USB2Dynamixel manual - CrustCrawler Robotics
Contents
1. O USB2Dynamixel Use to directly operate Dynamixel from PC Or when converting a USB port to a serial port O Software Inside the software drivers and utilities are provided so that users can directly operate Dynamixel from PC You can download it from Homepage www robotis com Li sL 7 mE 2E O Manual This printed manual explains how to install drivers and utilities as well as usage method for USB2Dynamixel 1 3 System Requirements O PC IBM Compatible PC Required USB 1 1 or higher Required O OS Windows 2000 or Windows XP Required O CPU Intel Pentium Ill 1GHz AMD Athlon XP 1GHz or higher Recommended O RAM 256MB or higher Recommended User s Manual ROBOTIS 1 4 USB2Dynamixel Connection 1 4 1 USB2Dynamixel Components status display LED Function select switch Serial connector 3P AP la connector Status display LED Displays power status TxD data write and RxD data read Function select switch Allows the selection of TTL RX 485 or RX 232 3P connector Connects to the AX series Dynamixel via TTL 4P connector Connects to the DX RX series Dynamixel via RX 485 Serial connector Converts a USB port to a serial port via RX 232 OMAN User s Manual ROBOTIS 1 4 2 CONNECTING AX SERIES DYNAMIXEL set the function select switch to TTL mode Connect 3P cable to the 3P connector of USB2Dynamixel and Dynamixel co2. User s Manual ROBOTIS Tips on inputing Power DX RX seriesDynamixel O Input power into the last Dynamixel Divide the 1 2 cable data cables with connector refer to the chapter 1 4 5 1 Input the positive power into the 3 cable and the negative power to the 4 cable O Input power into the first Dynamixel If you cannot input power to the last dynamixel input the power into the first dynamixel Divide the 2 cable with the connector refer to the chapter 1 4 5 and then connect it with positivel power Join the 3 cable to another cable and connect it with negative power User s Manual ROBOTIS 1 9 Installation 1 5 1 Driver Installation lt Step 1 gt When USB2Dynamixel is connected to PC the following New Hardware dialog window will appear here users select Install from a list of specific location Found New Hardware Wizard This wizard helps you install software for USB lt gt Serial If your hardware came with an installation CD 162 or floppy disk insert it now What do you want the wizard to do O Install the software automatically Recommended Click Next to continue lt Step 2 gt After selecting search location select USB2Dynamixel driver folder lt Step 3 gt Complete the installation Completing the Found New Hardware Wizard The wizard has finished installing the software for USB Serial Converter Click Fin
3. the goal position value of CW Angle Limit CCW Error Angle Limit is written outside of range values Input Voltage When input voltage exceeds the set voltage range in a Error control table ROBOTIS DYNAMIXEL CONFIGURATOR Yer 1 2 2 10 PORT BAUD RATE 1000000 bps Port Open O D M St mme Iter 2 Version of Firmware 4 Baudrate S Return Delay Time 6 CW Angle Limit L 7 CW Angle Limit H 8 COW Angle Limit L 9 COW Angle Limit H TRAGET ID Select the iD of Dynamixel that will be operated The ID is assigned to identify each Dynamixel Connected Dynamixels must have unique iDs AUTO UPDATE When Auto Update button is clicked as soon as the value of item is changed Dynamixel will be updated SCAN START It exams the Dynamixel ID connected to a USB port and the Baud Rate O READ ALL It reads the current condition of Dynamixel RESET It resets Dynamixel to factory initial setting O DIAL Users can input the location value of Dynamixel Also users can set the command angle visually User s Manual ROBOTIS 2 4 Items amp Values In Dynamixel Configurator there are 37 items where users can select to set Dynamixel The following picture shows the main items For more details refer to the Dynamixel manual DYNAMIXEL CONFIGURATOR Yer 1 2 2 10 Item Model Number H Version of Firmware audrate eturn Delay Time Cu Ang le Limit LJ Cm Angle Limit H
4. 00mA It can damage USB warning board User s Manual ROBOTIS 1 4 0 Pin Figure The following illustration shows the connector pins used in USB2Dynamixel Users can use the pins in accordance with their needs Pin Figure of MOLEX Cable connector DATA RS 485 DATA RS 485 NOT Connected _ GND Data TTL TXD RS 232 o a D RS 485 1 O Oy 0 D RS 485 Ke O E J O hort the 8th pin hort the 7th pin USB power 5V Do not connect to a device that consumes more than 500mA It can damage USB board warning User s Manual ROBOTIS 1 4 6 The methord of inputting power USB2Dyanmixel does not provide power to the Dynamixel in order to drive dynamixels the power should be provided as following methords Indivisual appropriated power supply eg Ax DX RX series is described at the dynamixel manuals Tips on inputing Power AX seriesDynamixel O input power into the last Dynamixel Divide the 1 cable data cable with connector refer to the chapter 1 4 5 Input the positive power into the 2 cable and the negative power to the 3 cable O input power into the first Dynamixel If you cannot input power to the last dynamixel input the power into the first dynamixel Divide the 2 cable with the connector refer to the chapter 1 4 5 and then connect it with positive power Join the 3 cable to another cable and connect it with negative power
5. 1 Product Introduction 1 1 Product Features USB2Dynamixel is a device that can directly control Dynamixel from PC 3P connector and 4P connector are built in allowing USB2Dynamixel to connect to various Dynamixels and it is used by connecting to a USB port Moreover USB2Dynamixel can be used in a notebook or in PC that has no serial port by converting a USB port to a serial port This capability allows users to connect Bioloid robot s CM 5 to a USB port or by connecting ZIG2Serial to the same port to control the robot remotely The following pictures illustrate how to use USB2Dynamixel DYNAMIXEL CONTROL USING PC USB PORT D D NIC DATA GND NIC TxD E GND Ta 2 Un 52 TRAD PWR TTL R3485 Dsrsa32 O Conversion of serial port USB PORT isin 8 A TxD END RxD PWR TTL ASAS Dsrsa32 O Wireless communication USB PORT GND a LA gee 031 D Ei RS 232 OTXD END ORxD PWR Z TTL R3485 Nns232 RS 232 CA ee Power line RS 232 OMAN User s Manual ROBOTIS 1 2 Product Components
6. Coy Angle Limit iL CW Angle Limit H O ID ID is a unique number that identifies each Dynamixel Here users can set the value to change the ID of Dynamixel BAUDRATE set the communication speed For more details refer to the Chapter 2 1 1 CW CCW ANGLE LIMIT set angle area allowing the limit of Dynamixel movement range Goal position must be set within CW Angle Limit lt Goal Potion lt CCW Angle Limit and if it exceeds the range Angle Limit Error occurs O ALARM LED When an error occurs and applicable bit is set to 1 the LED of dynamixel will blink For more details on errors refer to the Chapter 2 1 2 O GOAL POSITION Users input the location where they want Dynamixel to move to ISSMUGiIE Users Manual ROBOTIS 2 9 Control Table The following table shows the address and the value range of Dynamixel For further details check the Dynamixel manual Address ltem Access Initial Value 00X00 Model Numberth PR 100X01 ModelNumber H PRB Aona _version of firmware __ of Firmware 55 OOOO Oxon 4 0X04 BaudRate RDWR f 340x22 5 0X05 Return Delay Time RDWR 250 0xFAJ_ 0x06 CW Angle Limit S RDWR OOOO 70x07 CW Angle LimittH RDWR f 0O 0Xx001_ 0x08 CCW Angle Limit RDWR 255 0xFFI_ 910X09 CCW Angle LimittH RDWR f 3 0x031 100x0A Reserved o J onm EEPROM 110x081 the Highest Limit Temperature RDWR
7. D 93 44 0x2c Registered Instruction RDWR 0x00 45 0X2D Reserved o J 0t0x00 A6IOx2E Moving PD ooo ATOx2F tock RDWR ooo O A8IOx30 Punch RDWR 8 200x20 4910x311 Punch RR 0t0x001 The initial value of table can be different depending on the Dynamixel models 19
8. E E USB Transfer Sizes Cael Data bits 18 y ep El Select lower settings to correct performance problems at low baud rates gt Select higher settings for faster performance Defaults Parity None Stop bits 1 Receive Bytes 4096 Flow control None v Transmit Bytes 4096 CES Restore Defaults BM Options Miscellaneous Options Serial Enumerator Serial Printer Latency Timer msec a fee nn ancel If Power Event On Surprise Removal Set RTS On Close Minimum Read Timeout msec Disable Modem Ctrl At Startup Minimum Write Timeout msec Timeouts 13 OMAN User s Manual ROBOTIS 1 5 2 Dynamixel Configurator Installation lt Step 1 gt Download Dynamixel Configurator from ROBOTIS Homepage lt Step 2 gt Install your PC A TA A 10 2 Version of Firmware 3 ID AA A AAA naih Baudrate User s Manual ROBOTIS 2 Operation of Dynamixel Dynamixel Configurator is a utility that enables users to check the movement of Dynamixel from PC It can also change the values of Dynamixel As the basic concept of Dynamixel is represented visually users can easily understand the usage method and test the various applications 2 1 Communication NVAIARMIVE CORIFICIRATORA Mar 199 1 PORT FEE v BAUD RATE 1000000 bps Port Open JH VU as Model Mumber H Version of Firmware ID Baudrate Return Delay Time 6 CW Angle Limit
9. L W Angle Limit H CCW Angle Limit L CW Angle Limit H sm im 0 PORT Users can select port for USB2Dynamixel communication Select the port that was chosen during the driver installation BAUD RATE The following table shows the data value If the baud rate error is within 3 there will be no problem with the communication saws comes mor Can o e osa o e PORT OPEN CLOSE Use this to turn on and off communication It toggles OPEN CLOSE with the mouse click 15 ROBOTIS Item del Mumber H 31D _ 4 Baudrate 5 Return Delay Time 6 CW Angle Limit L CW Angle Limit H 8 CCW Angle Limit L 9 CCW Angle Limit H Oo O STATUS It displays the communication status When the signal is being sent it displays Sending and when the communication is completed it displays Ok ERROR When there is an error red light will be turned on corresponding to the error The following table shows the details of error Error Reason k When non defined instruction is sent or when action command without the reg_write is transmitted When specified maxium torque cannot control the os Overload Error Current load level When transferred instruction packet does not match with When it exceeds the allowable usage range Overheating When the internal temperature of Dynamixel exceeds the Error set temperature range in a control table Angle Limit When
10. _ 85 0x55 12 0X0C the Lowest Limit Voltage RD WR GOLOX3C Area 130X00 the Highest Limit Voltage RD WR 240 0xF0 1A OXOE Max Torgueft RDWR 255 0XFFI_ 15 0X0F Max TorquetH RDWR f 80x03 16 0X10 Status Return Level RDWR f 260x021 170X11 Alarm LED RDWR Moxo 18 0X12 Alarm Shutdown RDWR f MOx0OM 1910X131 Reserved RDWR oxo 200X14 Down Calibrationt RD 2110X15 Down CalibrationtH RD f 2210X16 Up Calibration RD fJ _ a 230X17 Up CalibrationtH RD f 2410X18 Torque Enable_____ RDWR f 0O 0x001 250X19 LED S RDR oo O _26 0X1A CW Compliance Margin RDWR f OOOO 2710X1B CCW Compliance Margin RDWR f O 0X001_ 128 0X1C1 CW Compliance Slope RDWR 32 0x20 290X10 CCW Compliance Slope RDWR 32 0x20 _30 0X1E Goal PositiontL RDWR Addr36lvalue 31 0X1F Goal PositiontH RDWR addr37ivalue 32 0X20 Moving Speedi Ss RDWR 0 3310X21 Moving SpeedtH RDWR 0 _3410X22 Torque Limit RDWR Addr14 value _35 0X23 Torque LimittH S RDWR Addr15 value RAM 360X24 Present Positionth RD f 3710X25 Present PositiontH RD Area Y setox26 PresentSpeeail RD gt 390X27 Present SpeedtH PR J 93 400X28 Presentloadil RB 4110X29 PresentLoadih PB 4210X2A Present Voltage P 143 0X28 1 Present Temperature R
11. ish to close the wizard lt Step 4 gt Another New Hardware dialog window appears repeat the Step 1 3 again Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for USB Serial Port it your hardware came with an installation CD lt Q or floppy disk insert it now What do you want the wizard to do O Install the software automatically Recommended Click Next to continue User s Manual ROBOTIS lt Step 5 gt From the Device Manager check where the USB2Dynamixel driver is installed For communication connection later on remember the Port Number COM x E Device Manager Action View Help Hees ew Disk drives 2 Display adapters 4 DVD CD ROM drives 4 Floppy disk controllers 43 Floppy disk drives 3 IDE ATA ATAPI controllers 5 gt Keyboards 5 Mice and other pointing devices gt Monitors 8 Network adapters YY Ports COM amp LPT y Communications Port COM1 F Communications Port COM2 ag ECP Printer Port LPT1 _Y USB Serial Port COM3 tee Processors Sound video and game controllers System devices Universal Serial Bus controllers 1 ER E E lt Step 6 gt After checking driver information change Latency Timer to 1ms This change allows for the fast response time USB Seria P OM3 Properties Advanced Settings for COM3 Ge iver Details COM Port Number fave Bits per second gt
12. nnector either one can be connected By using the 3P cable Dynamixel can be daisy chained Lastly connect Dynamixel to a power line POWER DC 7 10V USB2Dyanmixel does not provide power to the Dynamixel For further details on power warning source refer to the chapter 1 4 6 OMAN Users Manual ROBOTIS 1 4 3 CONNECTING DX RX SERIES DYNAMIXEL Set the function select switch to RS 485 mode Connect 4P cable to the 4P connector of USB2Dynamixel and Dynamixel connector either one can be connected By using the 4P cable Dynamixel can be daisy chained Lastly connect Dynamixel to a power line FS POWER DC15 171 USB2Dyanmixel does not provide power to the Dynamixel For further details on power warning source refer to the chapter 1 4 6 US300 ld ld Users Manual ROBOTIS 1 4 4 CONVERTING USB PORT TO SERIAL PORT By converting a USB port to a Serial port USB2Dynamixel can be used in a notebook or in PC that does not have a Serial port Set the function select switch to RS 232 mode CM 5 uses a serial port to communicate By using USB2Dynamixel users can communicate with CM 5 via USB port For more details refer to the Bioloid manual By using USB2Dynamixel users can also use ZIG2Serial as a USB port without the separate need for power source For more details refer to the ZIG2Serial manual Do not connect to a device that consumes more than 5
13. v1 0 cioser to Rea ROBOTIS USB2Dynamixel User s Manual ROBOTIS CO LTD www robotis com User s Manual ROBOTIS Table of Contents 1 Product Introduction 3 1 1 Product Features 3 1 2 Product Components Ge ae at ats Say ae See ee a Mee As ie ee te cet At ee eee ee ae A 1 3 System Requirements a Opa Mee i ae et ae ee by eC ee Ge ek A Ga ar te Oe pee i A 1 4 USB2Dynamixel Connection gt s ttt tt ts 7 1 4 1 USB2Dynamixel Components gt 0 1 4 2 CONNECTING AX SERIES DYNAMIXEL errr ree 6 1 4 3 CONNECTING DX RX SERIES DYNAMIXEL 7 1 4 4 CONVERTING USB PORT TO SERIAL PORT gt 8 1 A 5 Pin Figure We Sa REY lake Sab Aes omar aS es Ce chat Se GR A Viale Sint oS a Gh STS Cite Ae vn PEE ae 9 1 4 6 The methord of inputting power gt 10 1 5 installation cet ttt tt n 12 1 5 1 i Driver Installation a lan oko Jan gid a an du S a te SR as e RE ty Say o da AA AA Ji 12 1 5 2 Dynamixel Configurator Installation lt o ooo oo 14 2 Operation of Dynamixel gt 19 2 1 Communication E A Mee A A By te A A AE AAA 15 2 2 Status Display dr Cae ce tae de det nay DA A A an ee 16 2 3 Operation Command Input gt ttt ttt 17 2 4 items amp Value S 18 2 5 Control Table et e 19 ISMUGiE Users Manual ROBOTIS
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