Bioloid Premium Kit Gerwalk Assembly Manual v1.0. Bioloid Premium Kit Gerwalk Assembly Manual

Transcription

1 Bioloid Premium Kit Gerwalk Assembly Manual v.0 Bioloid Premium Kit Gerwalk Assembly Manual

2 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 Dyna mixel Wizard.. tart RoboPlus and run Dynamixel Wizard.. Connect the actuator to the computer through UBDynamixel. Don t forget to supply power to the actuator separately. 3. elect the correct port, click on the Open Port icon, and click on tart earch. 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.) Dynamixel Wizard properly aligned horn *ome 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.

3 Bioloid Gerwalk Getting tarted Attach a pair s together. (Make sets) Attach F to. (Make sets) x 6 F x x 6 x 6 - x F - F x Attach ID, ID3, and together. (Do not misalign horn position. Make ets.) Attach F to F. (Make sets) F x x F x x 4 x 6 - x x ET F - F F x F 3

4 Attach ID 4 through ID7, TEP, and TEP together. (Do not misalign horn position.) BU x 4 WA x 4 x 40 x 4 -B x 4 - BU BU -B -B WA WA Left With CABLE-0, connect ID4 to ID6; ID5 to ID7. With CABLE-4, connect ID to ID4; ID3 to ID5. Connect ID3 with CABLE-4. Connect ID with CABLE-0. CABLE-0 x CABLE-4 x 3 CABLE-0 x CABLE-4 CABLE-0 CABLE-4 CABLE-0 - Lef t - - Back CABLE-0 CABLE-4 Left Back 4

5 Attach ID, F, F5, F54,, and IR ENOR together. (Do not misalign horn position.) F x F5 x BU x WA x F54 -B x 3 x 5P CABLE-5 x 4 x IR ENOR CABLE- x x x x 4 RIVET x 6 N x 0 F5 F -B - B U W A 5P CABLE- 5 F x F54 IR ENOR F54 CABLE- IR ENOR RIVET x F54 RIVET F F5 IR ENOR F Attach F5 to F60. F5 x F60 x x 4 x F5 F5 - F60 F60 5

6 Attach TEP4, TEP5, and TEP6 together. Connect ID to ID3 with CABLE-4. x 8 Left Left Attach TEP7 to CM-50. Connect ID to CM-50 with CABLE-4. Connect ID to CM-50 with CABLE-0. Connect to Port of CM-50 with CABLE-. Connect IR ENOR to Port 3 of CM-50 with 5P CABLE-5. Connect IR ENOR to Port 4 of CM-50 with 5P CABLE-5. Cm-50 x x 8 ensor ensor DM Cm-50 PORT ( ) ensor ensor PORT 3 ( ) ensor PORT 4 ( ) ensor 6

7 Connect the battery through the battery cable. BATTERY x 3 BATTERY 7

8 Assembly Check After assembly please check the following procedure to ensure correctness. Run the assembly check program et the robot in PLAY mode; hold the D button then press TART. Once the TART button is pressed, the assembly check program begins. AX+ initial position and ID check elect 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 ID. 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

9 ensor and behavior check From TEP 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 TEP. If everything works fine, play the robot. et the robot in PLAY mode and press TART. The robot will play. 9