CM2 based humanoid questions
CM2 based humanoid questions
by ksamay
Tue Oct 28, 2008 6:45 am
Hi,
I have recently started building a Dynamixel based humanoid (Rx28 & Rx64 based).
I had few newbie questions ?
1. I wanted to make a little daughter board to sub divide the serial bus, so i thought i would solder 4-5 Male 4p molex connectors on a pcb. question is how do i interconnect the ports ? direct parallel( all same pins connected ) ?
2. How do i connect some sensors to CM2+ ( analog or digital )? i found few sensor boards for the CM5 but nothing for the CM2. ( since the CM2 is RS485 based and the CM5 is TTL ). Also is there some way of converting from RS485(4p) to TTL(3p) and back ? Can i somehow connect a AX12 to the CM2+ for the head ?
BTW , I have been reading through the forum for the past few weeks and you guys rock! especially for newbie s like me
Thanks
I have recently started building a Dynamixel based humanoid (Rx28 & Rx64 based).
I had few newbie questions ?
1. I wanted to make a little daughter board to sub divide the serial bus, so i thought i would solder 4-5 Male 4p molex connectors on a pcb. question is how do i interconnect the ports ? direct parallel( all same pins connected ) ?
2. How do i connect some sensors to CM2+ ( analog or digital )? i found few sensor boards for the CM5 but nothing for the CM2. ( since the CM2 is RS485 based and the CM5 is TTL ). Also is there some way of converting from RS485(4p) to TTL(3p) and back ? Can i somehow connect a AX12 to the CM2+ for the head ?
BTW , I have been reading through the forum for the past few weeks and you guys rock! especially for newbie s like me
Thanks
by Bullit
Tue Oct 28, 2008 12:11 pm
Welcome to the RoboSavvy forums.
I'll try to answer your questions as best I can.
#1 The connectors should be wired in parallel
#2 The CM2+ schematic is here
The CM2+ supports both TTL (on J4) and RS485. Unfortunately the CM2+ does not bring out the AtoD lines from the ATMega128 so you'll either have to modify the board or add sensors on the TTL or rs485 bus. I also know that Robotis is soon to release a new controller that once again brings out AtoD channels. (The CM2 - the older model, brought out the A2D channels but had no TTL interface)
I'll try to answer your questions as best I can.
#1 The connectors should be wired in parallel
#2 The CM2+ schematic is here
The CM2+ supports both TTL (on J4) and RS485. Unfortunately the CM2+ does not bring out the AtoD lines from the ATMega128 so you'll either have to modify the board or add sensors on the TTL or rs485 bus. I also know that Robotis is soon to release a new controller that once again brings out AtoD channels. (The CM2 - the older model, brought out the A2D channels but had no TTL interface)
