[Help] Problem with bioloid

[pam2011]

we've already assembled bioloid comprehensive kit since 2 weeks ago.
but we got several problems. sometimes our bioloid can move but after some movements, the terminal show following code.

019 (0x13) Dynamixels Found.

Error:8100[0023:02]001 002 024 001
and so on

after those errors, we tried to reset the bioloid but the CM-5 can't detect the dynamixel.

the terminal produces the following output.

000 (0x00) Dynamixels Found.

from the manual we know that error 8100 is because we call an invalid dynamixel's id. but we never call an invalid dynamixel ID.

is re-wiring and re-assembling the bioloid will fix the error? or are there other way to fix the error?

thanks in advance. Sorry for the bad english, and also this is our first time building a humanoid robot.

[nunogato]

Hi pam2011,

Welcome to our forum!

Try to use the RoboPlus or RoboTerminal and add one servo at a time to the BUS to see if there is a particular servo or wire that is malfunctioning. Ideally use USB2Dynamixel to do this test in order to isolate this problem without the CM-5 controller.

If this does not work try to update the firmware. Check this link

[Merlin]

Pam:
I will suggest you an indirect way to solve the problem:
You have to take in mind that Humanoid is the most complex model you can assembly with Bioloid robot Kit, so it is highly recommended to have some basic knowledge BEFORE you start building the humanoid.
So, I suggest you to give you a fresh start, building some other less complex models, like the ones you can find in the first pages of your manual.
There are several simple models where you can learn about the correct use of CM5, AX's and the common errors you can find when you work with the kit.
After you build and use 3 or 4 models less complex, MAYBE you will go for the Humanoid...I say maybe because some other model can capture your attention to stay there for a long while.
Try this way, longer, better and easier road to get the necessary knowledge on robotics.

Best regards

merlin

[RoboFlop]

Assuming a type A with 18 dynamixels...reporting 13 on the bus so 5 missing

Have a look at the wires near the top of the legs that join servos 7-9 and 8-10. A problem with those link cables would drop 5 off the bus.

There is a possibility of the the brackets nipping a cable here with one of the standard moves - specifically the headstand - as the sideways motion of the leg causes the brackets to pass quite closely together. If the cable finds itself there it will be subject to some damage and that may produce the type of effects you are seeing. If the cable has been nipped it will probably expose the copper wire and should be visible...

Hope it helps...

[pam2011]

thank you for the reply.

i think i will try the indirect way.

[MOHIT JINDAL]

Can any one tell me how i can judge that gyro and dms is working or not in a premium kit

[garycmartin]

Can any one tell me how i can judge that gyro and dms is working or not in a premium kit

Well testing the dms is at least a quickie if you have built the type A humanoid. Just switch the 510 controller to play mode and activate demo behaviour (the down button). Part of the demo script is to play the bow animation if you go near the dms sensor (just move your hand towards the chest).

For the gyro, I guess you could activate the autonomous walkabout script. If you knock the robot over it should trigger one of the animations to stand its self back up again. I've noticed it does not always realise 100% of the time that it has fallen over, but usually it does get back up.

I'm on a Mac here and have not yet installed a Windows VM or any of the Robotis provided software, sure there are many ways to examine and work with the dms and gyro input signals from there.

[Fritzoid]

The term "working" as applied to the gyros is somewhat overloaded.

At the hardware level the question is, are the gyros outputting voltage and is this voltage being measured by the correct AD port?

To answer this question you can use RoboPlus Manager to monitor the AD ports in real-time. First connect to the CM-510 then select the exterior I/O devices tab (ext. equipment tab). Once you configure the AD ports 3 and 4 for the device (use IR sensor) using the flyout listbox you will see the reading change every few milliseconds. Rotating the robot forward and backward or left and right should cause the readings to change appropriately.

At the software level the question is, are the gyros being used by the callback routine?

To answer this question you need to uncomment the PRINT statements at the bottom of the Task program (HumanoidTypeA.mtn). Then change them to print the FBBalError and/or RLBalError variables. After downloawing the updated program you then use RoboPlus Terminal to monitor the robot while the program is running. This will show you that the gyro inputs are being used to influence the motions.

The final question is more philosophical, is the gyro producing the desired results? The answer to this question has more to do with the user's expectations then anything else. If you have gotten through the previous two tests then the gyros are working to specification. Yet the effects are hardly apparent, so for most of us the answer will be yes... but not as much as much as I had hoped!

[RoboFlop]

Splendidly put Fritzoid...