Table Of Contents; Contents - Robotis Dynamixel Pro Quick Start Manual

Quick Start for Dynamixel Pro v1.00b

CONTENTS

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