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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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