ISR Bioloid Humanoid

Characteristics

The Bioloid Kit features a CM-5 controller, Dynamixel AX-12+ servos and a Dynamixel AX-S1 distance sensor. The CM-5 is connected to the servos and sensors using a bus connecting all devices through a daisy-chain network. It can also be connected to a computer using a serial connection, giving access to many different ways of dealing with the robot.

The CM-5

The controller used on this robot is a CM-5, which uses the processing ability of an ATMega128. It runs at 16MHz, 128Kb of Flash memory, 4Kb of EEPROM and 4Kb of Internal SRAM. It has two available UARTS, which are designed for communicating with the servos at 1Mbps and with the PC at 57600bps. The original firmware allows different programming methods using the Software from Robotis (more details further down), but it is possible to build our own firmwares, programming in C or C++ and compiling using the right libraries (more details further down).can You can find the

The Dynamixel AX-12+

This servos feature a precise position and speed control, an alarm system for different malfunctions, holding torques up to 18.6 Kgf.cm and communication speeds up to 1Mbps. It uses a simple communications protocol that allows writing and reading different status values (current and goal position, current and goal speed, LED status, torque, voltage, temperature, etc). Each servo has a different ID and this network doesn't allow multiple packets to be exchanged at the same time. An instruction and status packet must have the following structure:

Instruction
0xFF	0xFF	ID	LENGTH	INSTRUCTION	PARAMETERS	CHECKSUM
Status
0xFF	0xFF	ID	LENGTH	ERROR	PARAMETERS	CHECKSUM

• The first two bytes are the header, both 0xFF
• The third byte is the ID to whom the instruction is being sent to or where the reply comes from
• The forth byte is the length of the rest of the message (2+number of parameters)
• The instruction or error byte have the following values and meanings:

INSTRUCTION				ERROR
Value	Name	Parameters	Description	Bit	Name	Description
0x01	PING	-	Request of a Status Packet	7	-	No Error
0x02	READ	x,n	Requests the values of n bytes starting at byte x	6	Instruction Error	The instruction requested is undefined
0x03	WRITE	x,values	Requests writing values starting at byte x	5	Overload Error	The maximum torque isn't enough to hold the load
0x04	REG_WRITE	x,values	Similar to WRITE, but waits for a ACTION packet	4	Checksum Error	The checksum is wrong
0x05	ACTION	-	Triggers the last REG_WRITE packet received	3	Range Error	The values to be written are out of range
0x06	RESET	-	Restores the Control Table to factory defaults	2	Overheating Error	The temperature exceeds the maximum operating temperature
0x83	SYNC_WRITE	x,l,S*N	Allows writing in several Dynamixels at the same time, starting at byte x, l values.	1	Angle Limit Error	The goal position is outside the CW and CCW range.
-	-	-	-	0	Input Voltage Error	The input voltage is outside the operating voltage range.

• The parameters are extra values required for some instructions or replies.
• The Checksum byte is calculated as ~(ID+LENGTH+INSTRUCTION/ERROR+PARAMETERS)

Datasheet: AX-12+

The Dynamixel AX-S1

The AX-S1 device has several abilities. In addition to the distance sensor in three directions, it also has a sound emitter and receiver, an infrared remote control receiver and a light sensor. The communications protocol and construction is very similar to the ones of AX-12+

Datasheet: AX-S1