RoboSavvy Forum

Dynamixel Configurator

2006-11-08T23:04:53+01:00

Limor

Regarding the Dynamixel Configurator circuit, it is probably wrong but I couldn't find out how the commercial version worked. I connected the txd and rxd from the serial interface together in a vain attempt to get a circuit that worked and indeed it did. There probably should be a resistor in line with the Txd line from the USB chip, or maybe a diode. The 12V connection on JP1 is just wrong. GND and +12V should be swapped around. Sorry for this.

Mark

Statistics: Posted by pepperm — Wed Nov 08, 2006 11:04 pm

Dynamixel Configurator

2006-11-08T02:13:04+01:00

Hi Mark, I have a question about connecting Rx and Dx to the Dynamixel data bus.

In your USB to serial "Dynamixel configurator" diagram, Rx and Tx are both connected to the Dynamixel data line. However, in your CM5 diagram and also in your sensor board diagram, the Rx and Dx are connected to a 74HC126D which requires 2 additional pins from the CPU to opens and closes the connection of Rx and Tx to the single data line of the Dynamixel.
So my question is: is this complex 74HC126D gating required?

The reason i'm asking is that i'm playing around with a Robostix+Gumstix and was wondering if it is ok to connect both the Rx and Tx on the Robostix to the Dynamixel data line (as in your Dynamixel-configurator diagram) in order to enable communications between the Robostix/Gumstix and the Dynamixel bus.

BTW: In this diagram why are JP1's +12V connected to GND?

Statistics: Posted by limor — Wed Nov 08, 2006 2:13 am

Dynamixel Configurator

2006-10-05T23:22:44+01:00

I think I have cracked it. The following circuit diagram shows a USB to serial circuit that I have just constructed and used with the Dynamixel configurator and on of my AX-12+ servos. I now have to work out how to use the configurator software.

The circuit diagram is here

I didn't power the servor externally but connected it into the chain with my CM-5.

Mark

Statistics: Posted by pepperm — Thu Oct 05, 2006 11:22 pm

Dynamixel Configurator

2006-10-05T11:56:04+01:00

Also, it doesn't look very USB with it's 9 pin serial connector! Very odd

Mark

Statistics: Posted by pepperm — Thu Oct 05, 2006 11:56 am

Dynamixel Configurator

2006-10-05T11:52:10+01:00

I hadn't seen that no. I guess I may detract from sales then if I publish a circuit that does the same thing. Oops

But like you say, where is the fun in buying one?

Mark

Statistics: Posted by pepperm — Thu Oct 05, 2006 11:52 am

Dynamixel Configurator

2006-10-05T10:20:32+01:00

Have you seen the USB2Dynamixel adapter on the new Robotis website?

You could always buy one of those...... but where's the fun in that?!!?

Statistics: Posted by jaho434 — Thu Oct 05, 2006 10:20 am

Dynamixel Configurator

2006-10-04T23:52:04+01:00

Thanks for the info Limor, I have used the terminal program to control the servos but the Configurator is all GUIfied and looks a lot easier to use than the terminal method, hence my desire to knock up a simple interface to allow it to interface to the RS485 interface.

It looks like no one has the info I need though so maybe I will have to start guessing and see what happens.

Mark

Statistics: Posted by pepperm — Wed Oct 04, 2006 11:52 pm

Dynamixel Configurator

2006-10-04T22:41:27+01:00

I thought it was someone else who initiated the thread.. i know you have the CM5 ofcourse..

I played today with the example.c program, replacing the standard firmware with the compiled output using WinAVR.
I even boldly changed the software a little for example changing the baudrate from 57000bps to 115000bps.

(btw: the bootloader can only be triggered when the baudrate is set to 57kbps)

Back to your question: you can change parameters in the servos using the terminal emulation interface. When the standard flash code is loaded (should be there if you haven't played around with the bootloader), run the terminal, connect to COM1 at 57kbps and there are two modes of operations that you can switch from one to the other by pressing the red button on the CM5 cover. one is an interactive full-screen mode where you can set the pose paramters, the second is a command-line interface that allows you to send commands onto the bus.

In the command line interface you should be able to send any command to the servos or any other device attached to the bus.

have a look at the Bioloid manual towards the end there is a section that describes the command line interface.

Statistics: Posted by limor — Wed Oct 04, 2006 10:41 pm

Dynamixel Configurator

2006-10-04T22:20:06+01:00

I do have a CM-5 yes but I want to use the configurator because it will enable us to easily test the Bioloid I/O module when we get it going. It lets you read returned values and set output parameters easily.

Mark

Statistics: Posted by pepperm — Wed Oct 04, 2006 10:20 pm

Dynamixel Configurator

2006-10-04T22:11:16+01:00

What board do you use to control the servos?
If you have a board like the CM5 or CM2 that is compatible with your Dynamixel servos then you should be able to write a simple program to configure the parameters of the servos.

Statistics: Posted by limor — Wed Oct 04, 2006 10:11 pm

Dynamixel Configurator

2006-10-01T21:20:29+01:00

Yes I am after the circuit, but it is not as simple as a level convertor as your link shows.

There is a 1 wire RS485 interface connected to the dynamixels. In the photo one wire is ground and the other is data in and out. So you need to connect separate in and out signals from the RS232 to a single line and be able to enable and disable the send and receive gates depending on which direction the data is going. I can level convert the RS232 or just use a USB to TTL interface, the problem is that I don't know how the direction for the line drivers is controlled. Probably something like DTR is used but I don't know which signal it actually is.

My circuit diagram here http://robosavvy.com/Builders/pepperm/CM-5%20Schematic%20V1.JPG shows the types of connections needed.

Mark

Statistics: Posted by pepperm — Sun Oct 01, 2006 9:20 pm

Dynamixel Configurator

2006-10-01T20:44:59+01:00

Do you mean the serial wiring configuration?

The image below from BestTechnology shows 2 wires - GND and DATA.

The thread you linked to seemd to answer a few questions. Especially this link from Van Helsing.

Sorry, mate. Can't help you much more than that.

Statistics: Posted by jaho434 — Sun Oct 01, 2006 8:44 pm

Dynamixel Configurator

2006-10-01T20:02:04+01:00

You can download the software from here http://www.besttechnology.co.jp/goods/revolute/index.htm#BTE063. Click the ‚±‚¿‚ç‚ link in blue in the middle of the text under the picture.

Mark

Statistics: Posted by pepperm — Sun Oct 01, 2006 8:02 pm

Dynamixel Configurator

2006-10-01T19:55:50+01:00

It's a piece of software that runs on the PC and sends all sorts of commands to the Bioloid servos (Dynamixels). have a look at this thread for some more information http://robosavvy.com/modules.php?name=Forums&file=viewtopic&t=284

It was available here
http://www.tribotix.com/Downloads/Robotis.htm but doesn't seem to be anymore.

Mark

Statistics: Posted by pepperm — Sun Oct 01, 2006 7:55 pm

Dynamixel Configurator

2006-10-01T19:43:44+01:00

Sorry mate, you have lost me! What is the Dynamixel Cinfigurator?

Statistics: Posted by jaho434 — Sun Oct 01, 2006 7:43 pm