bioloid premium kit lizard assembly manualpremium kit. lizard. assembly manual. 1. bioloid premium...
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Bioloid
Premium Kit
Lizard
Assembly Manual
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Bioloid Premium Kit Lizard Assembly Manual v1.0
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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 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. Don’t 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 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.
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!
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Bioloid Lizard – Getting StartedInsert N1’s into ID1 through ID14.
Attach F3 to F6. (Make 4 sets.)
N1 x 68
N1
N
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
4
Attach STEP②, STEP③, ID3, ID5, ID8, and ID10 together. (Do not misalign horn position. Align the opposite side too.)
Attach F1 to F2. (Make 4 sets.)
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
5
Attach STEP②, STEP③. 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
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Attach STEP⑥ 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
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Attach STEP④, STEP⑤, STEP⑦, and STEP⑨ together. (Attention to the Dynamixel ID#.)
Attach STEP⑧, ID1, and F4 together. (Do not misalign horn position.)
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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
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Attach STEP⑪, 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 SENSOR
RIVET
F
9 F54
F
4
F1
0
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Attach 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
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Attach STEP⑫, STEP⑬, STEP⑭, ID12, ID13, ID14 together.(Do not misalign horn position.)
Attach STEP④, STEP⑤, STEP⑦, and STEP⑮ 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
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Attach STEP⑩,STEP⑯, and STEP⑰
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
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Attach STEP⑱, F51, and F60 together. (Attention to Dynamixel ID#.)
Attach STEP⑲ to F52.
S
1
S
1x 12
S
1
N1 x 4F5
1x 1
N1
S
1
F6
0x 1
S
1
N1
S
1
CABLE -6
S
1x 12 N
1x 4F5
2x 1
1
2
1
2
S
1
N1
F5
1
F6
0
F5
2
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Perform wiring by following the diagrams below.
Attach STEP⑳ 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 x 2 CABLE -18 x 2
CABLE -14
CABLE -18
CABLE -14
CABLE -18
CABLE -10
CM-510
CM-510
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CABLE -14 x 3 CABLE -18 x 2
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
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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
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BATTERY
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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 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.
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If everything works fine, play the robot.Set the robot in PLAY mode press START and the robot will play.
Sensor and behavior checkFrom 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.
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