RoboSavvy Forum

Adding an AX-12 for the hip

2007-03-17T02:25:20+01:00

Thanks for your replys guys.

Pev, I've just tried your 19DOF file but still no luck still set itself to 1023. I think maybe something do with Bioloid_Verxxx.hex? Do you still have this file from the 19DOF CD? maybe I can give it a go? Cheers.

Mic.

Statistics: Posted by mic2 — Sat Mar 17, 2007 2:25 am

Adding an AX-12 for the hip

2007-03-15T22:24:42+01:00

The CM2+ will work with both the DX and AX series dynamixels, but bren is correct, the CM2 itself has a different BUS than the CM5 ergo it will not work with the AX's.

Statistics: Posted by hivemind — Thu Mar 15, 2007 10:24 pm

Adding an AX-12 for the hip

2007-03-15T21:59:10+01:00

A CM2 don't work with the AX's because it uses different wiring for the servos.

bren

Statistics: Posted by Robo1 — Thu Mar 15, 2007 9:59 pm

Adding an AX-12 for the hip

2007-03-15T17:09:07+01:00

Thanks for your info hivemind, any idea would CM2 ok to work with AX-12?

Cheers
Mic.

hivemind wrote:
Hello,

I am using a CM2 and have tested the Bioloid software with that (including the part downloaded to the robot and the motion editor itself) and have it working with 23 servos without a problem. Here is a copy of the rbt file I am using (albiet it works with the defualt.x model):

Hive wrote:3D file:default.x
Motor Number:23
0:1:Right_Ankle:512
1:2:Right_Shin:512
2:3:Right_Knee:512
3:4:Right_Quad:512
4:5:Right_Rotation:512
5:6:Right_Tilt:512
6:7:Left_Ankle:512
7:8:Left_Shin:512
8:9:Left_Knee:512
9:10:Left_Quad:512
10:11:Left_Rotation:512
11:12:Left_Tilt:512
12:13:Waist_Rotation:512
13:14:Waist_Bend:512
14:15:Right_Shoulder:512
15:16:Right_Bend:512
16:17:Right_Rotation:512
17:18:Right_Elbow:512
18:19:Right_Hand:512
19:20:Left_Shoulder:512
20:21:Left_Bend:512
21:22:Left_Rotation:512
22:23:Left_Elbow:512
23:24:Left_Hand:512
24:25:Head:512
Sensor Number:1
0:100:[100]Dynamixel

I simply edited the file so that the servos corresponded to the correct ID numbers. It would seem that I am simply not having the same issue you are? Although this could be due to the CM2 and DX series servos. Strange.

-Goodluck with your issue though

Statistics: Posted by mic2 — Thu Mar 15, 2007 5:09 pm

Adding an AX-12 for the hip

2007-03-15T17:07:35+01:00

Thanks Pev,

I’ll give it a go looks like it could be a possible solution for the time being.

Cheers
Mic

Pev wrote:
Mic,

Just had a hunt on my system and found the original software supplied with my Bioloid way back when it was first available. That included a 19 DOF humanoid model and a 19 DOF default model for the motion editor.

I have zipped them up and uploaded them here :

http://robosavvy.com/site/Builders/Pev/19%20DOF%20Robot%20files.zip

Haven't had a chance to test them but they may help support that extra DOF you're looking for. I think the default.rbt is the safest to load as the other Humanoid one has all the IDs in the wrong places for the 18 DOF humanoid.

Was wondering if the .X 3d model has to have as many DOF as the .rbt file before the 2 will work together?

Pev

Statistics: Posted by mic2 — Thu Mar 15, 2007 5:07 pm

Adding an AX-12 for the hip

2007-03-15T08:25:03+01:00

Thanks Hivemind,

That is what I have done but I think I will investigate this further over the weekend. Am sure there must be a solution

Pev

Statistics: Posted by Pev — Thu Mar 15, 2007 8:25 am

Adding an AX-12 for the hip

2007-03-15T00:56:23+01:00

Hello,

I am using a CM2 and have tested the Bioloid software with that (including the part downloaded to the robot and the motion editor itself) and have it working with 23 servos without a problem. Here is a copy of the rbt file I am using (albiet it works with the defualt.x model):

Hive wrote:
3D file:default.x
Motor Number:23
0:1:Right_Ankle:512
1:2:Right_Shin:512
2:3:Right_Knee:512
3:4:Right_Quad:512
4:5:Right_Rotation:512
5:6:Right_Tilt:512
6:7:Left_Ankle:512
7:8:Left_Shin:512
8:9:Left_Knee:512
9:10:Left_Quad:512
10:11:Left_Rotation:512
11:12:Left_Tilt:512
12:13:Waist_Rotation:512
13:14:Waist_Bend:512
14:15:Right_Shoulder:512
15:16:Right_Bend:512
16:17:Right_Rotation:512
17:18:Right_Elbow:512
18:19:Right_Hand:512
19:20:Left_Shoulder:512
20:21:Left_Bend:512
21:22:Left_Rotation:512
22:23:Left_Elbow:512
23:24:Left_Hand:512
24:25:Head:512
Sensor Number:1
0:100:[100]Dynamixel

I simply edited the file so that the servos corresponded to the correct ID numbers. It would seem that I am simply not having the same issue you are? Although this could be due to the CM2 and DX series servos. Strange.

-Goodluck with your issue though

Statistics: Posted by hivemind — Thu Mar 15, 2007 12:56 am

Adding an AX-12 for the hip

2007-03-14T19:52:19+01:00

Mic,

Just had a hunt on my system and found the original software supplied with my Bioloid way back when it was first available. That included a 19 DOF humanoid model and a 19 DOF default model for the motion editor.

I have zipped them up and uploaded them here :

http://robosavvy.com/site/Builders/Pev/19%20DOF%20Robot%20files.zip

Haven't had a chance to test them but they may help support that extra DOF you're looking for. I think the default.rbt is the safest to load as the other Humanoid one has all the IDs in the wrong places for the 18 DOF humanoid.

Was wondering if the .X 3d model has to have as many DOF as the .rbt file before the 2 will work together?

Pev

Statistics: Posted by Pev — Wed Mar 14, 2007 7:52 pm

Adding an AX-12 for the hip

2007-03-14T17:33:47+01:00

In this case, Limor could you report this issue / Bug to Robotis? For sure some of us may want to add some more AX-12 to the robot in the future.

Cheers
Mic.

Statistics: Posted by mic2 — Wed Mar 14, 2007 5:33 pm

Adding an AX-12 for the hip

2007-03-14T14:29:38+01:00

Mic,

I have just had a chance t test this by adding my gripper back onto my robot. I had used a progromatic interface so hadn't used the motion editor. Updated the RBT file and got everything setup. Then I had exactly the same issue as you, the gripper servo keeps resetting to 1023. Can't seem to fix it which is a total pain.

Like you said looks like a bug in the software grrrrrr

Pev

Statistics: Posted by Pev — Wed Mar 14, 2007 2:29 pm

Adding an AX-12 for the hip

2007-03-13T18:05:28+01:00

I have been trying different things but still no lucks. Looks like there is a bug in the software.

Statistics: Posted by mic2 — Tue Mar 13, 2007 6:05 pm

Adding an AX-12 for the hip

2007-03-11T21:35:54+01:00

Thanks a lot Pev.

Statistics: Posted by mic2 — Sun Mar 11, 2007 9:35 pm

Adding an AX-12 for the hip

2007-03-11T21:19:58+01:00

Mic,

I'll need to test this again myself with the gripper I have. When I've tried it (probably tomorrow) I'll post an update

Pev

Statistics: Posted by Pev — Sun Mar 11, 2007 9:19 pm

Adding an AX-12 for the hip

2007-03-11T19:59:31+01:00

Thanks for you advice Pev, but after the change (see below) it seems to have the same problem.
From the off-set page(0) the Dynamixel number 19 showing was(512)which is fine, but when I go to the init page(1)once I click off & on again it will display the Dynamixel nubber 19 as (512) but the actual position has move to 1023 by itself, so when I toggle it off/on again it will display the actual position at 1023? I’ve tried create a new pose and delete the pose (0) and saving the page but when I double click the pose(0) again it will go back to 1023?

What do I need to do when adding a new Dynamixels? As far as I know please see the following.

1/Edit the humanoid.rbt file as below or use the default.rbt has already set to 19 Dyamixel as default.

2/Reset/recreate the new pose for “off set” and “init” page.

That it have I miss anything?

Cheers
Mic.

3D file:humanoid.x
Motor Number:19
0:1:[1]Dynamixel:512
1:2:[2]Dynamixel:512
2:3:[3]Dynamixel:512
3:4:[4]Dynamixel:512
4:5:[5]Dynamixel:512
5:6:[6]Dynamixel:512
6:7:[7]Dynamixel:512
7:8:[8]Dynamixel:512
8:9:[9]Dynamixel:512
9:10:[10]Dynamixel:512
10:11:[11]Dynamixel:512
11:12:[12]Dynamixel:512
12:13:[13]Dynamixel:512
13:14:[14]Dynamixel:512
14:15:[15]Dynamixel:512
15:16:[16]Dynamixel:512
16:17:[17]Dynamixel:512
17:18:[18]Dynamixel:512
18:19:[19]Dynamixel:512
Sensor Number:1
0:100:[100]Dynamixel

Statistics: Posted by mic2 — Sun Mar 11, 2007 7:59 pm

Adding an AX-12 for the hip

2007-03-11T11:36:42+01:00

Mic

Have you edit the humanoid.rbt file and adding the 19th servo to it. I had to do that when I added a 19th servo for a gripper because of a similair problem.

Pev

Statistics: Posted by Pev — Sun Mar 11, 2007 11:36 am