You have now all the parts?
Before assembling, you’ll have to prepare your hardware.

1) Send the firmware on the board

First, you’ll have to load the software (firmware) on the electronic board.

Download the firmware

The board should be identified by your computed as a serial port. On Windows, you should see a COM in the devices manager:

On Linux and Mac, a device named /dev/ttyACM0 (or something like that) should appear.

To send the firmware on the board, you can use the python script provided in the archive:

python robotis-loader.py /dev/ttyACM0 metabot.bin

You should then see a progress bar, and the firmware will be loaded on the board.

2) Connect to the terminal

When the program is loaded, you can open a serial connection with the board. On Windows,
you can use PuTTY in serial mode, entering the correct port (COM4 for example.
On Linux, you can use the command cu -l /dev/ttyACM0.

You should obtain a terminal that will allow you to send command on the robot (A $
prompt should appear).

3) Number the servos

We’ll now give numbers to the motors. These numbers are IDs that will allow us to differentiate
each motor of the robot. If you bought Metabot as a kit, all these motors will be
already numbered, and labels will indicate which one is which ID. If you do it yourself, consider
doing so, you’ll need to know the IDs for assembly.

To configure a motor, plug it to the board, and type the following command:

dxl_configure 1

1 is here the ID that we are giving to the motor. You can start again the same operation for
each motor (from 1 to 12).

Motors chart:

Note that if you do a mistake, you can also specify a second argument to change the ID of
a motor. For instance:

dxl_configure 3 4

Will change the ID of the motor 4 to 4.

4) Configure Bluetooth

We will now change the Bluetooth configuration. To do that, connect the BT-210 to the OpenCM.
Type in your terminal:

forward 57600

The board acts now as an intermediary system forwarding data to the Bluetooth module. Press the
! key, you should see the OK message appear. This means that
you are now in command mode.

Type now:

AT+BTKEY=1234
AT+BTUART,921600,N,1

Replace 1234 by the Bluetooth PIN you want. Restart your board, your Bluetooth module is now ready!