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.

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- Unlike other Dynamixel models, Dynamixel PRO is only drivable when torque is
enabled. Therefore, torque must be enabled before driving Dynamixel PRO.
- Scroll down the middle table on Dynamixel PRO Wizard and locate Torque
Enable (#562).

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- Change the value on the lower right hand corner to ‘1’ and click ‘Apply.’
- Confirm that the ‘Torque Enable’ value is 1 and click Goal Position (#596).
- Change the value of Goal Position on the lower right hand corner with an
appropriate value and click ‘Apply’. Check each Dynamixel PRO’s Min and Max
Position Limits (lower and upper “soft” limits).
by default Dynamixel PRO 54 series: -251000 ~ 251000 and Dynamixel PRO
42 series: -151875 ~ 151875.
- Visually verify position of Dynamixel PRO after clicking on ‘Apply.’

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- If Dynamixel PRO does not move, check to see if the Torque Enable value is 1. If
the value is not set to ‘1’ change the value and try again.
- Change the Goal Position value and click ‘Apply.’ Visually check Dynamixel
PRO’s position.
- The relationship between the Goal Position value and degree of rotation is shown
below.
-
Model
Relationship between angle(deg) and position value
H54-200-S500-R
H54-100-S500-R
-180 ~ 180 (deg) → -251000 ~ 251000
          

M54-60-S250-R
M54-40-S250-R
-180 ~ 180 (deg) → -125700 ~ 125700
          

L54-50-S290-R
-180 ~ 180 (deg) → -103860 ~ 103860

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          

L54-30-S400-R
-180 ~ 180 (deg) → -144180 ~ 144180
          

H42-20-S300-R
-180 ~ 180 (deg) → -151875 ~ 151875
          

ii. Operating Dynamixel PRO in Wheel Mode
- There are 3 Modes in with Dynamixel PRO (Joint Mode, Wheel Mode, and
Torque Mode).
- On Dynamixel Wizard, locate and click ‘Operating Mode’ (#11).
- When Torque Enable (#562) is turned ‘On’, the Operating Mode cannot be
modified (left image below). The Operating Modes can be modified once the
Torque Enable is turned ‘Off’ by setting it to 0. (right image below)

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- Operating Mode (#11) settings are described below.
Operating Mode
Value
Description
Joint Mode
3
Controls the velocity and position of the servo.
1. Can move to the desired position at a desired velocity.
2. Can move using self-assigned trapezoidal Velocity Profile.
Wheel Mode
1
Controls the velocity of the servo.
1. Can rotate the servo at a desired velocity.
2. Can move using self-assigned trapezoidal Velocity Profile.
3. Cannot control the position of the servo.
Torque Mode
0
Controls the torque of the servo.
1. Cannot control velocity and position.
2. Only controls the output torque.
3. Since position and velocity control are not possible, the
performance is similar to Wheel Mode.
- Note: use the reference above to set Dynamixel PRO to an appropriate mode.
- Set Toque Enable value as 0 and Operating Mode as 1, then click ‘Apply.’

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- Next, set Torque Enable (#562) as 1 and click ‘Apply.’
※ Torque Enable value on Dynamixel PRO series MUST be 1 to be activated.
- On the Table, set Goal Velocity (#600) as 1000 and click ‘Apply.’
- Visually check for Dynamixel PRO rotate slowly in counter-clockwise direction.
- If Dynamixel PRO does not rotate, check if Torque Enable is set to 1.
- Set Goal Velocity (#600) to -1000 then click on ‘Apply.’ Visually check for
Dynamixel PRO rotate slowly in clockwise direction.
- Set Goal Velocity as 0 and Dynamixel PRO stops moving.
- Try changing the Goal Velocity value as 3000, 10000, 15000, -3000, -10000, -
15000, 0, etc… and observe the changes in rotation.
- The relationship between Goal Velocity (#600) values and rpm is as follows:
Sign of Value
Rotating
Direction
RPM (@ 20V minimum)
+
CCW
    
  
-
CW
※ Notice 1
- If Torque Enable(#562) on the Table is set as 1, it means Dynamixel PRO is ready to operate. This is
called the Torque On state.
- If Torque Enable(#562) on the Table is set as 0, it means Dynamixel PRO is unable to operate. This is
called the Torque Off state.
※ Notice 2
- The Table in the middle of the Dynamixel Wizard is called the Control Table.
- Control Table includes the list of functions that is used to control a Dynamixel

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- Dynamixel PRO movements and settings can be adjusted by inputting the appropriate values on the
address.
- For example, on Control Table, the values on Torque Enable (#562) can be changed to 0 or 1 to turn
torque. Also, appropriate values can be entered into Goal Velocity (#600) to rotate in desired velocity.
※ Notice 3
- The values that are ‘locked’ on the Control Table when the Torque Mode is on, is referred as the
EEPROM domain (non-volatile).
- The values that are written on the EEPROM area are preserved even if the Dynamixel PRO is turned
on/off. The value cannot be modified when the torque is on, and the torque needs to be off to modify
the EEPROM area values.
- EEPROM area is indicated as pink on Dynamixel Wizard.
- The section that is indicated as blue on the Control Table, such as Goal Velocity, is called the RAM
domain (volatile).
- The values on the RAM domain are lost when Dynamixel PRO is turned off. The values can be
changed regardless of the torque on/off setting.

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iii. LED Control of Dynamixel PRO
- Unlike other Dynamixels, Dynamixel PRO Dynamixel PRO has 3 color LEDs.
- Therefore, LEDs can be set to emit multiple colors.
- Try clicking the LED RED.
- Input 255 under LED RED value and click ‘Apply’. The red LED should turn on.
- The intensity of the LED emission can be adjusted by changing the values
between 0-255.
- Try changing the values of the LED RED, LED GREEN, and LED BLUE to
observe the change in colors.

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iv. ID configuration
- Individual ID is required for communication when when multiple Dynamixel
PROs are linked together.
- For example, a single Dynamixel PRO can be driven via its ID even when 3
Dynamixel PROs are linked together.
- A problem may occur if more than one Dynamixel with the same ID are linked
together.
- #7 on the Control Table of the Dynamixel Wizard is the value for ID.
- ID is a part of the EEPROM area on the Control Table. Be sure to check if
Dynamixel PRO torque is Off before changing the ID.
- Once changes are made to ID (#7) value to 3; click on ‘Apply.’ The change of
value can be observed on the left table.
- If the Dynamixel PRO ID cannot be changed, make sure the Torque Enable is
turned off.

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v. Modifying the baud rate.
- #8 on the Control Table of the Dynamixel Wizard is the baud rate.
- Baud rate is a part of the EEPROM area on the Control Table. Be sure to
check if Dynamixel PRO torque is off before changing the baud rate.
- Set the baud rate value as 3 then click ‘Apply.’
- Notice the change in baud rate to 1Mbps.
- If the baud rate cannot be modified check if Dynamixel PRO Torque Enable is
turned on.
- Dynamixel PRO’s baud rate and Control Table values are as follows:
Value of Control
Table
Baud Rate(bps: bit for seconds)
0
2400 bps
1
57600 bps
2
115200 bps
3
1 Mbps
4
2Mbps
5
3Mbps
6
4Mbps
7
4.5Mbps
8
10.5Mbps
- ※ When using a USB-to-Dynamixwl dongle, Dynamixel PRO’s baud rate
needs to be less than the USB-to-Dynamixwl’s supported baud rate in current
use.