Roborealm CM-5 serial cable control

[adrian]

I am trying to interface Roborealm with my bioloid, using the serial cable for connection.

Is it possible to send a packet via the serial cable for real time control of the ax-12? If so what is the packet format?

Do i need a particular program running on the CM-5 to receive these packets?


any help is appreciated.

thank you.

[BillB]

Yes it is possible communicate directly with the AX12 via a serial cable. You will need to put the CM-5 into "Toss Mode", once in toss mode then you can send packets to the AX12 bus (see the AX12 manual for packet format).

You may also want to consider communicating directly to the AX12 bus by using the USB2Dynamixel (in which case you will be able to use the Bioloid SDK).

[adrian]

thank you, but when I run robot terminal i get the follow; and I cant enter 'T' for toss mode or any other keyboard input for that matter?

(cm-5 version 1.15)
(-)PC:57142 BPS, (-) Dynamixel 1:1000000 BPS
ID:003 004
002(0x02) Dynamixels found.

[BillB]

Sounds like you have not connected to the CM5. Check tha you are using the right COM port, make sure that you are in manage mode, check that the serial cable is correctly connected etc.

Once you have connection you should be able to get into the toss mode. See this thread for some tips on how to use toss mode.

http://robosavvy.com/forum/viewtopic.php?t=2447&view=next&sid=38a9f59f5d8470dc890067815cf7dcef

Note that once in toss mode you will need to send everything in Binary, so the terminal program will be of very limited use at this point.

[adrian]

got into toss mode, thank you

i have tried sending in binary; ff ff 03 02 01 fb
(# Obtain the status packet of the Dynamixel actuator with an ID of 3)

but no response!

all i want to do is find how to move an ax-12....