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Copyright ⓒ by ROBOTIS Co., Ltd.

Reproduction and modification of this book in any form or by any means without the prior
consent or the written permission from the publisher is strictly prohibited.

www.robotis.com EN2110
Assembly Manual

CAUTION
① Please verify the type of screws and rivets required in each assembly step before actual
assembly.
Long rivets and short rivets Long screws and short screws

★
★
SRV-1LSH/1LSP SRV-1SH/1SP CHS_M2_0X06_TAP CHS_M2_0X04_TAP

② Verify the length of the cable.

CABLE-11cm ×1 CABLE-13cm ×4 CABLE-16cm ×2

③ Please confirm the DYNAMIXEL XL-320's horn position.

④ Please do not use excessive force on the cables. This will cause damage.
⑤ When assembling the li-ion battery, be sure to make it parallel with the other parts to
avoid damage.
⑥ XL-320D is a dummy motor used for the head assembly.

DYNAMIXEL XL-320 Position

ID ID
ID ID 1 2 ID ID

5 3 4 6
ID ID
7 8
ID ID

9 10

ID ID

11 12

ID ID
ID
13 14 ID

15 16

01
Assembly Manual

 Assembly step 15, 19, 69, 73 Please check the cable hole position of the frame DMF-B04ⓦ before assembly.
Assembly step 54, 55, 56, 57 Please check the cable direction when assembling SPU-5ⓦ and SPD-3b5ⓦ.
Assembly step 42, 48, 49 Please check the cable hole position of the frame DMB-B02ⓦ before assembly.

"CAUTION" symbol is an important step/essential to correct assembly and must be followed closely.

Long Rivet ★

★
1
SRV-1LSH/1LSP ×2 SPO-4PR gr ×1

SPU-5ⓦ ×1 SPD-3b3ⓦ ×1

Long Rivet ★

★
2
SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

★
SRV-1LSH/1LSP ×2
3 Long Rivet ★

SPD-3b5ⓦ ×1

02
 4
SRV-1SH/1SP ×5 SPL-2b2ⓦ ×3

★
SRV-1LSH/1LSP ×2
5 Long Rivet ★

SPD-3b5ⓦ ×1

6
SRV-1SH/1SP ×4 SPD-4b5ⓦ ×1

★
SRV-1LSH/1LSP ×4
7
SPL-2b2ⓦ ×4

Long Rivet ★

03
★
8 Long Rivet ★

SRV-1LSH/1LSP ×2 SPO-4PR gr ×1

SPU-5ⓦ ×1 SPD-3b3ⓦ ×1

★
9 Long Rivet ★

SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

★
SRV-1LSH/1LSP ×2
10 Long Rivet ★

SPD-3b5ⓦ ×1

11
SRV-1SH/1SP ×5 SPL-2b2ⓦ ×3

04
★
SRV-1LSH/1LSP ×2
12 Long Rivet ★

SPD-3b5ⓦ ×1

13
SRV-1SH/1SP ×4 SPD-4b5ⓦ ×1

★
SRV-1LSH/1LSP ×4
14
SPL-2b2ⓦ ×4

Long Rivet ★

05
 SRV-1SH/1SP ×4
15 ID
❶

DMF-B04ⓦ ×1 XL-320 ×1
❷

CABLE-11cm ×1

Ensure that wires are

lying in the middle of
the Motor to avoid being
jammed by DMF-B04.

CABLE-11 1
1

SRV-1SH/1SP ×4
16

CHS_M2_0X04_TAP ×4
17
★
SRV-1LSH/1LSP ×1
ID

3
❸
SPO-4PR gr ×1 XL-320 ×1
Long Rivet ★

❹
❶ ❷

1
1

ID

5
Top , Bottom
Check and assemble.

06
SRV-1SH/1SP ×4
18

ID

SRV-1SH/1SP ×4
19
❶

ID

DMF-B04ⓦ ×1 XL-320 ×1 4

CABLE-11cm ×1

Ensure wire is placed

correctly through the
middle of the Motor
2 CABLE-11 once connected, before
attaching DMF-B04 to
XL-320.

07
SRV-1SH/1SP ×4
20

★
SRV-1LSH/1LSP ×1
21
CHS_M2_0X04_TAP ×4

ID

4
❸
Long Rivet ★
XL-320 ×1 SPO-4PR gr ×1

2 ❹

ID

❷ ❶

Ensure Horn
Orientation is correct.

08
SRV-1SH/1SP ×4
22

ID

ID

SRV-1SH/1SP ×4
23 ❶

XL-320 ×1 SPD-3b7ⓦ ×1

ID
CABLE-11 ×1
13

CABLE-11 3

09
CHS_M2_0X04_TAP ×4
24 ID

15


XL-320 ×1 SPD-7V4ⓦ ×1
Ensure Horn Orientation is correct.

SRV-1SH/1SP ×2
25
ID
3
13

3 ID

15

26

180°ROTATE CCW

10
SRV-1SH/1SP ×2
27 ❷ 90°
Rotate 90 degrees to the right.

ID

15
❶
ID

13

SRV-1SH/1SP ×4
28 ID
ID

15
13

DMF-B06ⓦ ×1

SRV-1SH/1SP ×4
29

ID

15

ID

13

11
 CHS_M2_0X04_TAP ×4 30

DMF-B07 gr ×1

31
Ensure Horn
Orientation is correct.

CHS_M2_0X04_TAP ×4
❶
★
SRV-1LSH/1LSP ×1

SPO-4PR gr ×1 DMF-B05ⓦ ×1

ID

15

ID

13
❷

Long Rivet ★

12
SRV-1SH/1SP ×4 32 14
ID ❶

CABLE-11cm ×1

XL-320 ×1 SPD-3b7ⓦ ×1

4 CABLE-11

CHS_M2_0X04_TAP ×4
33 ID

16

XL-320 ×1 SPD-7V4ⓦ ×1 ❶

Ensure Horn Orientation is correct.

SRV-1SH/1SP ×2
34
❶ 4 ID

14

ID

16

13
 35

180°ROTATE CCW

SRV-1SH/1SP ×2
36
90° ❷

ID ID
16 14
❶

SRV-1SH/1SP ×4
37
ID ID
16 14

DMF-B06ⓦ ×1

14
SRV-1SH/1SP ×4
38

ID

16

ID

14

CHS_M2_0X04_TAP ×4
39

DMF-B07 gr ×1

15
CHS_M2_0X04_TAP ×4
40 ❶ Ensure Horn
Orientation is correct.

★
SRV-1LSH/1LSP ×1

SPO-4PR gr ×1 DMF-B05ⓦ ×1

ID

16
ID

ID 14
16

ID

14

Long Rivet ★

SRV-1SH/1SP ×2 41
SPU-5ⓦ ×1 XL-320 ×1 CABLE-13 8

CABLE-13cm ×2
CABLE-13 6

❶ ID

6
8

16
SRV-1SH/1SP ×2 42 7 CABLE-13

ID

1
SPU-5ⓦ ×1 XL-320 ×1 ❶
CABLE-13cm ×2

7
5
5 CABLE-13

SRV-1SH/1SP ×4
43 7 8

8 ID
DMB-B02ⓦ ×1 2
7
6

ID

17
 SRV-1SH/1SP ×8
44

ID

2
ID

SRV-1SH/1SP ×4
45

LBB-041 ×1

18
SRV-1SH/1SP ×2
46

47
SPU-5ⓦ ×2 SRV-1SH/1SP ×8

19
 48 ❶


XL-320 ×1 SRV-1SH/1SP ×2
Ensure Horn Orientation is correct.
CABLE-16cm ×1

11

ID

8
❸

11

11 CABLE-16

20
 49 Ensure Horn Orientation is correct.

❶
XL-320 ×1 SRV-1SH/1SP ×2


CABLE-16cm ×1

❸
10 ID
ID

8 7
10

10 CABLE-16

21
 SRV-1SH/1SP ×4
50

LBB-041 ×1

12
❶

SRV-1SH/1SP ×2
51 ❷

22
 52
LB-041 ×2

CHS_M2_0X04_TAP ×8 53
SPD-7V4ⓦ ×2

23
SRV-1SH/1SP ×2 54 ❶

XL-320 ×1 SPD-3b5ⓦ ×1

CABLE-11cm ×1 16 CABLE-11

ID

55 ❶

SPU-5ⓦ ×1 SRV-1SH/1SP ×4
15

CABLE-13cm ×1

15 CABLE-13

24
SRV-1SH/1SP ×2 56 ❶

13
13

XL-320 ×1 SPD-3b5ⓦ ×1

CABLE-11cm ×1

ID

10

13 CABLE-11

57 ❶

SPU-5ⓦ ×1 SRV-1SH/1SP ×4
14

CABLE-13cm ×1

13 14 CABLE-13

25
 ID

★
SRV-1LSH/1LSP ×4 58 10
14
❸

14

❶
ID

9
15

Long Rivet ★
15 ❹

❷ Long Rivet ★

SRV-1SH/1SP ×4 59 ❷ 180°ROTATE CCW

★
SRV-1LSH/1LSP ×4 ID

10
180° ROTATE CW ❸

ID

9 ❶

Long Rivet ★

Long Rivet ★

26
SRV-1SH/1SP ×4 60

61
Long Screws ★
★
CHS_M2_0X06_TAP ×4

XL-320D ×1

DMF-B01ⓦ ×1

XL-320D is a dummy motor

used for the head assembly.
(NO ID)

27
SRV-1SH/1SP ×4 62
OpenCM9.04-C ×1 OFF
Set the switch to ‘Power off’, assemble it

SRV-1SH/1SP ×4 63
BT-210 ×1

17

28
 64
11 10
8
7
9

12

17

SRV-1SH/1SP ×4 65
6

5 5

29
SRV-1SH/1SP ×4 66

SRV-1SH/1SP ×2 67 ❷

DMF-F01ⓦ ×1

30
SRV-1SH/1SP ×2 68

CHS_M2_0X04_TAP ×4
69
Ensure Horn
★ Orientation is correct.

SRV-1LSH/1LSP ×1 SPO-4PR gr ×1
❶

DMF-B04ⓦ ×1

❷ 13

Long Rivet ★

13

31
 70
XL-320 ×1 SRV-1SH/1SP ×4

CABLE-11cm ×1

❶
13

18
ID

12
18 13

CABLE-11 18

SRV-1SH/1SP ×4 71

32
CHS_M2_0X04_TAP ×4
72
★
SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

Ensure Horn
Orientation is correct.

❸
18
❷
Long Rivet ★
18

ID ID

16 14
❹

Refer to Step 32~40

33
CHS_M2_0X04_TAP ×4
73
★
SRV-1LSH/1LSP ×1

DMF-B04ⓦ ×1 SPO-4PR gr ×1

Ensure Horn
Orientation is correct.

❷ 16
❸

Long Rivet ★

16

34
 74
XL-320 ×1 SRV-1SH/1SP ×4

CABLE-11cm ×1

❶
16

16

19 19 ID

11

CABLE-11 19

SRV-1SH/1SP ×4
75

35
CHS_M2_0X04_TAP ×4
76
★
SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

Ensure Horn
Orientation is correct.

❷ ❶
19

ID ID

13 15

❸
19
Long Rivet ★

Refer to Step 23~31

36
CHS_M2_0X04_TAP ×4
77

DMF-B03ⓦ ×1

Ensure Horn
Orientation is correct.

37
 CHS_M2_0X04_TAP ×4
78
★
SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

Ensure Horn
Orientation is correct.

Long Rivet ★

❷
6

Refer to Step 19~22

❹ ID

4 6

ID

The Caution for the arm to be horizontal

when attaching to the body

38
CHS_M2_0X04_TAP ×4 79

DMF-B03ⓦ ×1

39
 CHS_M2_0X04_TAP ×4
80 Ensure Horn
Orientation is correct.

★ ❶
SRV-1LSH/1LSP ×1 SPO-4PR gr ×1

5
Long Rivet ★
❷

Refer to Step 15~18

❹ ID

5
3
ID

The Caution for the arm to be horizontal

when attaching to the body

40
ROBOTIS MINI Complete

41
 ID ID

ID ID 1 2 ID ID

5 3 4 6
ID ID
7 8

ID ID

9 10

ID ID

11 12

ID ID
ID
13 14 ID

15 16

ID ID ID

3 1 CABLE-11 5 8 11 CABLE-16 OpenCM9.04-C

ID ID
2 CABLE-11 LBB-041 12 OpenCM9.04-C
4 6
ID ID ID ID
3 CABLE-11 10 13 CABLE-11 12
13 15
ID ID ID ID
4 CABLE-11 10 14 CABLE-13 8
14 16
ID ID ID ID
5 CABLE-13 9 15 CABLE-13 7
1 3
ID ID ID ID
6 CABLE-13 9 16 CABLE-11 11
2 4
ID

1 7 CABLE-13 OpenCM9.04-C BT-210 17 OpenCM9.04-C

ID ID ID
8 CABLE-13 OpenCM9.04-C 12 18 CABLE-11 14
2
ID ID
LBB-041 9 OpenCM9.04-C 19 CABLE-11
11 13
ID

7 10 CABLE-16 OpenCM9.04-C

42
Parts List

XL-320 ×16 XL-320D ×1 SPU-5ⓦ ×8 SPL-2b2ⓦ ×14 SPO-4PR gr ×14

SPD-3b3ⓦ ×2 SPD-3b5ⓦ ×6 SPD-7V4ⓦ ×4 SPD-3b7ⓦ ×2 SPD-4b5ⓦ ×2

LB-041 ×2 LBB-041 ×2 BT-210 ×1

OpenCM9.04-C ×1 CABLE ×1 STL ×1

DRIVER ×1

DMF-F01ⓦ ×1 DMF-B01ⓦ ×1

DMF-B06ⓦ ×2 DMF-B07 gr ×2 DMB-B02ⓦ ×1

DMF-B03ⓦ ×2 DMF-B04ⓦ ×4 DMF-B05ⓦ ×2 STICKER ×1 QUICK START ×1

43
1:1 SCALE

★ ★

18
SRV-1LSH/1LSP ×40 SRV-1SH/1SP ×170 CHS_M2_0X06_TAP ×4 CHS_M2_0X04_TAP ×72

17
16
CABLE-16cm ×2

15
14
13
CABLE-13cm ×6

12
11
CABLE-11cm ×8

10
9
8
7
6
5
4
3
2
1
0

44