Can havimo2.0 support CM-530 ?

[payton135]

I buy havimo2.0 but I just have CM-530 I can read image by havimoGUI3.0 and set color 1 but I can't Flash LUT by CM-530
Can I have any way to Flash LUT?

[PedroR]

Hi payton

Have you tried manually changing the "mode" in the controller that the "MON" LED blinks?
I know this is the required procedure for CM-700; it may be worth trying with the 530 as well.

Regards
Pedro

[cssoh]

I have the same problem as payton135. The cm-530 is in manage mode as required.

What is the "MON" LED? It is not on my cm-530.

I also found that when I scan using RoboPlus Manager, the HaViMo [ID 100] is not detected.

So can the HaViMo 2.0 work with the cm-530?

Has anybody got the HaViMo 2.0 working with the cm-530 either in calibration or implementation mode?

Some good soul please enlighten us.

[hamid_m]

Hi,

I have already tested the module with CM700 but I am waiting for my CM530 to deliver.
I think you need to wait a bit more, so that I can give a precise info.

Best regards,
Hamid.

[cssoh]

Will do. Thanks for your quick reply.

[hamid_m]

Hi everybody,

I am back with a few facts:
so, first of all I tested the module with the CM530 and found the following issues:

1- The module needs ~4sec to get ready for a toss command after starting the manage mode -> as a wok around it is possible o start the manage mode before connecting to the module.

2- Toss command on CM530 has a noticeably long latency in switching from TX to RX, therefore in communications with a fast handshaking, (LUT manage mode) the first byte after a switch gets corrupt. -> the work around here can be to write a minimal CM530 firmware to replicate the communication.(as with old HaViMos). I will try to finish one this week.

Best Regards,
Hamid.

[cssoh]

well, you have confirmed our findings that the HaViMo 2.0 don't work with cm-530 as is.
hope the work around is not too complicated to use for calibration.

what about in implementation mode? is the workaround also applicable in this mode or do you need another work around?

[hamid_m]

Hi everybody,

The calibration firmware for CM530 can now be downloaded here:
http://www.havimo.com/?p=130

It solves all problems regarding the communication.

There seems to be no problems in implementation mode when programing in embedded C. I will test more and give updates for programing in Roboplus

Best regards,
Hamid.

[hamid_m]

...and no further problem in roboplus. I checked the example tsk and it works ok.

Best regards,
Hamid.

[cssoh]

Hi, tks.

But it means that we are stuck to use your firmware if we want to use HaViMo with Roboplus on cm-530.

However, as you are aware, Robotis updates the firmware of their controllers including cm-530, every now and then.

What happens then?

It seems to me that you will have to get Robotis to incorporate your workaround into their updates for the cm-530 for a permanent solution.

regards

[hamid_m]

Hi,

yes, as long as the issue in Robotis firmware exists. we need to use the work around firmware. while calibratig. I will report the bug to Robotis and ask them to fix it.

Best regards,
Hamid.

[cssoh]

well, it's a partial solution at the moment.

it's a hassle to have to switch firmware to and fro

i look forward for a more permanent solution.

[PedroR]

Hi cssoh

As a side note, I wanted to let you know there is another method for calibration which is using the USB2Dynamixel.

If you have a USb2Dyn, you can use it to calibrate the module (instead of using the CM-530) thus avoiding the need to be replacing firmwares whenever you want to callibrate.

Regards
Pedro.

[cssoh]

hello pedro,

please do not sidetrack. the usb2dynamixel is not at issue.

the issue in this thread is "Can havimo2.0 support CM-530 ?"

have you used HaViMo with cm-530? tell us your experience.

regards

[cssoh]

hello hamid,

i have tried out your calibration firmware for cm-530 and still get error writing LUT. here is what happened.

i installed your firmware using boot loader write address: 08003000.
transmit file: cm-530.hex. Success!

the cm-530 goes dark - all lights turned off. Hmm, don't know whether my cm-530 has died.

anyway, i run HaViMo GUI and it works. Able to connect and HaViMo2 is found. what a relief.

next, able to sample image and select color.

Comes to Flash LUT - aargh! error writing LUT.
Cannot proceed further.

Closed HaViMo GUI and tried again several times, same result. Gave up.

Reinstalled robotis cm-530 firmware, the led lights come back on. Another relief.
Run some RoboPlus programs to make sure my cm-530 is none the worse for the change of firmwares.

hamid, i think this changing firmware is not for the faint-hearted, and anyway it still didn't work for me.

regards