JING TIAN H-Series User manual

ROBOTIS Manipulator SDK
Quick Start

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Contents
1. Introduction
1.1 About this document ------------------------------------------- 3
1.2 Layout ------------------------------------------------------ 4
1.3 Specification ------------------------------------------------- 5
2. Getting Started
2.1 Preparation -------------------------------------------------- 6
2.2 Installation -------------------------------------------------- 7
2.3 USB2Dynamixel Setting ---------------------------------------- 10
2.4 Manipulator Test using Dynamixel Wizard ----------------------------- 11
3. ROBOTIS Manipulator SDK Example
3.1 How to use the ROBOTIS Manipulator SDK ------------------------------ 17
3.2 Example ---------------------------------------------------18
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1Introduction
1.1 About this document
i. This Quick Start has been created to offer users an easy instruction guide to
use the ROBOTIS Manipulator based on the User Manual.
ii. This Quick Start includes the ROBOTIS Manipulator SDK to operate the
ROBOTIS Manipulator SDK.
iii. The examples in this manual are based on Windows10 and Visual Studio
Express 2013.
iv. It is strongly recommended for those who are used to Dynamixel PRO C/
C++ to read through this manual.
v. The units utilized in the ROBOTIS Manipulator SDK are in radians (rad)
and millimeters (mm).
vi. Last updated on September 23, 2015
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1.2 Layout
H Series –ROBOTIS Manipulator Dimension
1 Axis
2 Axis
3 Axis
4 Axis
5 Axis
6 Axis
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1.3 Specification
H Series –ROBOTIS Manipulator Specification
Item
Description
DOF
6 [DOF]
Arm Weight
5.551 [𝑘𝑔]
Operating Voltage
24 [V]
Dynamixel PRO
Model Name
1 Axis H54-200-S500-R
2 Axis
3 Axis H54-100-S500-R
4 Axis
5 Axis
H42-20-S300-R
6 Axis
Operating Range
1 Axis
−𝜋 ~ 𝜋 [𝑟𝑎𝑑]
2 Axis
−0.5𝜋 ~0.5 𝜋 [𝑟𝑎𝑑]
3 Axis
−0.5𝜋 ~ 0.75𝜋 [𝑟𝑎𝑑]
4 Axis
−𝜋 ~ 𝜋 [𝑟𝑎𝑑]
5 Axis
−0.5𝜋 ~ 0.5𝜋 [𝑟𝑎𝑑]
6 Axis
−𝜋 ~ 𝜋 [𝑟𝑎𝑑]
Default ID
1 Axis (ID 2), 1 Axis (ID 2), 3 Axis (ID 3)
4 Axis (ID 4), 5 Axis (ID 5), 6 Axis (ID 6)
Baudrate
RS485
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2Getting Started
2.1 Preparation
i. Power Supply
-The manipulator requires 24V for operations. Ensure the power supply
is capable of supplying 24V and 15A or higher.
ii. 4P Cable
-The 4P Cable connects the manipulator and USB2Dynamixel.
iii. Power Cable
-The power cable supplies power to the manipulator.
iv. USB2Dynamixel
-The USB2Dynamixel sends ArmSDK commands to the manipulator.
Connect the USB2Dynamixel to the PC via USB hub.
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2.2 Installation of Manipulator
The contents below are based on a specific application base plate and can differ
from the actual base plate used.
i. Rest and fix join #1 of the manipulator.
ii. The photo on the left is the external wiring for the arm. Label #1 shows a
pair of 4P cables and power connector; these connect to joint #1 as shown
on the right picture.
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iii. Once the connections are complete, fix the arm to the base plate as shown
on the photo below.
iv. Label #2 shows a 4P connector and 4 power connectors and these connect
to the power expansion hub and the 4P cable connects to the extension.
v. Connect the USB2Dynamixel to the hub with the 4P cable; connect another
port of the 4P hub to the extension.
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vi. Connect the USB2Dynamixel to the PC via USB hub. The USB hub acts as
an isolator to protect the PC from any possible unexpected surges caused
by arm action.
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2.3 USB2Dynamixel Setting
1. TTL Communication
AX series, AX-S1, 3-pin MX; communicates with 3-pin
Dynamixel
2. RS485 Communication
DX series, RX series, EX series, communicated with 4-pin
Dynamixel PRO
3. RS232 Communication
CM-5, CM-510; communicates with controllers using
serial cable
The manipulator is based on the RS-485 communications so make sure to set to
the dongle to 2.RS-485.
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