Download - 바이올로이드 Vol.1
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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
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1
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(Bioloid)
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. , . .
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CM-5(Dynamixel)(Frames) CM-5
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()WHEEL: 4ADAPTOR-CM5: 1CHEST-T: 1CHEST-B: 1TIRE: 4CM-5( ) AX-12: 19, AX-S1: 1 PCB: 1
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()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
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()SMPS
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CM-5 PC Serial Cable [ ]CM-5 PC
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CM-5
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CD Software Setup.exe
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(Behavior Control Programmer) (Motion Editor)(Robot Terminal)
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PC CM-5 (MANAGE mode) . COM?, 57600BPS, Start 1bit, Stop 0bit, No Parity
[ ][ ]
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. .PCPCTXDRXDGNDTXDRXDGND
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[1-1]. (AX-12) (AX-S1) CM-5 , . [1-2]. U .[1-3]. help .
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2
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? .
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1`CM-5 2( )3 ( )4 5 ( )6 7
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( ) ( ) . .
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ID ID .CM-5ID = 200ID = 1ID = 2ID = N
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ID . . : , , , .. : LED, ,
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ID ,ID = 11 : A 2 : B 3 : X 4 : Y .ID = 21 : A 2 : B 3 : X 4 : Y .ID = 3
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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
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1 .
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2 . .
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CM-5 , .
CM-5 .
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1. U AUX LED , D AUX LED . ( = U) LED 1 ( = D) LED 0
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[2-1]. AUX LED .[2-2]. LED ( ) .
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CM-5 UpdateCM-5 (Update) CM-5(bioloid.hex) .CM-5 . CM-5 .
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3 (BAR)
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()
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.
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.
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(CALL) : (RETURN) : .
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(BAR)
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AX-12 .0~1023 . 300 . .0( = 0)300( = 1023)150( = 512)300~360 (Dead Area)
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[2]. CM-5 , () .
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AX-12 .0~1023 . 300 . , .0( = 0)300( = 1023)150( = 512)300~360 (Dead Area)
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3U , D . .
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[3-1]. U , .[3-2]. U .[3-3]. .[3-4]. (Reset) .
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4
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. [3-2] .
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AX-12 .1~1023 . 1023 144RPM.1RPM 1 1 .1 300 ?
.0 .
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AX-12 1, 0 .
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4 0 . 300 1 . , 0 .
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[4-1]. L .[4-2]. 4-2 U , D .[4-3]. ?[4-4]. .
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5 /(PAN/TILT)
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: , . . : .
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512 .( ) . . .
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AX-12 .0~1023 . 1023, . .
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5U,D,L,R .U : TILT D : TILT L : PAN R : PAN .
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[5-1]. (PANNING: ) . [5-2]. [5-1] U,D . (L,R )
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6
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AX-S1(Sensor) .[AX-S1 : , ]
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CM-5 , .0~65535 0.125 1 . 1 8 , 0 .
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AX-S1 . , , .0~255 255 , 0 . .
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6 2 3 . .
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[6-1]. 2 ( ) ,
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7
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AX-S1 . , . , , . , , 0~255 .
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7 . . . .10 .
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[7-1]. D ( ) .[7-2]. .
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8 3
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IDID 254 :254 ID. ID 254 (Broadcasting) ID .DynamixelsCM-5ID = 200ID = 1ID = 2ID = N
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[]
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[] . . .
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8U,D,L,R . 1/4 . 1/8 .U . D .L AUX LED .R AUX LED .
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[8-1]. . 1/4 . 1/8 .L .R .U . D . U . D .
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9
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1 .363654541 2 3
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90 . 512 .
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AX-S1
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9 . . 128, 256 . . . 30 4 . 120 5, 6 .
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[9-1]. 3 . [9-2]. [9-1] U,D , .
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10
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5A . SMPS , U POWER LED . . .
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SMPS (SMPS) . .
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AX-S1 AX-12 . . .
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10 .
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[10-1]. . [10-2]. [10-1] 10 10 .
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11
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( ) . LED .GND . ID : . . .
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ID SCAN SEARCH . , CM-5 PC (MANAGE MODE) .[ ]
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IDCID ID CID Control ID CM-5 ID . CM-5 , .ID ID . ID .] ID Boardcasting CM-5 .
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11 .
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[11-1]. . [11-2]. [11-1] 10 10 .
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12
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PCB
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12 . , . .
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[12-1]. .[12-2]. [12-1] 1 , 10 .
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6
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. 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