error 8100 from the CM5 NOT related to the servos

[animaniac]

hi, after trying to install the URBI firmware, I restored the bioloid firmware, and it worked (the checksum displays the same numbers) but ever since I get a loop of error when I try to run anything:

ERROR:8100[007D:80]002 002 008 002
ERROR:8100[003E:80]002 002 046 001

with the last line looping. I tried with brand new servos, new cables, no servos at all and I get the same result. is my CM 5 busted?

[Fritzoid]

Hi animaniac,

Error code 8100 means that there is a communications error between the controller and one or more of the dynamixels. Since you only messed with the CM-5 and the wires seem OK, there's a good chance that the controller EEPROM has been over written. The controller keeps the dynamixel bus speed in its EEPROM at address 40. It's usually set to 0x01 (1 Mbs.) but can be over written by command. Refreshing the controller firmware will rewrite the flash memory but leaves the EEPROM alone.

You can use RoboPlus Manager to display and/or alter the CM-5 control table. Connect to the controller then take a look at address 40. If the byte is not set to 0x01 then change it and see if that helps.

[animaniac]

thanks, I see addresses 31 32 33 34 and 36, but the last line is blank. they are all at 0 except remote ID which is at 65535. doesnt look good right?

[Fritzoid]

I'm sorry, I thought RoboPlus Manager could do this but I guess not. As far as the values that you CAN read with RoboPlus, they look like the correct defaults.

So maybe we should check the dynamixels baud rate first. Do you have a USB2Dynamixel?

If you have one then you can use the Dynamixel Wizard to ping a servo at a time at various speeds to see if it responds at the correct speed. If not you can also fix it.

Without a USB2Dynamixel you need to use the SEARCH command in Manage mode. This is a little bit more difficult but I can walk you through it if necessary. Post back if you need go to this route.

[animaniac]

as I said in the post, it is NOT related to the servos, however if I plug a servo on the CM 5, address 40 is present load. what is manage mode?

[Fritzoid]

animaniac write:

if I plug a servo on the CM 5, address 40 is present load.

That's right. The BAUD rate for a dynamixel is kept a control table address 4 and should also be set to 0x01. It's only at address 40 for the CM-5 (dynamixel ID 200).

So you can read the control table of at least one servo? That would mean that the BAUD rate is OK.

If that's the case then try to read each dynamixel separately to see if there is a problem servo.

Also check for an ID conflict, two or more servos responding at the same time could cause this type of problem.

[Fritzoid]

When you say

when I try to run anything

Do you mean to play a motion or run a BCP program? If so, you probably need to reload the motion file back onto the controller as well as the control program (using RoboPlus Motion and Task). The URBI firmware will have wiped both of these out.

[animaniac]

of course, I tried to update the firmware, and download the the bpg file and play it online and offline, to no result. I tried the universal gauge file, and I get this in the download program window:

{[CM-5:1.1964]}
{[PC:57142(BPS)][DXL:1000000(BPS)]}
{
[018:012
}
{[DXL:001(PCS)]}

[Fritzoid]

Hi animaniac,

I'm not familiar with the older software, but what you are seeing is the normal start up messages for the CM-5 application (as opposed to the boot loader). The first line is the response to a 'v' (version) command and the rest is the normal response to either a 'M', 'E' or 'T' command. The display indicates that the PC port is configured at 56 Kbs. and that the dynamixel port is set to 1 Mbs. These are both correct. Next the controller reports that it senses an AX-12 servo using ID 18. The final line indicates that only one dynamixel was sensed.

Firmware version 1.1964 is a pretty high level, it came out last just last year. I'm not sure how compatible it is with the older Behavior Control Program and BPG files. You should probably be running RoboPlus with this level.

[animaniac]

thank god it worked when I reverted to firmware 115... I thought I had tried it before. thank you all, now to make this goddamn URBI firmware work...