Adding an AX-12 for the hip

[mic2]

Hi Guys

I have recently added one more AX-12 for the robot hip from 18DOF to 19DOF Humanoid, currently I am using 18DOF humanoid Motion file with all the demo motion pages.

Once I’ve made a new page and adding some motions one by one it seems to work fine, but when I go back to the “init” page i.e. page (1). The AX-12 (19) it seen to always set itself to 1023 instead of 512(center)? No matter how times I’ve reset it back to 512 and save the page but once I double click the pose (0) it will go back to 1023!? The “Off-set” was fine always staying at 512.

Have anyone come across that? How can I fix this problem?

Could anyone can help please?

http://robosavvy.com/site/Builders/mic/Image034.jpg

Many Thanks.
Mic.

[Pev]

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

[mic2]

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

[Pev]

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

[mic2]

Thanks a lot Pev.

[mic2]

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

[Pev]

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

[mic2]

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.

[Pev]

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

[hivemind]

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):

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

[Pev]

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

[mic2]

Thanks Pev,

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

Cheers
Mic

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

[mic2]

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

Cheers
Mic.

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):

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

[Robo1]

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

bren

[hivemind]

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.