Motion Editor Quick Start

Visit the Smart Arm products page and download and install the software for your operating system. http://www.crustcrawler.com/products/smartarm/index.php Software for Windows XP and Vista Behavior Control Programmer 3D Motion Editor Terminal Application The Smart Arm products page also has several manuals for download. The Bioloid Users Guide is a great resource for understanding and using the software. CrustCrawler highly recommends that you take some time to become acquainted with these manuals.

CM-5 Connections
Read 2. Learning the Basic Operations in the Bioloid Users Guide (pages 13-14).

Connect the serial cable to you PC.

Connect the other end of the serial cable to the CM-5. Connect power to the CM-5

Getting Connected
1) Power the CM-5 by switching the red power switch on the CM-5 to the On position. 2) Press the mode button until the program LED is flashing. 3) Open the Motion Editor software. 4) The TXD LED will flash few times as the application opens. 5) The program LED will move from flashing to a solid red.

If the Motion Editor opens with the message Connect CM-5, click the Start drop down menu and select connect CM-5. A new window will popup.

Select your COM port.

If you dont know which com port to choose, simply use the process of elimination until you get connected. Once connected, the screen will look similar to the screen below.

Teaching Your Smart Arm

Read 6-1. Using the Motion Editor in the Bioloid Users Guide (pages 75-83). Note: the Smart Arm does not have a robot profile so you will NOT see a graphical representation of the Smart Arm.

AX-12 Background
The AX-12 has an Enable Torque register flag. When this flag is set to On (1) the AX12 will hold its position. When the flag is Off (0), the arm can be moved to any position while maintaining the ability to read the AX-12 EEPROM registers. Reading and saving the position register allows you to teach youre Smart Arm.

Using the Motion Editor

Notice the On and Off buttons on the image below, these two buttons toggle the torque switch on the AX-12 network. Also notice the list of Dynamixel addresses, 1 to 19. This list displays the Dynamixels current position when the torque is On. The N/A indicates that Dynamixel with ID X is not connected to the network. Torque Off Torque On

Current position of each servo

The red high lighted area below shows a graphical representation of the current AX-12 positions when torque is turned On

Capturing a Position
1) Click the Off button to turn the torque off 2) Physically move the arm to a desired position 3) Click the On button to turn the torque on again and to read the Dyanmixels current positions. 4) Click the Add Pose button. You can repeat this process up to 7 times in one page.

Edit a Pose
Drag and drop the square, red highlighted area above to one of the Used Pose boxes.

Playback
To playback a single position entry double click one of the seven poses. To play the entire page, click the Page Play button.

Managing Speed and Pause

For each captured position, there is a default speed and pause value assigned. To change the Speed and Pause values, simply double click in either of these fields, enter a value and press enter. Note: Each time a position is created and saved, you must enter a speed and pause value that fits your application, otherwise the default values are used. Also, play back of a single position DOES NOT reflect the actual speed set by the user. In order to see the actual speed, you must select the Page Play button to play back the sequence of saved poses. Speed Values Generally, from 0 50 - the higher the number the faster the speed. For the AX12-Smart arm, CrustCrawler uses speeds between 10 and 30. Warning - Numbers higher than 30 are very fast and must be used with caution. Pause Values 0 255 The higher the number the longer the pause between each pose.

Creating a Second Page

If you need more than 7 poses you will need to create another page. To create another page, perform the following: 1. Double left click in the Page Number area (shown below) until you see the number scroll. 2. Scroll to 2 and hit enter - You are now presented with a second page of seven position entries 3. Repeat Capturing a position from the previous page. More pages can be created as required by yuour application.

This is only a small sample of what can be accomplished with the AX-12 Smart Arm CM-5 bundle. Take some time to read through the Bioloid Users Guide and have fun. For help please visit out technical forums at http://forum.crustcrawler.com/index.php