JING TIAN H-Series Quick Start Manual

Robotis manipulator sdk

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ROBOTIS Manipulator SDK

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Page 1 ROBOTIS Manipulator SDK Quick Start...
Page 2: Table Of Contents
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.
Page 3: Introduction
Introduction About this document This Quick Start has been created to offer users an easy instruction guide to use the ROBOTIS Manipulator based on the User Manual. This Quick Start includes the ROBOTIS Manipulator SDK to operate the ROBOTIS Manipulator SDK. iii.
Page 4: Layout
Layout H Series – ROBOTIS Manipulator Dimension 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis www.jingtianrobots.com...
Page 5: Specification
Specification H Series – ROBOTIS Manipulator Specification Item Description 6 [DOF] 5.551 [��] Arm Weight 24 [V] Operating Voltage 1 Axis H54-200-S500-R 2 Axis 3 Axis Dynamixel PRO H54-100-S500-R Model Name 4 Axis 5 Axis H42-20-S300-R 6 Axis −�� ~ �� [��] 1 Axis −0.5��...
Page 6: Getting Started
Getting Started Preparation Power Supply - The manipulator requires 24V for operations. Ensure the power supply is capable of supplying 24V and 15A or higher. 4P Cable - The 4P Cable connects the manipulator and USB2Dynamixel. iii. Power Cable - The power cable supplies power to the manipulator. USB2Dynamixel - The USB2Dynamixel sends ArmSDK commands to the manipulator.
Page 7: Installation
Installation of Manipulator The contents below are based on a specific application base plate and can differ from the actual base plate used. Rest and fix join #1 of the manipulator. The photo on the left is the external wiring for the arm. Label #1 shows a pair of 4P cables and power connector;...
Page 8 iii. Once the connections are complete, fix the arm to the base plate as shown on the photo below. 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. Connect the USB2Dynamixel to the hub with the 4P cable;...
Page 9 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. www.jingtianrobots.com...
Page 10: Usb2Dynamixel Setting
USB2Dynamixel Setting AX series, AX-S1, 3-pin MX; communicates with 3-pin TTL Communication Dynamixel DX series, RX series, EX series, communicated with 4-pin 2. RS485 Communication Dynamixel PRO CM-5, CM-510; communicates with controllers using RS232 Communication serial cable The manipulator is based on the RS-485 communications so make sure to set to the dongle to 2.RS-485.
Page 11: Manipulator Test Using Dynamixel Wizard
Manipulator Test using Dynamixel Wizard 2.4.1 Run Dynamixel Wizard Test the arm with Dynamixel Wizard before running the SDK to check for any anomalies. II. Dynamixel Wizard is included in RoboPlus program. RoboPlus can be downloaded from the ROBOTIS website ‘Support’  Download. (http://www.robotis.com/BlueAD/board.php?bbs_id=service_03) III.
Page 12 2.4.2 Check and Select Port Before starting Dynamixel Wizard ensure the arm is extended and fixed to the base plate. In case the Manipulator is not fixed to the plate, it may cause physical harm or damage. II. Connect the USB2Dynamixel to the PC after wiring is complete. Check the port ‘Device Manager →...
Page 13 V. Once connected, select DXL2.0 and then make sure that 1000000bps box is checked. Then click Search. The manipulator’s default baudrate is 1Mbps. VI. Once the search is complete, the Dynamixel PROs that make up the ROBOTIS Manipulator will appear on the left side. Click on the individual Dynamixel PRO to display the contents of the Control Table.
Page 14 VII. Unlike the the other Dynamixels, the Dynamixel PRO only operates when the Torque is On. The Torque can be turned on using “Torque Enable” function is located in the middle of Dynamixel Wizard on Table address 562. Change the value on the lower right side to “1 then click ‘Apply’...
Page 15 VIII. After checking that all the settings for the Dynamixel PROs are set to “1” for ‘Torque Enable,’ make sure the Manipulator is fixed to the plate. Then click on the Dynamixel with ID #6. IX. Now let’s verify whether the properly moved to the set Goal Position. Joint #6 which is closest to the End Effector is safest to move and test.
Page 16 XI. Click ‘Apply’ to start operating the Dynamixel Pro to its set Goal Position. If there is no movement, double check if the value for Torque Enable has been set to 1 and try again. Change the Torque Enable value to 0 to move the Dynamixel PRO to is original position.
Page 17: Robotis Manipulator Sdk Example
ROBOTIS Manipulator SDK Example How to use Robotis Manipulator SDK 3.1.1 Preparation before SDK The following are pre-requisites to use the SDK.. Eigen Package (http://eigen.tuxfamily.org, version 3.0.6 or Later) 3.1.2 Package Installation Download and extract the Eigen Package. ‘Project Properties → VC++ Directories → Include Directories’ II.
Page 18: Example
Example The ROBOTIS Manipulator SDK offers 5 examples. 1) ArmMonitor01: Outputs the current position and goal position of the Manipulator’s joint, Pose and Joint Parameter (Velocity, Acceleration, Position P, I, D Gain, Velocity P, I Gain) of the End Effector in the terminal window for viewing and enables users to adjust this value.
Page 19 3.2.1 How to Use SimplePtoP The movement of this example is very fast. When testing this example, please keep a safe distance away from the Manipulator and be preprared to shut down the power in case anything goes wrong. Before running SimplePtoP, you must start a new project to execute the example then press the Ctrl + F5 key.

This manual is also suitable for:

H54-200-s500-r H54-100-s500-r H42-20-s300-r