Robotis Dynamixel

The Robotis Dynamixel module provides an interface to the Dynamixel servos made by Robotis. The Dynamixel series robot actuator is a smart, modular actuator that incorporates a gear reducer, a precision DC motor and a control circuitry with networking functionality, all in a single package. The RoboRealm Dynamixel module provides a similar interface to the servo as the RoboPlus application provides but also incorporates RoboRealm variables into the module for automatic control.

The module will save all configuration specified to a particular servo and reproduce those changes once activated. This in combination with exposing variables for various servo attributes provides a very accessible control interface to the many capabilities of the Dynamixel servos.

Note that the module expects communication with a CM-700 CPU board set in Monitor mode or the USB2Dynamixel device. No application uploads to the CM-700 board is needed. The module uses the built in Actuator control program.

The module provides an easy to use GUI interface to the RoadNarrows Graboid Series D gripper. The Graboid is an ideal solution for those looking for a simple, low-cost gripper with force feedback for their robotic application. Built around 2 Robotis Dynamixel AX-12A Actuators, the gripper offers two degrees of freedom, wrist up/down, and gripper open/close.

Interface

Instructions

1. Communication - Select the appropriate COM port that the CM-700 or USB2Dynamixel device is connected to.

2. Device - Select which device you have to control the dynamixel servos.

3. Servo - Once the appropriate COM port has been selected you will see all the connected servos listed in the Servo dropdown. Selecting a servo will update the interface to show that servo's information.

4. Servo Properties - You can then select properties of the servo which will produce an interface to the right of the property list that allows you to change the property configuration. Note that once change you MUST press the APPLY button otherwise the change will not be transmitted to the Dynamixel.

The following table (reproduced from Robotis Support Website) outlines the different properties and their meaning with respect to the Dynamixel.

Address	Name	Description
0	Model Number(L)	Lowest byte of model number
1	Model Number(H)	Highest byte of model number
2	Version of Firmware	Information on the version of firmware
3	ID	ID of Dynamixel
4	Baud Rate	Baud Rate of Dynamixel
5	Return Delay Time	Return Delay Time
6	CW Angle Limit(L)	Lowest byte of clockwise Angle Limit
7	CW Angle Limit(H)	Highest byte of clockwise Angle Limit
8	CCW Angle Limit(L)	Lowest byte of counterclockwise Angle Limit
9	CCW Angle Limit(H)	Highest byte of counterclockwise Angle Limit
11	the Highest Limit Temperature	Internal Limit Temperature
12	the Lowest Limit Voltage	Lowest Limit Voltage
13	the Highest Limit Voltage	Highest Limit Voltage
14	Max Torque(L)	Lowest byte of Max. Torque
15	Max Torque(H)	Highest byte of Max. Torque
16	Status Return Level	Status Return Level
17	Alarm LED	LED for Alarm
18	Alarm Shutdown	Shutdown for Alarm
24	Torque Enable	Torque On/Off
25	LED	LED On/Off
26	CW Compliance Margin	CW Compliance margin
27	CCW Compliance Margin	CCW Compliance margin
28	CW Compliance Slope	CW Compliance slope
29	CCW Compliance Slope	CCW Compliance slope
30	Goal Position(L)	Lowest byte of Goal Position
31	Goal Position(H)	Highest byte of Goal Position
32	Moving Speed(L)	Lowest byte of Moving Speed
33	Moving Speed(H)	Highest byte of Moving Speed
34	Torque Limit(L)	Lowest byte of Torque Limit
35	Torque Limit(H)	Highest byte of Torque Limit
36	Present Position(L)	Lowest byte of Current Position
37	Present Position(H)	Highest byte of Current Position
38	Present Speed(L)	Lowest byte of Current Speed
39	Present Speed(H)	Highest byte of Current Speed
40	Present Load(L)	Lowest byte of Current Load
41	Present Load(H)	Highest byte of Current Load
42	Present Voltage	Current Voltage
43	Present Temperature	Current Temperature
44	Registered	Means if Instruction is registered
46	Moving	Means if there is any movement
47	Lock	Locking EEPROM
48	Punch(L)	Lowest byte of Punch
49	Punch(H)	Highest byte of Punch

Example

Click Here to download a robofile that interfaces with the RoadNarrows Graboid device. It provides a simple button interface to open and close the gripper, and tilt the wrist of the device. Note that IDs 1 (wrist) and 6 (gripper) are used.

For more information

Robotis Dynamixel Ax-12

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