bioloid premium: instrucciones de montaje 29 robots

ToniNew Stamp

ToniTypewritten TextROBOTIS EXCLUSIVE DISTRIBUTOR.RO-BOTICA GLOBAL S.L.C/ Hercegovina 22, bajos08006 Barcelona (Spain)www.ro-botica.comTel: +34 934 143 [email protected]

ABC

TYPE A

ABC

16

ABC

A-01

A-02

ABC

2

ABC

ABC

ABC

17

A-03

A-04

A-01A-02A-03

ABC

ABC

3

ABC

18

ABC

A-05

A-06

ABC

4

ABC

ABC

ABC

19

A-07

A-08

A-05 A-06 A-07

ABC

ABC

5

ABC

20

ABC

A-09

A-10

ABC

6

ABC

ABC

ABC

21

A-11

A-09

A-10

ABC

ABC

7

ABC

22

ABC

A-12

A-13

ABC

8

ABC

ABC

ABC

23

A-14

A-12

A-13

ABC

ABC

9

ABC

24

ABC

A-15

A-16

ABC

10

ABC

ABC

ABC

25

A-17

A-18

ABC

ABC

11

ABC

26

ABC

A-19

A-17

A-18

A-15

A-16ABC

12

ABC

ABC

ABC

27

A-20

A-19

A-11A-14

ABC

ABC

13

ABC

28

ABC

A-21

A-22

A-20

A-04

A-21

A-08ABC

14

ABC

ABC

ABC

29

A-23

A-24

ABC

ABC

15

ABC

30

ABC

A-25

ABC

16

ABC

ABC

ABC

31

A-26

ABC

ABC

17

ABC

32

ABC

A-27

ABC

18

ABC

ABC

ABC

33

A-28

A-29

ABC

ABC

19

20

A-30

ABC

ABC

TYPE B

ABC

22

ABC

B-01

B-02B-01

ABC

ABC

23

B-03

B-04B-03

ABC

24

ABC

B-02

B-04

B-05

ABC

ABC

25

A-11A-14

B-06

p.21

p.23

ABC

26

ABC

A-04

A-08

B-07

B-08

B-06

B-07

p.17

p.19

ABC

ABC

27

B-09

B-10

ABC

28

ABC

B-11

ABC

ABC

29

B-12

ABC

30

ABC

B-13

ABC

ABC

31

B-14

B-15

32

B-16

ABC

ABC

TYPE C

ABC

34

ABC

C-01

C-02

C-01

ABC

ABC

35

C-03

C-04

ABC

36

ABC

C-05

C-04C-03

C-02

ABC

ABC

37

C-06

A-11

A-14

C-05

p.9

p.7

ABC

38

ABC

A-04A-08

C-07

C-08

C-06

C-07

p.3

p.5

ABC

ABC

39

C-09

C-10

ABC

40

ABC

C-11

ABC

ABC

41

C-12

ABC

42

ABC

C-13

ABC

ABC

43

C-15

C-14

44

C-16

1:1 SCALE

59

Scorpion

ToniNew Stamp


main50%sub40% subassy60%

14

Assembly CheckAfter assembly please check the following procedure to ensure correctness.

Run the assembly check programSet 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 checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button, selects one actuator at a time. The selected actuators 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 actuators 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.

15

If everything works fine, play the robot.Set the robot in PLAY mode. Press START and the robot will play.

Sensor and behavior checkFrom STEP 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 STEP.

Dinosaur

ToniNew Stamp


13

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


AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button, select one actuator at a time. The selected actuators 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 actuators 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

If everything works fine, play the robot.Set the robot in PLAY mode, and press START. The robot will play.

Sensor and behavior checkFrom STEP 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 STEP.

Puppy

ToniNew Stamp


12



AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button selects one actuator at a time. The selected actuators 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 actuators 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

If everything works fine, play the robot.Set the robot in PLAY mode. Press START and the robot will play.

Sensor and behavior checkFrom STEP 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 STEP.

Spider

ToniNew Stamp


11

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


AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button selects one actuator at a time. The selected actuators 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 actuators 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

If everything works fine, play the robot.Set the robot in PLAY mode, press START and the robot will play.

Sensor and behavior check From STEP 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 STEP.

Bioloid

Premium Kit

Lizard

Assembly Manual

1

Bioloid Premium Kit Lizard Assembly Manual v1.0

ToniNew Stamp


2Attention!Before proceeding with assembly you must ensure each actuators horn is properly aligned. To visually verify proper alignment, the notch from the horn is in line with the notch from the actuators body. If not, perform one of the following actions:A.Turn the horn manually un til it is properly aligned.B.Use Dyna mixel Wizard.

1. Start RoboPlus and run Dynamixel Wizard.2. Connect the actuator to the computer through USB2Dynamixel. Dont forget to supply power to the actuator

separately.3 . Select the correct port, click on the Open Port icon, and click on Start Search.4. 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.)

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

II. You may need apply gentle pressure to fit nuts into the actuators 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.

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!

3Bioloid Lizard Getting StartedInsert N1s into ID1 through ID14.

Attach F3 to F6. (Make 4 sets.)

N1 x 68

N1N

1

~

~

x 11 x 2

N

1

N

1

N

1

1 2

3

N1 x 8

N1

S

1

x 4

F

3x 4 S

1x 8F

6x 4

x 4

21

F

3

F

6

4Attach STEP, STEP, ID3, ID5, ID8, and ID10 together. (Do not misalign horn position. Align the opposite side too.)


N

1x 16

N

1

S

1

x 4

F

1x 4 S

1x 16F

2x 4

x 4

2

1

S

1

S

1

S

1x 24

W

A

BU

S-B

BU x 4 W

Ax 4 S-B x 4

1set 1setx 2

1 2

F

1

F

2

5Attach STEP, STEP. ID2, ID4, ID9, and ID11 together. (Do not misalign horn position. Align the opposite side, too.)

Attach F2, F3, and F10 together.

S

1

S

1

S

1x 24

W

A

BU

S-B

BU x 4 W

Ax 4 S-B x 4

1set 1setx 2

N1

S

7

x 4

F

2x 2 F10 x 10F

3x 2

x 2

N1

x 2

N1 x 24S

7x 8

1 2

1

2

F

2

F

3

F10 x 5

F10

6Attach STEP to F3.

Attach F8, F9, F54, and DMS together.

S

1

S

1x 16

x 2

S

1

x 2

F

3x 4

S

1

F

8x 1 S

1x 4 N

1x 6RIVET x 3DMS x 1F

9x 1 F54 x 1 S

4x 2SP

1x 2

RIVET

N1

N

1

SP

1

S

4

1 2

1 2 3

54

F

3

DMS

F

8

F

9

F54

F

9

F54

DMS

DMS

7Attach STEP, STEP, STEP, and STEP together. (Attention to the Dynamixel ID#.)

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

2

S

1

F

4x 1

S

1

W

A

BU

S-B

S

1x 8BU x 1 W

Ax 1 S-B x 1

S

1

S

1x 12

S

1

21

21

3 4

F

4F

4

8Attach STEP, F4, and F10 together.

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

N1 x 8

S

2

N

1

S

2x 4RIVET x 5IR SENSOR x 1F

9x 1 F54 x 1

N1

F11 x 1

S

3

S

3x 4F

4x 1 F1

0x 1

1 2

3

F

9

F54

F11

IR SENSORRIVET

F

9 F54

F

4

F1

0

9Attach F3 to F4.

Attach F2 to F3.

S

1

S

1x 4

N1

N

1x 4F

3x 1 F

4x 1

S

1

S

1x 4

N1

N

1x 4F

2x 1 F

3x 1

21

1 2

F

3

F

4

F

2

F

3

10

Attach STEP, STEP, STEP, ID12, ID13, ID14 together.(Do not misalign horn position.)

Attach STEP, STEP, STEP, and STEP together. (Attention to Dynamixel ID#.)

S

1

W

A

BU

S-B

S

1S

1

S

1x 20BU x 3 W

Ax 3 S-B x 3

S

1x 12

S

1

S

1

1

2

1 2

43

11

Attach STEP,STEP, and STEP

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

Attach ID6, ID7, F3, and F55 together.

S

1

S

1x 16 N

1x 16F55 x 8F

3x 4

N

1

S

1x 4

x 4

x 2 1set 1set

F55

S

1x 8BU x 2 W

Ax 2 S-B x 2

W

A

BU

S-B

S

1

CABLE -6 x 2 CABLE -10 x 2

CABLE -6

CABLE -10

CABLE -10

1

2

3

1

2

F

3

F

3

F

3

12

Attach STEP, F51, and F60 together. (Attention to Dynamixel ID#.)

Attach STEP to F52.

S

1

S

1x 12

S

1

N1 x 4F5

1x 1

N1S

1

F6

0x 1

S

1

N1

S

1

CABLE -6

S

1x 12 N

1x 4F5

2x 1

1

2

1

2S

1

N1

F5

1

F6

0

F5

2

13

Perform wiring by following the diagrams below.

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

S

1x 4CM-510 x 1 CABLE-BAT x 1

S

1

CABLE-BAT

CABLE -6


CABLE -14

CABLE -18

CABLE -14

CABLE -18

CABLE -10

CM-510

CM-510

14


CABLE -18

CABLE -10

CABLE -14

CABLE -14

CABLE -18

CABLE -20

CABLE -14

CABLE -20 x 1 F5

5x 3 S1

1x 6

CM-510CM-510CABLE-6 CM-510CM-510CABLE-6

CABLE-10 CABLE-10

CABLE-18 CABLE-18

CABLE-14 CM-510CM-510 CABLE-14 CM-510CM-510

CABLE-14 CABLE-18

CABLE-18 CABLE-20

CABLE-14

CABLE-14

F5

5

F5

5

15

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 x 1 5P CABLE-40 x 1

5P CABLE-40 Port 1

Port 6

5P CABLE-40 Port 1

CABLE-DMS

BATTERY x 1

1

2 3

BATTERY

16



AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button selects one actuator at a time. The selected actuators 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 actuators 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.

17

If everything works fine, play the robot.Set the robot in PLAY mode press START and the robot will play.

Sensor and behavior checkFrom STEP 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 STEP.

Bioloid

Premium Kit

Biped Walking Robot

Assembly Manual

1

Bioloid Premium Kit Biped Walking Robot Assembly manual v1.0

ToniNew Stamp


2Attention!Before proceeding with assembly, you must ensure each actuators horn is properly aligned. To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuators body.If not, perform one of the following actions:A.Turn the horn manually until its properly aligned.B.Use Dyna mixel Wizard.










Tips!

3Bioloid Biped Walking Robot Getting StartedAttach one F7 to ID15; another F7 to ID16. (Attention to direction.)

Attach ID17, ID18, and F6 together.

F7 x 2 N

2x 2 N

1x 16

2

N1 N2

S

1x 8

S

1

F

6x 4 S

1x 8 N

1x 8

x 2

1

2

3

12

N

1

S

1

F7

F7

F

6

4Attach F5 to F12. (Make 2 sets.)

With CABLE-6, connect ID15 to ID17; ID16 to ID18.Connect ID17 to ID18 with CABLE-20.Attach STEP to STEP.

CABLE -6 x 2 CABLE -20 x 2 S

1x 8

CABLE -6

CABLE -20

CABLE -6

CABLE -20

S

1S

1

F5 x 2 F1

2x 2 S

1x 12 N

1x 12

N

1

x 2

S

1

1-

11-

2

2-

1 2-

2

1 2

F5

F5F1

2

5Attach F3, F4, and F10 together. (Make 2 sets.)

Attach STEP, ID13 and ID14 together.

Attach STEP to STEP. (Do not misalign horn position.)

BU x 2 S

1x 8 S-B x 2

S-B

BU

S

1S

1

F

3x 2 F4 x 2 S

3x 8 N

1x 8F1

0x 2

N

1

S

3

x 2

S

1x 8 N

1x 8

N

1N

1

S

1S

1

1 2

1 2

1-

11-

22-

12-

2

F

3

F

3F1

0

F4

6Attach ID11, ID12, F3, and F55 together. (Attention to screw position.)


F

1x 2 F4 x 2 S

1x 8 N

1x 8

N

1

S

1

x 2

F

3x 2 S

1x 8 N

1x 16

N

1N

1

x 2

S

1

S

1

1 2

1

2

3

F5

5x 4

F5

5

F

3

F

3

F

1

F4

7Attach STEP, STEP, STEP, and STEP together. (Do not misalign horn position.)

S

1x 12W

Ax 3 S-B x 3BU x 3

S

1

W

A

BU

S-B

S

1x 12W

Ax 3 S-B x 3BU x 3

S

1

W

A

BU

S-B

8Attach IR SENSOR, DMS, and F54 together.

Attach F3, F10, F51, and F60 together.

N

1x 6

S

1

S

1

S

2

N

1

S

1x 4 S

2x 4F

3x 1 F1

0x 2 F5

1x 1 F6

0x 1

x 2

IR SENSOR x 2DMS x 1 F54 x 3 RIVET x 11

RIVET

RIVET

1

2

1 2

F1

0F

3

F5

1

F6

0

F1

0

F1

0

F1

0

F5

1

F6

0

F5

1

F

3

IR SENSOR

F54 F54F54

IR SENSOR DMS

9Attach STEP, 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-510DMS to Port 1 of CM-510 with CABLE-DMS.

Attach STEP, STEP, and STEP together.

S

1x 20

1

23

CM-510 x 2

N

1x 10S

1x 4 S

2x 4F1

0x 1 F5

2x 1

CABLE-DMS x 1 5P CABLE-15 x 2 CABLE-BAT x 2 S12 x 4

S12

N

1S

1

S

2

CABLE-DMS

5P CABLE-15 Port 2

Port 1

5P CABLE-15 Port 3 5P CABLE-15 Port 3

1

2

3IR

SENSO

R1

IRSENSO

R2

DMS

BACK

FRONT

F1

0F5

2

F1

0

CM-510

F5

2

S

1

10

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

CABLE -10

CABLE -18

11

Connect the battery through the battery cable.

BATTERY x 1

1

2

3

12



AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button selects one actuator at a time. The selected actuators 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 actuators 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 checkFrom STEP 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 STEP.

If everything works fine, play the robot.Set the robot in PLAY mode and press START. The robot will play.

Bioloid

Premium Kit

Battle Droid

Assembly Manual

1

Bioloid Premium Kit Battle Droid Assembly Manual v1.0

ToniNew Stamp


2Attention!Before proceeding with assembly you must ensure each actuators horn is properly aligned. To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuators body.If not, perform one of the following actions:A.Turn the horn manually until its properly aligned.B.Use Dyna mixel Wizard.










Tips!

Bioloid Battle Droid Getting StartedAttach one F3 to ID1. Connect one F3 to ID2. (Do not misalign horn position.)

Attach one F1 to one F12. (Attention to left and right direction.)

Attach ID3 and ID4 to STEP and STEP. (Do not misalign horn position.)Attach ID1 to ID3 through F3. Attach ID2 to ID4 through F3.

F3 x 2 S1 x 8

S1

N1 x 16

N1

F3

F1 x 2 F12 x 2 S1 x 8 N

1x 8

Right Left

N

1

S1F1

2

F1

BU x 2 WA x 2 S

1x 16 S-B x 2

S1W

A

BU

S-B

S1

N

1x 8

N

1

3

1 2

1 2

1 2

3 4 5

F3

F1

2

F1

2

F1

4Connect one F8 to each leg of STEP.Connect ID1 and ID3; ID2 and ID4 with CABLE-14.Connect ID1 and ID with CABLE-14.

Attach one F1 (at the horn), one F3, two F55 to ID5.Attach one F1 (at the horn), one F3, two F55 to ID6.

F1 x 2 N

1x 32S1 x 24F55 x 8F3 x 4

N

1

F3

F55

F1S1

S

1

Right

S

1

Left

1 2 3

54

S1 x 8 N

1x 2

U p

dow n

N

1

U p

down

S

1

S1U

pN1

F8 x 2

F8

CABLE-14

CABLE-14 x 4

dow n

U

p

1 2 3

4

F8

F8

F3

F1

F3

5Attach one F3 and one F10 to each F4.

Attach each part from STEP (do not misalign horn position) and STEP to ID7.Attach each part from STEP (do not misalign horn position) and STEP to ID8.

Attach both parts of STEP to F51.

F3 x 2 N1 x 8S5 x 8F10 x 4F4 x 2

F3

F10

S5

F4

S1 x 8

S1

down F51 U

p

F51 x 1

1 2

1 2

N

1x 8S

1x 16BU x 2 WA x 2

N1

B

U

WA

S-BS1

WA

BU

S-B

S1

1 2 3

S-B x 2

F4

F10 x 2

F3

F51

6Attach one F5, One F9, one F10 and one F54 to STEP.

Attach one F54 and one F60 to STEP.

S2 x 4F5 x 1 F10 x 1 S5 x 2F9 x 1

S2

N1S2

F5

F9

S5

F54

F10

N1

N1 x 6

S2

F54 x 1

N

1x 2S2 x 2F60 x 1 F54 x 1

N1

F54

F60

S2N

1

1 2 3

1-

1

1 2

F9

F5

F5

F10

F54

F60

F54

7Attach STEP and .Connect ID1 and ID5 with CABLE-14.Connect ID2 and ID6 with CABLE-14.Connect ID5 and ID6 with 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).

S2 x 2

S

2

CABLE-10

CABLE-10

CABLE-10 x 2

1 2

3

PLATE 3x7

RIVET

SINGLE

BRACKET

IR SENSOR

5P CABLE-15

F5

2

S1

S

1

PORT 1 ( | )5P CABLE

RIVE

T

S1 x 12 5P CABLE-15 x 1 IR SENSOR x 1 RIVET x 8SINGLE BRACKET x 2 PLATE 3x7 x 1 F52 x 1

CABLE-

BAT

CABLE-BAT x 1

CABLE-BAT

CM-510 x 1

1 2

3

3-

1

F5

2

CM-510

8Connect 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.

CABLE-18

BATTERY x 1

BATTERY

CABLE-18 x 2

1 2

3

9Assembly CheckAfter assembly please check the following procedure to ensure correctness.



10



Bioloid

Premium Kit

Smart Car

Assembly Manual

1

Boiloid Premium Kit Smart Car Assembly Manual v1.0

ToniNew Stamp












Tips!

3Bioloid Smart Car Getting StartedInsert N1 to ID1, ID2, ID3, and ID4.

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

N1 x 24

N1

x 2 x 2

x 4

x 4

N1

S1 S1

S

1x 16 N1 x 16F55 x 8F

3x 4

~ x 4

S2

S1 x 4F

3x 1

S1

S2 x 16F14 x 4F13 x 4

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

1

23 4

1 2

F

3

F55

F

3F

3

F

3

F13

F14

4Attach STEP 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.


S

1x 4F

3x 1 CABLE-14 x 1CABLE-6 x 3

S1

CABLE-6

CABLE-14

N1

F

3x 1 S6 x 4 N1 x 4F6

0x 1F1

0x 3

S6

1

2

21

F1

0x 3

F

3

F

3

F6

0

5Attach F5 to F9.Attach F5 to F10.

Attach STEP, F54, and IR SENSOR together.

N1

S2 x 4 S1 x 4

S2

F

9x 3F

5x 1 N1 x 8F1

0x 1

S1

N1

x 2

RIVET x 3 S3 x 2IR SENSER x 1F54 x 1 N1 x 2

RIVET

S3x 2

1

2

1

2

F

5F

9F

9

F1

0

IR SENSER

F54

6Attach STEP, F54, IR SENSER, and PLATE 3x7 together.

Attach STEP to F10.

RIVET x 9IR SENSER x 1 5P-5P CABLE x 2PLATE 3x7 x 1

5P-5P CABLE

RIVET

RIVET

RIVET

5P-5P CABLE

RIVET

F5

4x 1

x 4

S

5x 4F1

0x 3 N

1x 4

N1

S

5

1

2 3

F1

0x 3

PLATE 3x7

IR SENSER

F5

4

7Attach STEP, STEP, STEP, and F51 together.

S1

2x 4

S12

S1

2

S

1x 8

S

1 S

1

F51 x 1

F51

F51

8Attach STEP, 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.

IR SENSER1 Port 1

IR SENSER2 Port 2

CABLE-14

CABLE-BAT

CABLE-BAT x 1

S

1x 6 S12 x 4 N

1x 2 N

1

S

1

S

1

S12

CM-510 x 1 F52 x 1

F52

CM-510

9Connect the battery through the battery cable.

BATTERY x 1

1 2

3 4

10




11



Bioloid

Premium Kit

Excavator

Assembly Manual

1

Bioloid Premium Kit Excavator Assembly Manual v1.0

ToniNew Stamp


2Attention!Before proceeding with assembly, you must ensure each actuators horn is properly aligned. To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuators body.If not, perform one of the following actions:A.Turn the horn manually un til it is properly aligned.B.Use Dyna mixel Wizard.





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





Tips!

N 1

x 18

x 4

N1

N1 N1

3

Bioloid Excavator Getting StartedInsert N1 into ID1; ID2; ID3; ID4; ID5.

Attach STEP, 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.

1 2

F 6

x 4 S 1

x 8

1set

S 1

x 2 N 1

x 2

CABLE -18 x 1CABLE -6 x 4

RIVET x 3DMS x 1

1set

S 1

RIVETN 1

S 1

CABLE -6

CABLE -6

CABLE -6

CABLE -18

F 6

x 1 F54 x 1

1 2

3

F 6

F 6

DMS

F54 F 6

4Attach F3, F4, and F10 together. Attach F2 to F4.Attach F3, F9, and F11 together.

Attach STEP, F13, and F14 together.

S 1

x 10

x 4

S 2

x 16

S 1

S 1

S 2

F13 x 4 F14 x 4

F 3

x 1 S 7

x 4 N 1

x 4

F 3

x 1 S 1

x 12 N 1

x 12

x 2

F 4

x 1 F1 0

x 4

F 9

x 2 F11 x 2

N 1

N 1

N 1

N 1

S 7

S 1

x 4 N 1

x 4F 2

x 1 F 4

x 1

S 1

S 1

S 1

1 2

1 2

3 4 5

F13

F14

F1 0

x 4

F 4

F 3

F 2

F 4

F 3

F11F11

F11

F 9

F 9

F 9

5Attach STEP to STEP. (Do not misalign horn position.)With CABLE-14 connect ID6 to ID7; ID7 to ID8.

Insert N1 into ID6; ID7; ID8.

N 1

x 16

N 1

N 1

N 1

S 1

x 20

W A

BU

S-B

CABLE -14 x 2 BU x 3 W A

x 3 S-B x 3

CABLE -14

S 1

S 1

1 2

3

1 2 3

6Attach STEP, F3, F10, and F51 together. (Do not misalign horn position.)

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

x 2

S 1

x 8F1 0

x 2 F54 x 2 N 1

x 8RIVET x 10

S 1

x 8F 3

x 1 N 1

x 4

N 1

RIVET

S 1

N 1

S 1

S 1

x 2

S 5

x 4F1 0

x 6 SP2 x 4 N 1

x 4S12 x 2F 3

x 1 S 7

x 4

N 1

S 5

S12

SP2

S 7

F5 1

x 1

1 2 3

1 2 3

1

2

IR SENSOR

x 2

x 2

F1 0

x 3

F1 0

IR SENSOR

IR SENSOR

F54

F54

F1 0

F 3

F 3

F 3

F5 1

F1 0

x 3

F5 1

7Attach STEP, STEP, 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.

Attach STEP, F9, F52, and F60 together.

CM-510 x 1

S 1

x 8

CABLE-DMS x 1 5P CABLE-15 x 2 CABLE-BAT x 1 CABLE -6 x 1

CABLE-DMS

5P CABLE-15 Port 2

Port 15P CABLE-15 Port 3

CABLE -6

S 1

1

2

IRSENSOR

1IRSENSOR

2DMS

F 9

x 1 S 1

x 12 N 1

x 12

S 1

N 1

S 1

N 1

N 1

S 1

F5 2

x 1 F6 0

x 1

N 1

S 1

1 2

3

F 9

F6 0

F5 2

F6 0

F6 0

F 9

CM-510

S 1

S 1


BATTERY x 1

1

2

3

BATTERY

10



Bioloid

Premium Kit

Probing Robot

Assembly manual

1

Bioloid Premium Kit Probing Robot Assembly Manual v1.0

ToniNew Stamp


2Attention!Before proceeding with assembly, you must ensure each actuators horn is properly aligned. To visually verify proper alignment, the notch from the horn should be in line with the notch from the actuators body.If not, perform one of the following actions:A.Turn the horn manually un til it is properly aligned.B.Use Dyna mixel Wizard.


separately.3 . Select the correct port, click on the Open Port icon, and click on Start Search.4. On address 30 Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you can

visually verify horn alignment afterwards.







Tips!

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


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

S1

2x 4F3 x 2 BU x 1F

2x 1 W

Ax 1 N

1x 4

N

1

S12

S

1

WA

BUS-B

F3

F2

W

ABU

S-B

S12

S-B x 1F10 x 2 S4 x 4

F10

F3S4

N

1

S

4

S

1

S

1x 8 N

1x 8F1

1x 2 F

9x 2 F1 x 2

F

1F9

F1

1

N1

S

1

W

A

B

U

S-

B

BU x 2W

Ax 2 S-

Bx 2 N

1x 8

W

A

BU

S-

B

N

1

S

1x 8

3

1 2

3 43-

1

2-

1

1 2 3 42-

1

1 2 3

F2

F3

F10 x 2

F3

F1

1 F1

1

F1

F9

4Attach STEP, F3, F54, IR SENSOR, and DMS together.

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

F3 x 1 F54 x 1 IR SENSOR x 1 RIVET x 4 5P CABLE-15 x 1

N1

RIVET

RIVET 5P CABLE-15

S1 S1

F3

IR SENSOR

F54

DMS x 1

DMS

RIVET

5P CABLE-15

S1 x 8 N

1x 4

CABLE-10 x 3

CABLE-10

CABLE-10

CABLE-10

1 2-

12

3 4 5

1 2

CABLE-DMS x 1

IR SENSOR

F54 DMS

DMS

F3

F54

IR SENSOR

F54

5Attach ID1 through ID4, F3, and F55 together.

Attach STEP, F13, F14, and F51 together.


N1

F3

N1

S1

F3 x 6 S1 x 24 N1 x 36F55 x 8

F55

F1

3x 4 S

1x 8F1

4x 4

F1

4

F1

3

S

2

F5

1x 1 S

2x 16

S1

F5

1

F3 x 1 S5 x 4F10 x 2 F60 x 1 N1 x 4

F3

F10F60

S5

N1

1

3

2

4

321

1

2

F3

F3

F3

F3

F60

F3

F60

F10 x 2

6Attach STEP, STEP, and STEP 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.

Attach STEP, 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 x 1 CM-510 x 1 S

1x 10 N

1x 4

S

1

S

1

PORT 2 (||)IR SENSOR

PORT 1 ( | )DMS

CABLE-BAT

CABLE-BAT x 1

F52

CM-510

CABLE-20

N

1

CABLE-6 x 3

S1

S1 x 5

N1

N1 x 1CABLE-6 x 3

12


BATTERY

BATTERY x 1

1

2 3



AX12+ initial position and ID checkSelect each actuator separately and compare it to the picture below.Ensure the actuators horns are properly aligned (the horns notch should be aligned with the actuators). Pressing the U or D button selects one actuator at a time. The selected actuators 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 actuators 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.

9If everything works fine, play the robot.Set the robot in PLAY mode and press START. The robot will play.


Bioloid

Premium Kit

Turtle

Assembly Manual

1

Bioloid Premium Kit Turtle Assembly manual v1.0


ToniNew Stamp











Tips!

3Bioloid Turtle Getting StartedAttach ID1, ID6, F1, F3, and F55 together. (Do not misalign horn position. Make 2 sets.)

Attach ID2, ID5, F1, F3, and F55 together. (Do not misalign horn position. Make 2 sets.)


F1 x 2 F3 x 2 S1 x 16 N

1x 16

F3N1

F1

F55 x 4

F55

S1

F1 x 2 F3 x 2 S1 x 16 N1 x 16

F3N1

F1

F55 x 4

F55

S1

N1S1

WA

BU

S-B

F3 x 1 S1 x 8 N1 x 4

F3

BU x 1 WA x 1 S-B x 1

1 2 2-

1

2-

2

1 2 2-

1

2-

2

1 2

N1

N1

4Attach STEP, ID8, and F3 together. (Do not misalign horn position.)



N1

S1WA

BU

S-B

F3 x 1 S1 x 8 N

1x 4

F3


1 2

N1

S1

WA

BU

S-B

F3 x 1 S1 x 8 N

1x 4

F3


1 2

N1S1

WA

BU

S-B

F3 x 1 S1 x 8 N

1x 4

F3


1 2

5Attach F3, F10, and F60 together.

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


F3 x 1 F10 x 2 F60 x 1 S5 x 4 N1 x 4

F3

F10F60

S3

S1

S2

RIVET x 4

RIVET

F9 x 2 F10 x 1 F54 x 2 S1 x 2 S2 x 4 S3 x 2 N1 x 65P CABLE-15 x 2 IR SENSOR x 2

F10

F54

F9

IR SENSOR N

1

1 2

1 2

N1

F54

F4

DMS

SP2

RIVET

SP2

RIVET x 2F4 x 1 F54 x 1 SP2 x 2 DMS x 2 S5 x 4 N1 x 4CABLE-DMS x 1

1 2

N1 F3

F60

F10 x 2

6Attach STEP, STEP, and F51 together.

Attach STEP, STEP, STEP, STEP, and STEP together.

S2

S2 x 12

1 2

F51 x 1 S12 x 4

F51S12 S12

1 2

BACK BACK

F51

7With 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 x 1

BATTERY

CABLE-14 x 4CABLE-6 x 2 CABLE-20 x 2

1

2

3

Attach STEP, 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.

N

1

S1

IR SENSOR1 IR SENSOR2PORT 1 (|)IR SENSOR1

PORT 2 (||)IR SENSOR2

PORT 3 (|||)DMS

CABLE-BAT x 1S1 x 6 N1 x 2

S1

CM-510 x 1F52 x 1

F52

CM-510

10


Sensor and behavior checkFrom STEP 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 STEP.

Bioloid

Premium Kit

Gerwalk

Assembly Manual

1

Bioloid Premium Kit Gerwalk Assembly Manual v1.0

ToniNew Stamp












Tips!

S1 x 14 N1 x 6F1 x 2

S1

N1

S1

F12 x 2

F12

F1

3

Bioloid

Gerwalk

Getting StartedAttach a pair F3s together. (Make 2 sets)Attach F1 to F3. (Make 2 sets)

Attach ID2, ID3, and F3 together. (Do not misalign horn position. Make 2 Sets.)Attach F1 to F12. (Make 2 sets)

F3 x 6 S1 x 16 N1 x 16F1 x 2

N1

S1

N1

S1

F3

F1

1

2

1-1

2-1

1

2

1-1

2-1

F3 x 2

x 2

x 2

F3

F3

F3

F1

F3

x 2

x 2

x 2 SET

F3

F3

F1

F12

4With 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.

Attach ID 4 through ID7, STEP, and STEP together.(Do not misalign horn position.)

BU x 4 WA x 4 S1 x 40 S-B x 4N1 x 24

WA

BU

S-B

WA

BU

S-B

S1

N1

N1

S1

Right

Left

Right

S1

N1

CABLE-14 x 3

CABLE-10

Right Lef t

CABLE-14 CABLE-14

CABLE-20 CABLE-14Right Back Left Back

CABLE-20

CABLE-10 x 2 CABLE-20 x 1

1

1-1

2

2-1 2-2

2-121

3 43-1

5Attach F52 to F60.

Attach ID1, F1, F51, F54, DMS, and IR SENSOR together. (Do not misalign horn position.)

5P CABLE-15 x 2F51 x 1 F54 x 3

F54

F51

5P CABLE- 15

CABLE- DMS

F 2

x 1

F2

W A

B U

S-B

BU x 1 WA x 1

S 1

x 14

S-B x 1

CABLE-DMS x 1 N 1

x 20

IR SENSOR x 2 DMS x 1

IR SENSOR

DMS

N1

S1

RIVET x 6

RIVET

RIVET

N1

N1

S2

N1

S 2

x 4

F60 x 1F52 x 1 S12 x 4

S12

F52F60

N1

N1 x 2

3 3-1

21

4 5

6 7

2-1

4-1 5-1

6-1

1 1-1

N1

N1

x 8

F60

F52

IR SENSOR

F51

DMS

DMS

F54

F54

x 2

DMS

IR SENSOR

F2

F2

F2

6Attach STEP 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.

Attach STEP, STEP, and STEP together.Connect ID1 to ID3 with CABLE-14.

Right Left

S1

RightLeft

S1 x 8

Cm-510 x 1

PORT 3 (||| )

Sensor 1

PORT 4 (|||| )

Sensor 2

PORT 1 (| )

DMS

S 1

S 1

x 8

Sensor2Sensor1

DM S S1

Sensor1 Sensor2

1 2

1 2

Cm-510


BATTERY x 1

BATTERY1

2 3

Bioloid

Premium Kit

Walking Droid

Assembly Manual

1

Bioloid Premium Kit Walking Droid Assembly Manual v1.0

ToniTypewritten TextROBOTIS EXCLUSIVE DISTRIBUTOR.RO-BOTICA Global S.L.C/ Hercegovina 22, bajos08006 Barcelona (Spain)www.ro-botica.comTel: +34 934 143 [email protected]

ToniNew Stamp



separately.3. Select the correct port, click on the Open Port icon, and click on Start Search.4. On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you








Tips!

3Bioloid Walking Droid Getting StartedInsert 4 N1s into ID1; ID2; ID3; ID 4.

Attach one F1 to one F12.

X 2

N1 x 20

N1

N1

N1

N1

1

2

3

N1 x 4F1 x 1 F12 x 1 S1 x 4

N

1 S

1

1 2

F1

F12

F1

4Attach F3 to ID1; ID2. (Do not misalign horn position.)Attach ID1 to ID3 and to STEP; ID2 to ID4 and STEP.

Attach one F1 into one F12.

N1 x 4F1 x 1 F12 x 1 S1 x 4

1 2

N1

S1

x 2

S1

S1

WABU

S-B

F3 x 2 S1 x 12BU x 1 WA x 1 S-B x 1

1 2

3

F1

F1

F12

F3

F3

5Attach STEP, , F3, and F8 together. (Do not misalign the horn position.)

Attach F8 to Step.Connect CABLE-14 to ID1 and ID2; tidying them up by using F55.Connect to ID1 and ID2 with CABLE-10.

S1WA

BU

S-B

F3 x 2 F8 x 1 S1 x 12BU x 1 WA x 1 S-B x 1

S

1

S1

S1

1

2

3

N1

F8 x 1 F55 x 2 S1 x 8CABLE-14 x 2CABLE-10 x 2 N1 x 2

S1

F55

S1

CABLE-10 CABLE-10CABLE-14

1 2

F8

F3

F3

F8

F8

6Attach Step, , F5, F9, F10, and F54 together.

N1

F51 x 1 S2 x 2 N1 x 4F54 x 1 F60 x 1

S2

N1


1 2

N1

F10 x 1 S2 x 6 N1 x 8F54 x 1

S2

S5

S2

N1

F9 x 1F5 x 1 S5 x 4

1 2

3 4 5

F51

F54

F60

F5

F5

F9

F9

F9

F54 F54

F10

7S

1

S


5P-5P CABLE

CABLE-10

CABLE-14

CABLE-BAT

Attach STEP, , 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.

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

1

2

3 4

RIVET x 11IR SENSER x 1F52 x 1 PLATE 3x7 x 1

5P-5P CABLE x 1 SIGLE BRACKET x 2

RIVET

5P-5P CABLE

RIVET

SIGLE BRACKET

N

1x 2

N1

1 2

4

3

Port 1

F52

IR SENSER IR SENSER

PLATE 3x7

PLATE 3x7

CM-510


BATTERY x 1

1 2

34

BATTERY

9After assembly please check the following procedure to ensure correctness.



Assembly Check

10



Bioloid

Premium Kit

Fawn

Assembly Manual

1

Bioloid Premium Kit Fawn Assembly Manual v1.0

ToniNew Stamp












Tips!

3Bioloid Fawn Getting StartedAttach F1 to F2. (Make 2 sets.)

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

Attach STEP to F52.

S

1x 8 N

1x 8F

1x 2 F

2x 2

S1 N1

F

2F

1

x 2 SET

S

1x 24 N

1x 24

S1

S1


N1

F55S1

WA

BU

S-B

F

3x 4

F

3

F55 x 4

N1

F52

F52 x 1

Right

Lef

t

Right

Lef

t S1

F52

S

1x 8

1 2

1 2 3

1 2

F

1

F

2

F

3

4Attach ID6, ID7, F3, F4, and F55 together. (Do not misalign horn position.)

Attach STEP to F51.

Attach STEP to STEP.

Attach F2, F54, and IR SENSOR together.

F

3x 2 F

4x 2

F

3

F

4

N

1

N

1

F55

S

1x 16 N

1x 8 B

Ux 2 WA x 2 S-B x 2

WA

BU

S-B

RightLef

t

S1

F55 x 4

S2

RightLeft

F51 x 1 S2 x 8

N1S1S1

S1 x 4 N

1x 4

RIVET

N

1

F54 x 1F

2x 1 5P CABLE-15 x 1IR SENSOR x 1 RIVET x 3

F

2F54

IR SENSOR

S1

S

1x 4 N

1x 4

1 2 3

1 2

1 2

1 2

F

3

F

4

F51

F54F

2

IR SENSOR

5Attach ID1, F2, and F7 together.

Attach STEP, STEP, F2, and F9 together.

Attach STEP to STEP. (Do not misalign horn position.)

N

2

F

2x 2 F

7x 2 S

1x 4

N

1

S

1

S

3

S

3x 4 N1 x 8 N

2x 2

F

2

F

7

B

Ux 2 WA x 2 S-B x 2F

2x 1 F

9x 1

W

A

BU

S-B

F

9F

2

N

1

S

3

S

3x 4 N1 x 4

S1

S12

WA

BU

S-B

BU x 1 WA x 1 S-B x 1 S

1x 4 S12 x 3

1 2

1

2

1 2

F

2

F

7

F

9

6Attach F6, F60, and STEP together.

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.

N

1S1

S1

2

S

1x 2 S12 x 4 N

1x 2F

6x 1 F60 x 1

F

6

F60

PORT 1 (|)IR

SENSOR

CABLE-6 x 1 CABLE-10 x 2 CABLE-14 x 1 CABLE-18 x 3

SP2

S3

CM-510 x 1 CABLE-BAT x 1 SP2 x 4 S3 x 4

1 2

1 2 3

F

6

CM-510


BATTERY x 1

BATTERY1

2


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


Bioloid

Premium Kit

Robot Arm

Assembly Manual

1

Bioloid Premium Kit Robot Arm Assembly Manual v1.0

ToniNew Stamp




separately.3. Select the correct port, click on the Open Port icon, and click on Start Search.4. On address 30, Goal Position, click on Center Position. Dynamixel Wizard will then align the horn; you








Tips!

3Bioloid Robot Arm Getting StartedAttach ID4 to F3. (Do not misalign horn position.)

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


F3 x 1 S1 x 4

F3

S1

S1

N

1

F

3

F

1

W

A

BU

S-B

N

1

S1

N

1

S

1x 12 N1 x 12 B

Ux 1 WA x 1 S-B x 1F

1x 1 F

3x 1

S3 x 4 N

1x 4F3 x 1 F4 x 1 F10 x 1

F4

S3

N1

F10

F3

1 2

12

3

1 2

F

1

F

3

F4

F10

F3

4Attach F2, F3, F8, and F10 together.

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


S

2x 12 N

1x 12F

2x 1 F

3x 1

F

8 F

2

F10

F

8x 2 F1

0x 2

S

1N

1

F

3

S1 x 8 N

1x 8 BU x 1 WA x 1 S-B x 1

S1 WA

BU

S-B

S1

N1

S

1x 4

S1S1

1 2

3F

8

F

2

F

3

F

8F10

5Attach STEP, STEP, and STEP together. (Do not misalign horn position.)

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

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

S1

WA

BU

S-B

S1

S1 x 8 BU x 1 WA x 1 S-B x 1

F

3x 2 S

1x 8

F

3 S

1 S

1

N

1N

1

N

1x 8

WA

BU

S-B

S1

S1 x 8 N

1x 8 BU x 2 WA x 2 S-B x 2F4 x 2

N1

1 2 3

1 2

x 2x 2

F

3

F4

F4

6Attach STEP to STEP.

Attach F3 to F52.

Attach F3 to F51.

S1 S1

S1 x 8

F52 x 1 S1 x 8 N1 x 8F3 x 2

F3

F52

N1

S1

F51 x 1 S1 x 4 N1 x 4F3 x 1

S1

N11 2

1 2

1 2

N1F52

F51

F3 F51


Attach STEP, STEP, and STEP together.

Attach STEP, STEP, STEP, and CM-510 together.

F3 x 1 S5 x 4F10 x 2 F60 x 1 N1 x 4

F3

F10

F60

S5

N1

S1 x 4 N1 x 4

S12

S12

S12 x 4

N1

S1

S1

S1S1

S1 x 16

1 2

1

2

3

1

2

F60

F60

F10

F3

x 2

CM-510 x 1

CM-510

8With 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 x 2 CABLE-14 x 6

BATTERY x 1

BATTERY12

10






Bioloid

Premium Kit

Quadruped Walking Robot

Assembly Manual

1

Bioloid Premium Kit Quadruped Walking Robot Assembly Manual v1.0

ToniNew Stamp







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





Tips!

3Bioloid Quadruped Walking Robot Getting StartedAttach F1 to F2. (Make 4 sets.)Attach F3 to F6. (Make 4 sets.)

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

S1 S1N1

S1 x 24 N1 x 24

F1

F1 x 4 F6 x 4

F2 F3 F6

F2 x 4 F3 x 4

S1

WA

BU

S-B

S1 x 16 N1 x 16 BU x 1 WA x 1 S-B x 1

N1

N1

21

1 2

2-

1

x 4

F1 F6

F3F2

1set 1set

4Attach F9, F54, IR SENSOR, and DMS together.

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

S1

WA

BU

S-B

S1 x 16 N1 x 16 BU x 1 WA x 1 S-B x 1

N1

N1

S1

DMS

F9 x 1 F54 x 1 DMS x 2 S1 x 4 N1 x 4

5P CABLE-15 x 1

IR SENSOR x 1

CABLE-DMS

5P CABLE-15

PLATE 3x7

F54F9

IR SENSOR

CABLE-DMS x 1

S1

N

1

RIVET x 3RIVET

1 2

2-

1

1

2 3 4

65

DMS

IR SENSOR

IR SENSOR

PLATE 3x7

F54

F54

DMS

F9

1set 1set

5Attach F3 to F52.



F51

F3

S1

F3 x 2 F51 x 1 S1 x 12 N1 x 12

N1

S1 x 8 N1 x 8

S1N1

F51 x 1

F52

S1 x 4 N1 x 4

N1

S1S1

1 2

1 2

1 2

F3 x 2

F3

F51

F3

F3

F52

6Attach STEP, STEP, STEP, 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.


S1S12

PORT 2 (||)IR Sensor

PORT 1 (|)DMS

S1

S1 x 20 S12 x 4 CABLE-BAT x 1 CM-510 x 1CABLE-10 x 4 CABLE-14 x 4

1 2

3

BATTERY x 1

BATTERY1-

1

1 2

2-

1

CM-510

F60 x 1

F60

Bioloid

Premium Kit

Line Tracer

Assembly Manual

1

Bioloid Premium Kit Line Tracer Assembly Manual v1.0

ToniNew Stamp












Tips!

3Bioloid Line Tracer Getting StartedInsert N1 to ID1; ID2.

Attach STEP, F3, and F55 together.Attach F13 to F14. Connect ID1 to ID2 with CABLE-6; connect ID2 with CABLE-14.

N1 x 8

N1

x 2

x 2

N

1S

1S

1

S

1x 8 N

1x 8F5

5x 4F

3x 2

x 2

S

2

F1

4x 2 S

2x 8CABLE-14 x 1CABLE-6 x 1

CABLE-6CABLE-14

F1

3x 2

1 2

1

2 3 4

21

F

3F

3

F5

5

F

3

F1

3

F1

4

4Attach F9, BU, and WA together.

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

RIVET x 6IR SENSER x 2F54 x 2 5P-5P CABLE x 2

5P-5P CABLE

RIVETx 2 x 2

F

9x 2 S

5x 1BU x 1 W

Ax 3 N1 x 2

BU

S

5

N

1 N

1

W

Ax 3

1 2

1 2

3

IR SENSERF54

F

9F

9



N1S

8

F

3x 1 S

8x 4 N1 x 4F1

0x 6 F6

0x 1

N

1

S

2x 4 S

1x 2

S

2

F

9x 1F

5x 1 N

1x 6F5

2x 1

S

1

N

1

1 2

1 2

3

F1

0x 6

F

3

F6

0

F

9

F

9

F

5

F5

2

F

5

6Attach STEP, STEP, STEP, STEP, F10, and F51 together.

S

1x 8

S

1 S

1

N

1

N

1x 8S12 x 2F10 x 4 S

7x 4

S

7

S1

2

N1

F10 x 4

F5

1x 1

F5

1

7Attach STEP to .

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.

S

1x 3

x 3

S

1

N

1x 3S12 x 2

S12S

1

S

1

S

1

IR SENSOR2 Port 5

IR SENSOR1 Port 6

CABLE-14

S


CABLE-BAT

N

1


BATTERY x 1

1 2

3 4

bioloid premium: instrucciones de montaje 29 robots

Documents