PC Link (Serial Cable)
: Used to connect the serial cable to the CM-510 and PC via serial
port. Used for communication with other PC or downloading task code.
Communication Device Connection
Jack : Used for wireless communicate with ZIG-110, IR receiver
modules or other boards
Battery Jack : Used to
connect with the battery.
Power Jack : Used to connect
the SMPS power supply
Power LED : ON and OFF
LED status for the power
Power Switch : Used to
turn the robot ON / OFF.
MODE Button : Used to change
the operation mode of CM-510. Please read below for more information.
START Button : Used to
START selected mode. Please read below for more information.
U / L / D / R Button :
Used for input purposes when a program is playing. These buttons can
be used to send commands to the robot.
AX/MX
Serise Bus Port : Used to connect the AX/MX Dynamixel in
a daisy chain method.
Peripheral Devices Connection
Port : Used to connect Distance Measurement Sensor, Touch Sensor,
IR Sensor, and peripheral devices. The port numbers for each port
are represented in bars such as I , II , III, IIII , IIIII , and IIIIII.
Mode Display LED : LED
to display current operation mode of CM-510; Detailed descriptions
are provided as below.
[ MANAGE ]
It displays Dynamixel management mode is in progress.
It is used to set or test the operations of CM-510 and
AX/MX Dynamixel using RoboPlus Manager.
It is automatically executed when RoboPlus
Manager and CM-510 are connected.
[ PROGRAM
]
It displays the motion edit mode
is in progress.
It is used when the motions are
editted with RoboPlus Motion.
It is automatically executed when
RoboPlus
Motion and CM-510 are connected.
[ PLAY
]
It displays the task code mode
is in progress.
It is used after downloading the
written code to CM-510 with RoboPlus
Task.
The Start button must be pressed
directly by the user to execute When PLAY LED flickers.
Status Display LED : The
LED represents the current status of CM-510. Detailed discriptions
are provided as below.
TxD : Turned on while
CM-510 is transmitting the data to the outside.
RxD : Turned on while
CM-510 is receiving the data from the outside.
AUX : Assigned LED
to be used by the user in the program. It can be turned
on or off using task code.
Connecting Power
The power is applied if the battery is connected to battery socket
of CM-510 or if the power switch is set to ON after connecting SMPS to
power jack socket. If the power is impressed, Power LED is turned on and
one of the Mode Display LEDs flickers.
How to Operate
[Turning the power on] :The power is turned on by moving the switch fromOFF to ON.
※ If the power is not turned on in spite
of moving the switch to ON, the batteries may have been discharged.
Pleaser refer
to Charging
to recharge, or connect the power using SMPS.
[ Start ] : Move to PLAY using Mode
Button to operate robots. Press START
Button to execute when the LED on PLAY flickers.
※ If START button is pressed, the LED on
PLAY is not supposed to be flickering
any more; that is the normal status of the execution.
[ End ] : If you
want to stop the executed operations, press MODE
Button to get back to waiting mode stauts, or turn OFF
the power using Power Switch.
Usage
RoboPlus
It is used to control Dynamixel and the peripherals, and it can
connect Dynamixel(AX/MX Dynamixel... etc.) and various parts of OLLO(Touch Sensor, LED
Module, IR Sensor
etc.).
Specific motions can be edited and saved through RoboPlus
Motion. The saved motion (mtn file) can be always executed
by RoboPlus Task,
and also the motions of each part can be controlled by writing the
task codes for control.
The controller of CM-510 can be controlled in C language. Please
refer to Embedded C
for more information.
Connecting to a PC
PC Link(Serial Cable) of CM-510 and Serial Port of PC must be connected
using download cable to communication with PC. If you want to communicate
with PC on the laptop without serial port, you can communicate with PC
using USB2Dynamixel.
Connecting Wireless Communication Module
ZIG-110 wireless communication module can be connected to CM-510.
Charging
If the alarm rings during the robot operation, the battery must be charged.
If the charging is started, the red LED on the charger starts flickering.
If the charging is completed, the green light is turned on.
① Separating Battery
② Connecting Charger
③ Charging
Charging
in Progress
(Red LED)
Charging
Completed
(Green LED)
⇒ The robot may be operated using external power if SMPS
is directly connected to robots.
⇒ Two connectors are connected to the battery: the connector
for charging and the connector for operating robots.
Replacing the Fuse
The fuse in the CM-510/CM-530 prevents it from overloading,which can
damage the circuit.
If the CM-510/CM-530 does not turn on with the battery but turns on
when connected to the SMPS, replace your fuse.
※ The size of the fuse is shown below. Use a 125V/5A~10A fuse.
※ How to replace the fuse
① Find the fuse
on the back of the CM-510/CM-530.
②
Use a pincette to replace the fuse with a new one.
Pin Information to Build User Application Device
Power
The pin composition of CM-510 Power is as
below.
External 5-Pin Port
The pin composition of CM-510 external port
is as below.
OUT : 5V- Torque Possible (Maximum Allowed Current 0.9A)
VDD (5V)
ADC : The analog signals from the sensor made by the user can
be read.
GND
NC : Not used
Communication Device Connection Port
The functions on the pins of communication
device connection port are as below.
GND : Ground Level (0v)
VDD : Supply Voltage ( 2.7~3.6V )
RXD : Receive Signal Terminal
TXD : Transmit Signal Terminal
3-Pin Connector Port
The functions of pins on the 3-pin connector
port are as follows. Please refer to AX-Series
Pin Assignment for more information.
Please be careful not to change the direction
considering the angular part.
GND : Ground Level (0v)
VDD : Supply Voltage (It is equal to the voltage of battery)
