Dynamixel Configurator
Dynamixel Configurator
by pepperm
Sun Oct 01, 2006 6:58 pm
Hi
I want to have a play with the dynamixel configurator. Has anyone any ideas what sort of interface I will need to make to get it to connect to my dynamixels please?
Mark
I want to have a play with the dynamixel configurator. Has anyone any ideas what sort of interface I will need to make to get it to connect to my dynamixels please?
Mark
by pepperm
Sun Oct 01, 2006 7:55 pm
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
It was available here
http://www.tribotix.com/Downloads/Robotis.htm but doesn't seem to be anymore.
Mark
by pepperm
Sun Oct 01, 2006 8:02 pm
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
Mark
by pepperm
Sun Oct 01, 2006 9:20 pm
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
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
by limor
Wed Oct 04, 2006 10:41 pm
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.
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.
by pepperm
Wed Oct 04, 2006 11:52 pm
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
It looks like no one has the info I need though so maybe I will have to start guessing and see what happens.
Mark
by jaho434
Thu Oct 05, 2006 10:20 am
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?!!?
You could always buy one of those...... but where's the fun in that?!!?
by pepperm
Thu Oct 05, 2006 11:22 pm
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
The circuit diagram is here
I didn't power the servor externally but connected it into the chain with my CM-5.
Mark
by limor
Wed Nov 08, 2006 2:13 am
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?
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?