Robotis Dynamixel Pro User manual

Quick Start for Dynamixel Pro

Quick Start for Dynamixel Pro v1.00b
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CONTENTS
CONTENTS........................................................................................................................................................................................ 2
1 Tutorial ......................................................................................................................................................................................... 5
1.1 Roboplus ...................................................................................................................................................................... 5
1.1.1 Preparation ................................................................................................................................................................... 5
i. RoboPlus installation (Windows only) .......................................................................................................................... 5
ii. Wiring of Dynamixel PRO 54 series .............................................................................................................................. 5
iii. Wiring of Dynamixel PRO 42 series .............................................................................................................................. 6
iv. Wiring of Dynamixel PRO 54 & 42 series ................................................................................................................... 6
v. USB-to-Dynamixel dongle (RS485 setting) ................................................................................................................. 7
vi. COM Port Latency Time setting...................................................................................................................................... 7
1.1.2 Dynamixel Wizard ..................................................................................................................................................... 9
i. Operating a Dynamixel PRO............................................................................................................................................ 9
ii. Operating Dynamixel PRO in Wheel Mode .............................................................................................................. 14
iii. LED Control of Dynamixel PRO ................................................................................................................................. 18
iv. ID configuration ............................................................................................................................................................... 19
v. Modifying the baud rate. ................................................................................................................................................ 20
vi. Accelerating Dynamixel PRO in Joint Mode ............................................................................................................ 21
vii. Limiting the range of motion of Dynamixel PRO.................................................................................................... 23
viii. Extending the range of motion of Dynamixel PRO ................................................................................................. 25
ix. Accelerating Dynamixel PRO in Wheel Mode ......................................................................................................... 27
x. Refer to ‘1.1.2.ⅱ ‘Operating Dynamixel PRO in Wheel Mode’ ........................................................................ 27
xi. Torque Mode of Dynamixel PRO ................................................................................................................................ 29
xii. Update Dynamixel PRO’s firmware ............................................................................................................................ 31
xiii. Dynamixel PRO Firmware Recovery with Dynamixel Wizard............................................................................ 34
1.2 Visual Studio 2010 ..................................................................................................................................................38
1.2.1 Preparation .................................................................................................................................................................38
i. Setting the development envrionment. ....................................................................................................................... 38
ii. Inialize and terminate the connnection with USB-to-Dynamixel dongle ........................................................... 41
1.2.2 Basic functions of Dynamixel PRO. ....................................................................................................................43
i. Turning the torque On/Off of Dynamixel PRO. ....................................................................................................... 43
ii. Operating Dynamixel PRO using C programming language. ............................................................................... 45

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iii. Modifying Dynamixel PRO’s ID using C programming language...................................................................... 47
iv. Modifying the baud rate of Dynamixel PRO. ........................................................................................................... 49
v. LED control of Dynamixel PRO .................................................................................................................................. 53
vi. Modifying the P gain value of Dynamixel PRO ....................................................................................................... 56
vii. Operating Dynamixel PRO in various speeds ........................................................................................................... 60
viii. Internal temperature feedback of Dynamixel PRO .................................................................................................. 64
x. Changing velocity of Dynamixel PRO in Wheel Mode ......................................................................................... 69
xi. Checking the current position and current velocity of Dynamixel PRO ............................................................ 72
1.2.3 C programming language funtions. ......................................................................................................................76
i. Modifying the zero value of Dynamixel PRO .......................................................................................................... 76
ii. Limiting the operating range of Dynamixel PRO .................................................................................................... 79
iii. Extending the operating range of Dynamixel PRO. ................................................................................................ 83
1.2.4 Indirect Addressing function of Dynamixel PRO.............................................................................................87
i. Change the position, velocity, and acceleration using Indirect Address fucntion. ........................................... 87
ii. Reading the temperature and the current position using Indirect Address ......................................................... 93
1.2.5 Using Multiple Dynamixel PROs.........................................................................................................................97
i. Controlling the LEDs of 3 Dynamixel PROs ............................................................................................................ 97
ii. Controlling the Goal Position of 3 Dynamixel PRO .............................................................................................100
iii. Reading the the Current Position of 3 Dynamixel PROs .....................................................................................103
iv. Read temperature of the first, position of the second, and present current of the third Dynamixel PRO 106
1.3 Linux ........................................................................................................................................................................ 109
1.3.1 Set-up ....................................................................................................................................................................... 109
i. Checking USB-to-Dynamixel connection in Linux ...................................................................................... 109
2 Reference ................................................................................................................................................................................ 129
2.1 Default values by model ...................................................................................................................................... 129
2.1.1 H Series ................................................................................................................................................................... 129
i. H54-200-S500-R ............................................................................................................................................................129
ii. H54-100-S500-R ............................................................................................................................................................129
iii. H42-20-S300-R ..............................................................................................................................................................129
2.1.2 M Series .................................................................................................................................................................. 129
i. M54-60-S250-R..............................................................................................................................................................129

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ii. M54-40-S250-R..............................................................................................................................................................130
2.1.3 L Series .................................................................................................................................................................... 130
i. L54-50-S290-R ...............................................................................................................................................................130
ii. L54-30-S400-R ...............................................................................................................................................................130
iii. L42-10-S300-R ...............................................................................................................................................................130
2.2 Control Table of Dynamixel Pro ....................................................................................................................... 131
2.3 Features (by width size) ....................................................................................................................................... 132
2.3.1 54-series (H54, M54, L54).................................................................................................................................. 132
2.3.2 42-series (H42, L42) ............................................................................................................................................ 133
2.4 Dimensions ............................................................................................................................................................. 134
2.4.1 H Series ................................................................................................................................................................... 134
i. H54-200-S500-R ............................................................................................................................................................134
ii. H54-100-S500-R ............................................................................................................................................................134
iii. H42-20-S300-R ..............................................................................................................................................................135
2.4.2 M Series .................................................................................................................................................................. 135
i. M54-60-S250-R..............................................................................................................................................................135
ii. M54-40-S250-R..............................................................................................................................................................135
2.4.3 L Series .................................................................................................................................................................... 137
i. L54-50-S290-R ...............................................................................................................................................................137
ii. L54-30-S400-R ...............................................................................................................................................................137
iii. L42-10-S300-R ...............................................................................................................................................................138
2.5 Model notation ....................................................................................................................................................... 139

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1 Tutorial
This guide is written for first-time Dynamixel PRO users, but, familiar with C and C++
programming languages.
1.1 Roboplus
1.1.1 Preparation
i. RoboPlus installation (Windows only)
- RoboPlus is a software package that allows you to easily control and program all
ROBOTIS products.
- This guide contains information regarding the use of RoboPlus’s Dynamixel
Wizard to test Dynamixel PRO.
- You may download the most current version of RoboPlus at
http://www.robotis.com/xe/download.
ii. Wiring of Dynamixel PRO 54 series
- To operate a Dynamixel PRO, at least, a USB-to-Dynamixel dongle and 24V
power supply (for high-power operations) or ROBOTIS’ conventional 12V SMPS
(for low-power operations) are required.
- Dynamixel PRO 54 series can be powered via external power cable or 4-pin cable;
however, it is recommended to use an external power supply (via power cable) for
better stability.
- As illustrated below, use a 4-pin cable to connect the USB-to-Dynamixel dongle
and Dynamixel PRO.
- Connect one end of the power cable to Dynamixel PRO; the other end to the
power supply.

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- Please note the schematic below.
- Dynamixel PROs can be connected in series (daisy chain) with the 4-pin cables for
communications (and low-power operations). However, power (high-power
operations) must be supplied in parallel (individually).
iii. Wiring of Dynamixel PRO 42 series
- Similar to the 54 series, the 42 series requires a 24V power supply.
- Dynamixel PRO 42 series can be powered by the 4-pin cable (low-power
operations). Connecting via SMPS-to-Dynamixel is also allowed.
- A USB-to-Dynamixel dongle connects to SMPS-to-Dynamixel; then SMPS-to-
Dynamixel to Dynamixel PRO(s).
iv. Wiring of Dynamixel PRO 54 & 42 series
- First, connect an USB-to-Dynamixel dongle and Dynamixel PRO via 4-pin cable.
- Second, connect a dedicated power supply to Dynamixel PRO via power cable.
For multiple Dynamixel PROs they can be connected in series, for
communications (daisy chain) and low-power operations, and parallel
(individually), for high-power operations, as illustrated below.

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- Please note the schematic below.
v. USB-to-Dynamixel dongle (RS485 setting)
- Dynamixel PRO communicates via RS485.
- Set the switch on the left hand side of the USB-to-Dynamixel dongle to RS485
(#2).
vi. COM Port Latency Time setting
- To control Dynamixel PRO using a USB-to-Dynamixel dongle, it is recommended
to modify the Latency Time of the Port. Please refer to the images below to adjust
the Latency Time.
- Under Windows Device Manager à Port à USB Serial Port (right mouse
click)à properties à Port Setting -> Advanced à Latency Timer (msec) à set to
1msec.

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- Click “Ok” to confirm.
1.1.2 Dynamixel Wizard
i. Operating a Dynamixel PRO
- Supply 24V power to Dynamixel PRO once the wiring is complete. For safety,
finish connecting the wires before supplying the power.
- Open RoboPlus to run Dynamixel Wizard.
- Select a COM Port that refers to the correction of USB-to-Dynamixel dongle to
your PC and click button to connect to USB-to-Dynamixel.
- Once the port is connected, select ‘DXL 2.0’ and ‘57600,’ then click ‘Start
Searching.’ Dynamixel PRO’s Default ID setting is 1 and baud rate of 57600 bps.

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- Select the Dynamixel PRO that has been found on the left hand side.