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