Vol.1Edutainment Robot Kit BioloidROBOTIS CO.,LTD. www.robotis.com +82-2-2168-8787. #605 Ace Techno Tower, 55-7 MullaeDong 3Ga YeungdungpoGu, Seoul, KoreaCloser to Real

1

(Bioloid)

. , . .

CM-5(Dynamixel)(Frames) CM-5

()WHEEL: 4ADAPTOR-CM5: 1CHEST-T: 1CHEST-B: 1TIRE: 4CM-5( ) AX-12: 19, AX-S1: 1 PCB: 1

()SPACER: 20HAND: 2FOOT: 2ADAPTOR-F: 6PLATE-HIPS: 3BRACKET-L: 5HINGE-P: 6HINGE-S: 6ADAPTOR-S: 12OF-12H: 10OF-12SH: 10OF-12S: 20BUSHING-F: 20WASHER-B: 20

()SMPS

CM-5 PC Serial Cable [ ]CM-5 PC

CM-5

CD Software Setup.exe

(Behavior Control Programmer) (Motion Editor)(Robot Terminal)

PC CM-5 (MANAGE mode) . COM?, 57600BPS, Start 1bit, Stop 0bit, No Parity

[ ][ ]

. .PCPCTXDRXDGNDTXDRXDGND

[1-1]. (AX-12) (AX-S1) CM-5 , . [1-2]. U .[1-3]. help .

2

? .

1`CM-5 2( )3 ( )4 5 ( )6 7

( ) ( ) . .

ID ID .CM-5ID = 200ID = 1ID = 2ID = N

ID . . : , , , .. : LED, ,

ID ,ID = 11 : A 2 : B 3 : X 4 : Y .ID = 21 : A 2 : B 3 : X 4 : Y .ID = 3

CM-5 CM-5 ID 200.

Sheet1

Address,

24 ,

25 ,

26 ,

27

28

29

30

31AUX LED,

32

33(TIMER),

34 ID(WIRLESS_ID),

35

36 ID(ROBOT_ID),

37

38

1 .

2 . .

CM-5 , .

CM-5 .

1. U AUX LED , D AUX LED . ( = U) LED 1 ( = D) LED 0

[2-1]. AUX LED .[2-2]. LED ( ) .

CM-5 UpdateCM-5 (Update) CM-5(bioloid.hex) .CM-5 . CM-5 .

3 (BAR)

()

.

.

(CALL) : (RETURN) : .

(BAR)

AX-12 .0~1023 . 300 . .0( = 0)300( = 1023)150( = 512)300~360 (Dead Area)

[2]. CM-5 , () .

AX-12 .0~1023 . 300 . , .0( = 0)300( = 1023)150( = 512)300~360 (Dead Area)

3U , D . .

[3-1]. U , .[3-2]. U .[3-3]. .[3-4]. (Reset) .

4

. [3-2] .

AX-12 .1~1023 . 1023 144RPM.1RPM 1 1 .1 300 ?

.0 .

AX-12 1, 0 .

4 0 . 300 1 . , 0 .

[4-1]. L .[4-2]. 4-2 U , D .[4-3]. ?[4-4]. .

5 /(PAN/TILT)

: , . . : .

512 .( ) . . .

AX-12 .0~1023 . 1023, . .

5U,D,L,R .U : TILT D : TILT L : PAN R : PAN .

[5-1]. (PANNING: ) . [5-2]. [5-1] U,D . (L,R )

6

AX-S1(Sensor) .[AX-S1 : , ]

CM-5 , .0~65535 0.125 1 . 1 8 , 0 .

AX-S1 . , , .0~255 255 , 0 . .

6 2 3 . .

[6-1]. 2 ( ) ,

7

AX-S1 . , . , , . , , 0~255 .

7 . . . .10 .

[7-1]. D ( ) .[7-2]. .

8 3

IDID 254 :254 ID. ID 254 (Broadcasting) ID .DynamixelsCM-5ID = 200ID = 1ID = 2ID = N

[]

[] . . .

8U,D,L,R . 1/4 . 1/8 .U . D .L AUX LED .R AUX LED .

[8-1]. . 1/4 . 1/8 .L .R .U . D . U . D .

9

1 .363654541 2 3

90 . 512 .

AX-S1

9 . . 128, 256 . . . 30 4 . 120 5, 6 .

[9-1]. 3 . [9-2]. [9-1] U,D , .

10

5A . SMPS , U POWER LED . . .

SMPS (SMPS) . .

AX-S1 AX-12 . . .

10 .

[10-1]. . [10-2]. [10-1] 10 10 .

11

( ) . LED .GND . ID : . . .

ID SCAN SEARCH . , CM-5 PC (MANAGE MODE) .[ ]

IDCID ID CID Control ID CM-5 ID . CM-5 , .ID ID . ID .] ID Boardcasting CM-5 .

11 .

[11-1]. . [11-2]. [11-1] 10 10 .

12

PCB

12 . , . .

[12-1]. .[12-2]. [12-1] 1 , 10 .

6

. SI(System Integration) .

. robot [-] , . , . . . . . . . .

robot [roubt-bt] n.1 , .2 ( ) .3 (). K. Capek(1890-1938) R.U.R.( ) . robotnik(())

: KIT . . 3page . , . .CM-5 . PC , , .Page 12. . CM-5 . (JACK) SMPS ON LED . LED . (Standby Mode). CM-5 (Operating Mode) . (MANAGE MODE): CM-5 . , . (PROGRAM MODE): (PLAY MODE): (STANDBY MODE): : U SMPS . PC USB , USB2Seiral . . TXD, RXD . TXD, RXD , TXD, RXD . , TXD , RXD . PC TXD, RXD , . , . , . (Actuator) LED , ! . . LED() LED( , ON ) . (Com Port) .

, ID,, . . ID . , .14Page; . . C , . MatLab LabView . ID . Page 24 , , . , . CM-5 .(page 25) . Page 42 . . Page43 , . CM-5 . , . (IF) . AUX LED CM-5 .0,1 . () .[2-2] . . , . . , . . . , , (4 ), L , . . . , . . . (Sub-Routine) , (CALL) , . (CALL) , . (CALL) (JUMP) , (RETURN) (CALL) (JUMP) . (CALL) (RETURN) . ID .ID = 1 . , . ID, , , , . .

. .[3-2] . . CM-5 . , . CM-5 , . . . , . , .1023 144*360 . 1023 * 300 /(144*360) = 5.92. 6 . , 0 . , .4-4. . . 512 . . ID, , () . : . . . : , 0 . . . .(-) .

. ID . . (Comment) . . [] . .AX-12 . , AX-S1 .75Page