble
Assembling the robot Choose one of the 3 types of robot that best suites your need then begin.
TYPE A
-18 DOF, Weight : 1.8kgs, Height : 39.5cm -Stable omni direction walking
TYPE B
p.13 -16 DOF, Weight : 1.6 kgs, Height : 37cm -Capable of changing direction while walking -2 Dynamixels used for other purpose
p.33
TYPE C
-16 DOF, Weight : 1.6 kgs, Height : 38.6cm -Capable of walking sideways while walking -2 Dynamixels used for other purpose
5
p.45
A B C
한국어
ENG
日本語
3. Robot Action (1) Turning the Robot On ① Turn the power switch on and the LED will start blinking. ② Use the Mode button to move the LED to “PLAY”. (The LED will move each time you press the Mode button)
③ Press the “START” button. (Check whether the LED on “PLAY” in on or not) If the LED does not turn on, check the power cable/connection. If there is no problem, recharge your battery. (Please refer to pg. 8 (4) for more information)
Connect the SMPS for outer power supply.
① Power On
② Press to MODE Move to PLAY
③ Press START
(2) Checking the robot’s basic posture (This is to check if the robot has been assembled correctly) The robot should make the basic posture and melody according to its type like the pictures below. If the robot has a different posture and melody please refer to pg. 10.
TYPE A
Check the angles of the arm and leg. If it is different from the picture, go back to pg. 8 Check whether the cables have been assembled on the outer part of the leg.
If the robot has been assembled to an extent when it will cause severe damaged, a warning sound will be activated. Also, the LED of the motor with the problem will turn on and release its torque to prevent damage. Type A will make a “Do” musical note melody
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한국어
TYPE B
TYPE C
ENG
日本語
“Type C will make a “Do Re Mi” musical note melody
“Type B will make a “Do Re” musical note melody
(3) Getting the Robot started R D L U The below buttons stand for the following code.
U L
R D
R
R
Remote Controller Mode
D
Demo Mode
L
Free Walk Mode
U
Check Assembly Mode
Remote Controller Mode The RC-100 is for controlling the robot.
RC-100 Directions L
D
① Press the POWER/MODE button for 2 seconds. ② Press the below buttons to control the robot.
1
U R POWER/MODE
U Walk Forward
D Walk Backward
L Left Turn
R Right Turn
L + D Walk Left
R + D Walk Right
U + 1 To get up Please refer to the website or User’s Guide for more codes. If the robot falls, it will detect which side it has fallen to get up. If the robot does not respond to the buttons, please refer to pg.10 Troubleshooting.
D
Demo Mode (Please refer to the videos on the website) It will show how the robot will react to handclaps.
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한국어
L
Free Walk Mode The robot walks avoiding obstacles and gets up on its own when it falls down. For more information, please refer to our website or User’s Guide.
ENG
The robot walks avoiding obstacles and gets up on its own when it falls down. For more information, please refer to our website or User’s Guide.
日本語
U
Check Assembly Mode You may use the Check Assembly Mode is see whether your root has been properly assembled. Check one motor at a time by comparing to pg. 6~7. ① Start the Check Assembly Mode. It will release the torque. ② Press the U D button and check one motor at a time. The selected motor’s LED will turn on and return to its basic posture. ( U : Increases the ID by 1 D : Decreases the ID by 1) ③ Check the ID of the motor with the LED and compare it with the ID in the Assembly Manual. If the ID does not exist in the robot, it will let out a warning sound.
④ Compare the position of the motors in the basic posture to the one you have assembled. (pg. 6~7) If the LED is on, but the torque is released, check the cables or the motor’s assembly status.
(4) Charging When the battery makes a warning sound while moving, immediately charge the battery. The LED will turn red when it starts charging and green when complete. ① Take the battery out
② Connect the charger
③ Charge
SMPS Charger Charging (LED : Red)
Complete (LED : Green)
SMPS CM-510
If you connect the SMPS directly to the robot, it can move with the power supply.
8
4. My Own Robot (For more information, please refer to our website or User’s Guide)
한국어
ENG
Adding the zigbee wireless module.
Build Various of Robots
If you add the ZIG-110 wireless module set on the remote controller, it will prevent any interference with other users. This is good for soccer and battle.
Users may make various kinds of robots other than the humanoid.
Special Operation
Unique Humanoid Decorate your robots.
Users may make their own special humanoid to do special tasks and operations.
IR Sensor The IR Sensor can be used to detect obstacles.
Programming
3P CP
1MV
T
Using the RoboPlus programming software, you can make your own motions and control the robots.(RoboPlus CD included)
RoboPlus CD
For programming information, please refer to the manual in RoboPlus.
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日本語
한국어
ENG
5. Troubleshooting (1) Assembly Problem
日本語
The robot’s basic posture and movements are awkward. Awkward Basic Posture? Go back to page 8 and re-check whether all the dynamixels have been properly assembled. Check whether the balance sensor in assembled in the correct direction.
Unable to stand up when it falls? Check whether the balance sensor in assembled in the correct direction.
Unable to detect objects when in Free Walk Mode? Check whether the absolute distance measurement sensor’s cables are correctly assembled.
The torque is released and the dynamixel’s LED turns on after a warning sound. If the motor and frames have not been properly assembled or if the robot ’s actuators can not properly move, a warning sound will be activated to prevent any damage. Find the motor with LED on, and refer to the Assembly Manual to check whether it is correctly assembled. Make sure wires are not caught in between the motors. Please refer to pg 8 Check Assembly Mode.
The robot type and melody do not match. Check whether the assembly and connections for motors with ID 7~10 are correct. Melody Robot Type
“Do”
“Do Re”
TYPE A
O (Correctly Assembled)
Check wires for ID 9~10.
“Do Re Mi”
TYPE B
O (Correctly Assembled)
TYPE C
Wrong motors with ID 7~8 installed. Should be ID 9~10.
Repeat “Do Re Mi”
Check wires for ID 7~8. Some of the cables are not properly in place. Please refer Wrong motors with ID 9~10 to the Assembly Manual and installed. Should be ID 7~8. check again. O (Correctly Assembled)
(2) Remote Controller Problem My remote controller does not work properly. Set to control mode. (pg. 7) Check whether the IR receiver has been properly connected. (Please refer to the Assembly Manual) Check whether the remote controller’s power is on. If it does not turn on, replace the battery and try again. Point towards the IR receiver and try again. Check if there are 2 or more people controlling robots around you. There may be wireless interferences.
We want to play soccer or battle with several robots. In order to play a game of soccer or battle with several users at once, you must install the ZIG-110 set to avoid wireless interferences. Please check with our distributors or our online shopping store to purchase the ZIG-110 set. For information on installation, please refer to our website.
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한국어
(3) Power Related Problem
ENG
Power Related Problem. 日本語
The power does not turn on. Is the batter properly connected? Is the battery fully charged? Is the battery fuse okay? Please refer to our website for information on fuse replacement.
I want to check how much battery I have left. Turn the CM-510 on and press the U button. The LED will turn on to show how much battery you have like the figure below.
U ① Turn power on
③ Check Battery
L
U L
R
D R
D Weak
Normal
② Press U button
Full
The robot makes a continuous warning sound while moving. The battery has almost worn out. Immediately recharge your battery. (pg.9) If you do not replace the battery right away, the robot will suddenly turn off and fall causing severe impact when falling.
For more information please refer to our ROBOTIS website or contact us. Company
: ROBOTIS
Website
: www.robotis.com
: contactus2@robotis.com
Tel
: 0505-536-0114
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