Robotis USB2Dynamixel User manual

v1.0
Closer to Real,
USB2Dynamixel
User’s Manual
ROBOTIS CO.,LTD. www.robotis.com

User’s Manual
Table of Contents
１. Product Introduction······················· 3
１-１. Product Features ···························· 3
１-２. Product Components ·························· 4
１-３. System Requirements ·························· 4
１-４. USB2Dynamixel Connection ······················· 5
１-４-１. USB2Dynamixel Components ······················· 5
１-４-２. CONNECTING AX SERIES DYNAMIXEL ····················· 6
１-４-３. CONNECTING DX / RX SERIES DYNAMIXEL ··················· 7
１-４-４. CONVERTING USB PORT TO SERIAL PORT ··················· 8
１-４-５. Pin Figure ································ 9
１-４-６. The methord of inputting power ····················· 10
１-５. Installation ·······························12
１-５-１. Driver Installation ···························· 12
１-５-２. Dynamixel Configurator Installation ···················· 14
２. Operation of Dynamixel ····················· 15
２-１. Communication ·····························15
２-２. Status Display ·····························16
２-３. Operation Command Input ························17
２-４. Items & Values ·····························18
２-５. Control Table ······························19
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User’s Manual
１. Product Introduction
１-１.
oreover, USB2Dynamixel can be used in a notebook
or S
a
DYNAMIXEL CONTROL USING PC
◎ Conversion of serial port
Wireless communication
Product Features
USB2Dynamixel is a device that can directly control
Dynamixel from PC. 3P connector and 4P connector are
built-in, allowing USB2Dynamixel to connect to various
Dynamixels and it is used by connecting to a USB port.
M
in PC that has no serial port by converting a U B
port to a seri l port. This capability allows users to
connect Bioloid robot’s CM 5 to a USB port or by connecting ZIG2Serial to the same port to
control the robot remotely. The following pictures illustrate how to use USB2Dynamixel.
.
◎
USB PORT
USB PORT
Power line
◎
ZIG2Serial
USB PORT
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User’s Manual
１-２. Product Co nts
◎ USB2Dynamixel
Use to directly operate Dynamixel from PC.
hen converting a USB port to a serial port.
◎ Software
Inside the software, rivers and utilities are provided so that users can
directly operate Dynamixel from PC. You can download it from Homepage.
(www.robotis.com)
explains how to install drivers and utilities, as well as
usage method for USB2Dynamixel.
Requirements
Compatible PC (Required)
SB 1.1 or higher (Required)
◎ OS : Windows 2000 or Windows XP (Required)
◎ CPU : Intel Pentium III 1GHz , AMD Athlon XP 1GHz or higher (Recommended)
◎ RAM : 256MB or higher (Recommended)
mpone
Or w
d
◎ Manual
This printed manual
１-３. System
◎ PC : IBM
U
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User’s Manual
１-４. ction
１ . U
Status display LED : Displays power status, TxD(data write), and RxD(data read).
Function select switch : Allows the selection of TTL, RX-485, or RX-232
3P connector : Connects to the AX series Dynamixel via TTL.
4P connector : Connects to the DX, RX series Dynamixel via RX-485.
Serial connector : Converts a USB port to a serial port via RX-232.
USB2Dynamixel Conne
-４-１ SB2Dynamixel Components
3P / 4P
connector
Serial
connector
Status display
LED
Function select
switch
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User’s Manual
１-４-２. CONNECTING AX SERIES DYNAMIXEL
Set the function select switch to TTL
mode.
or
of USB2Dynamixel and amixel
connector (either one can be
connected).
By using the 3P cable, el can
be daisy chained.
Lastly, connect Dynamixel to a power
line.
Connect 3P cable to the 3P connect
Dyn
Dynamix
warning
USB2Dyanmixel does not provide power to the Dynamixel. For further details on power
source, refer to the chapter 1-4-6.
POWER (DC 7~10V)
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User’s Manual
１-４-３. IXEL
Se
onnect 4P cable to the 4P connector
of
CONNECTING DX / RX SERIES DYNAM
t the function select switch to RS 485
mode.
C
USB2Dynamixel and Dynamixel
connector (either one can be
connected).
By using the 4P cable, Dynamixel can
be daisy chained.
Lastly, connect Dynamixel to a power
line.
POWER (DC15~17V)
USB2Dyanmixel does not provide power to the Dynamixel. For further details on
p
ower
source, refer to the chapter 1-4-6.
warning
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User’s Manual
１-４-４.
y converting a USB port to a serial port, USB2Dynamixel can be used in a notebook or in PC
t the function select switch to RS
232 mode.
s a serial port to
communicate. By using USB2Dynamixel,
users can communicate with CM-5 via
USB port. For more details, refer to the
Bi oid manual.
use ZIG2Serial as a USB port
without the separate need for power
source. fer to the
ZI al manual.
CONVERTING USB PORT TO SERIAL PORT
B
that does not have a serial port.
Se
CM-5 use
ol
By using USB2Dynamixel, users can
also
For more details, re
G2Seri
warning
Do not connect to a device that consumes more than 500mA. It can dama
g
e USB
board.
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User’s Manual
１-４-５. P
s.
e c
in Figure
The following illustration shows the connector pins used in USB2Dynamixel. Users can use the
pins in accordance with their need
Pin Figure of MOLEX Cabl onnector
Pin No. Signal Pin Figure Pin No. Signal Pin Figure
1 DATA - (RS-485) 1 DATA (TTL)
2 DATA + (RS-485) 2 NOT Connected
3 NOT Connected 3 GND
4GND
4 Pin 3 Pin
123
1234
Pin Figure of Serial Connector
Pin No. Signal Pin Figure
1 Data (TTL)
2 RXD (RS-232)
3 TXD (RS-232)
4 D+ (RS-485)
5GND
6 D- (RS-485)
7 Short the 8th pin
8 Short the 7th pin
9 USB power (5V)
Do not connect to a device that consumes more than 500mA. It can dama
g
e USB
board.
warning
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User’s Manual
１-４-６. rd of inputting power
ing methords. Indivisual appropriated power supply ( eg.
Ax/DX/RX series) is described at the dynamixel manuals.
● Input power into the last Dynamixel
Divide the 1
st
cable, data cable, with
connector (refer to the chapter 1-4-5 ).
Input the positive (+) power into the 2
nd
cable and the negative (-) power to the
3
rd
cable.
● Input power into the first Dynamixel
If you cannot input power to the last
dynamixel, input the power into the first
dynamixel.
Divide the 2
nd
cable with the connector
(refer to the chapter 1-4-5) and then
connect it with positive(+) power.
Join the 3
th
cable to another cable and
connect it with negative (-) power
The metho
USB2Dyanmixel does not provide power to the Dynamixel. in order to drive dynamixels, the
power should be provided as follow
Tips on inputing Power (AX seriesDynamixel )
-
+
-
+
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User’s Manual
● Input power into the last Dynamixel
Divide the 1
st,
, 2
nd
cable, data cables,
w h connector (refer to the chapter 1-
4
the 4
th
cable.
Input power into the first Dynamixel
f you cannot input power to the last
d
dynamixel.
connect it with positive(+)
p
wer
it
-5 ).
Input the positive (+) power into the
3
rd
cable and the negative (-) power to
●
I
ynamixel, input the power into the first
Divide the 2
nd
cable with the
connector (refer to the chapter 1-4-5)
and then
ower.
Join the 3
th
cable to another cable
and connect it with negative (-) po
Tips on inputing Power (DX/RX seriesDynamixel )
-
+
-+
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User’s Manual
１-５. Installation
１-５-１. Driver Installation
< Step 1 > When USB2D
y
namixel is connected to PC the followin
g
“New Hardware”
dialog window will appear, here, users select “Install from a list of specific location.
< Step 2 > After selecting search location, select USB2Dynamixel driver folder.
< Step 3 > Complete the installation..
< Step 4 > Ano r “New Har re” dialog window athe dwa ppears, repeat the Step 1~3 again.
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User’s Manual
< Step 5 > From the De
For communication conne
vice Manager, check where the USB2Dynamixel driver is installed.
ction later on, remember the Port Number (COM x).
< Step 6 > After checking driver information, change “Latency Timer” to 1ms. This
change allows for the fast response time.
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User’s Manual
１-５-２. Dynamixel Configurator Installation
< St
< Step 2 > Install your PC.
ep 1 > Download Dynamixel Configurator from ROBOTIS Homepage.
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User’s Manual
２.
Dynamixel Configurator is a utility that enables users to check the movement of Dynamixel from
PC. It can also change the values of Dynamixel.
As the basic concept of Dynamixel is represented visually, users can easily understand the
usage method and test the various applications
２-１. Communication
◎ PORT
Users can select port for USB2Dynamixel communication. Select the port that was chosen
during the driver installation.
◎ BAUD RATE
The following table shows the data value. If the baud rate error is within 3%, there will be no
problem with the communication.
Set BPS Goal BPS Error
Operation of Dynamixel
1000000.0 1000000.0 0.000%
500000.0 500000.0 0.000%
400000.0 400000.0 0.000%
250000.0 250000.0 0.000%
200000.0 200000.0 0.000%
117647.1 115200.0 -2.124%
57142.9 57600.0 0.794%
19230.8 19200.0 -0.160%
9615.4 9600.0 -0.160%
◎ PORT OPEN/CLOSE
Use this to turn on and off communication. It toggles OPEN / CLOSE with the mouse click.
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User’s Manual
２-２. Status Display
◎ STATUS
It displays the communication status. When the signal is being sent, it displays “ ng” and
when the communication is completed, it displays “Ok.”
◎ ERROR
When there is an error, red light will be turned on corresponding to the error. The following
table shows the details of error.
Sendi
No Error Reason
6Instruction
Error
When non-defined instruction is sent; or when action
command without the reg_write is transmitted.
5 Overload Error When specified maxium torque cannot control the
current load level.
4 Checksum Error When transferred instruction packet does not match with
Checksum.
3 Range Error When it exceeds the allowable usage range.
2Overheating
Error
When the internal temperature of Dynamixel exceeds the
set temperature range in a control table.
1Angle Limit
Error
When the goal position value of CW Angle Limit ~ CCW
Angle Limit is written outside of range values.
0Input Voltage
Error
When input voltage exceeds the set voltage range in a
control table.
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User’s Manual
２-３. Opera
◎ TRAGET ID
Select the iD of Dynamixel that will be operated. The ID is assigned to identify each Dynamixel.
Connected Dynamixels must have unique iDs.
◎ AUTO UPDATE
uto Update button is clicked, as soon as the value of item is changed, Dynamixel will
It exams the Dynamixel ID connected to a USB port and the Baud Rate.
of Dynamixel.
◎ RESET
It resets Dynamixel to factory initial setting.
◎ DIAL
Users can input ion value xel. Also, can set the command angle
visually.
tion Command Input
When A
be updated.
◎ SCAN START
◎ READ ALL
It reads the current condition
the locat of Dynami users
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User’s Manual
２-４. I
In Dynamixel Configurator, there are 37 items here users can select to set Dynamixel. The
following picture show anual.
ID
ID is a unique number that identifies each Dynamixel. Here, users can set the value to change
◎
Set the communication speed. For more details, refer to the Chapter 2-1-1.
◎ CW/CCW ANGLE LIMIT
Set angle area allowing the limit of Dynamixel movement range. Goal position must be set
within CW Angle Limit ≤ Goal Potion ≤ CCW Angle Limit and if it exceeds the range, Angle
Limit Error occurs.
◎ ALARM LED
When an error occurs and applicable bit is set to 1, the LED of dynamixel will blink. For more
details on errors, refer to the Chapter 2-1-2.
◎ GOAL POSITION
Users input the location where they want Dynamixel to move to.
tems & Values
w
s the main items. For more details, refer to the Dynamixel m
◎
the ID of Dynamixel.
BAUDRATE
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User’s Manual
２-５. Control Table
The following table shows the address and the value range of Dynamixel. For further details,
check the Dynamix el manual.
The initial value of table can be different depending on the Dynamixel models.
Address Item Access Initial Value
0(0X00) Model Num ber(L) RD ?
1(0X01) Model Num ber(H) RD ?
2(0X02) Version of Firm ware RD ?
3(0X03) ID RD,WR 1(0x01)
4(0X04) Baud Rate RD,WR 34(0x22)
5(0X05) Return Delay Time RD,WR 250(0xFA)
6(0X06) CW Angle Limit(L) RD,WR 0(0x00)
7(0X07) CW Angle Limit(H) RD,WR 0(0x00)
8(0X08) CCW Angle Lim it(L) RD,WR 255(0xFF)
9(0X09) CCW Angle Lim it(H) RD,WR 3(0x03)
10(0x0A) (Re served) - 0(0x00)
11(0X0B) the Highest Limit Tem perature RD,WR 85(0x55)
12(0X0C) the Lowest Limit Voltage RD,WR 60(0X3C)
13(0X0D) the Highest Limit Voltage RD,WR 240(0xF0
14(0X0E) Max Torque(L) RD,WR 255(0XFF)
15(0X0F) Max Torque(H) RD,WR 3(0x03)
16(0X10) Status Return Level RD,WR 2(0x02)
RD,WR 0(0x00)
RD ?
21(0X15) Down Calibration(H) RD ?
22(0X16) Up Calibration(L) RD ?
23(0X17) Up Calibration(H) RD ?
25(0X19) LED RD,WR 0(0x00)
26(0X1A) CW Com pliance Margin RD,WR 0(0x00)
27(0X1B) CCW Com pliance Margin RD,WR 0(0x00)
x20)
x20)
30(0X1E) Goal Position(L) RD,WR [Addr36]value
31(0X1F) Goal Position(H) RD,WR [Addr37]value
RD,WR 0
RD,WR 0
34(0X22) Torque Limit(L) RD,WR [Addr14] value
35(0X23) Torque Limit(H) RD,WR [Addr15] value
36(0X24) Present Position(L) RD ?
RD ?
RD ?
39(0X27) Present Speed(H) RD ?
40(0X28) Present Load(L) RD ?
43(0X2B) Present Temperature RD ?
44(0X2C) Registered Instruction RD,WR 0(0x00)
45(0X2D) (Reserved) - 0(0x00)
46[0x2E) Moving RD 0(0x00)
47[0x2F) Lock RD,WR 0(0x00)
48[0x30) Punch(L) RD,WR 32(0x20)
49[0x31) Punch(H) RD,WR 0(0x00)
)
17(0X11) Alarm LED RD,WR 4(0x04)
18(0X12) Alarm Shutdown RD,WR 4(0x04)
19(0X13) (Reserved)
20(0X14) Down Calibration(L)
24(0X18) Torque Enable RD,WR 0(0x00)
28(0X1C) CW Com pliance Slope RD,WR 32(0
29(0X1D) CCW Com pliance Slope RD,WR 32(0
32(0X20) Moving Speed(L)
33(0X21) Moving Speed(H)
37(0X25) Present Position(H)
38(0X26) Present Speed(L)
41(0X29) Present Load(H) RD ?
42(0X2A) Present Voltage RD ?
RAM
EEPROM
Area
Area
19