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Summary of Contents for Robotis USB2Dynamixel
- Page 1 Closer to Real, USB2Dynamixel User’s Manual ROBOTIS CO.,LTD. www.robotis.com...
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Page 2: Table Of Contents
１. Introduction··························· 2 １-１. Functions································ 2 １-２. Composition ······························ 3 １-３. System Requirements ·························· 3 １-４. USB2Dynamixel Connection ······················· 4 １-４-１. USB2Dynamixel Structure························· 4 １-４-２. Connection of AX series Dynamixel ···················· 5 １-４-３. Connection with DX/RX series Dynamixel ················· 6 １-４-４. -
Page 3: Introduction
User’s Manual １. Introduction １-１. Functions The USB2Dynamixel is a device used to directly drive the dynamixel on a PC. The USB2Dynamixel is used by connecting to a USB port of a PC, and is equipped with 3p and 4p connectors to be connected with a variety of dynamixels. -
Page 4: Composition
１-２. Composition ◎ USB2Dynamixel The USB2Dynamixel is used when a dynamixel is directly driven on a PC without a dynamixel exclusive controller such as the CM-2, CM-2+ and CM-5. It is also used to transform an USB port to a serial port. -
Page 5: Usb2Dynamixel Connection
User’s Manual １-４. USB2Dynamixel Connection １-４-１. USB2Dynamixel Structure Status Display LED Function Selection Switch Serial Connector 3P Connector 4P Connector Status Display LED : Displays the status of power supply, TxD (writing data), and RxD (reading data) Function Selection Switch... -
Page 6: Connection Of Ax Series Dynamixel
3P cable. Connect the power line to the last dynamixel. POWER (DC 7 to 10V) The USB2Dynamixel does not supply power to a dynamixel. For further information on how to supply power, please refer to 1-4-6 How to Supply Power. Caution... -
Page 7: Connection With Dx/Rx Series Dynamixel
Set the selection function switch to RS 485 mode Connect the 4P cable to the 4P connector of USB2Dynamixel and the connector of the dynamixel (There are two connectors on the dynamixel, any of which can be connected). Dynamixels can be connected in series using a 4P cable. -
Page 8: Transformation Of An Usb Port Into A Serial Port
User’s Manual １-４-４. Transformation of an USB port into a Serial port he USB2Dynamixel can be used to transform an USB port into a serial port for a PC without a serial port such as a laptop computer. Set the function selection switch to RS 232 ode. -
Page 9: Pin Figure
User’s Manual １-４-５. Pin Figure The following pictures show the usage of the connector pins used in the USB2Dynamixel. To make them suitable for the intended purpose , the user should only use them after being familiarized with the usage of each pin. -
Page 10: How To Supply Power
User’s Manual １-４-６. How to Supply Power USB2Dynamixel does not supply power to a dynamixel. Thus, additional power is needed to drive a dynamixel as shown below. For proper voltage to be provided to each dynamixel model, please refer to the dynamixel manual. -
Page 11: Installation
PC, and the New Hardware Search window will apear on the PC. Click on [Install from the list or Specific Location]. < Step 3 > Move to where USB2Dynamixel driver folder which w s uncompressed from step 1. < Step 4 > If the New Hardware Search window appears ag... - Page 12 User’s Manual < Step 5 > Select Control Panel>> System>> Hardware>> Management Console. <Step 6 > Check whether “USB Serial Port” is installed at “Port (COM and LPT) of the Management Console. It would be convenient for the user to remember the number of port (COM #) for network connection.
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Page 13: Installation And Implementation Of The Dynamixel Manager
１ -５-２. Installation and Implementation of the Dynamixel Mana < Step 1 > Make a connection of PC-USB2Dynamixel-Dynamixel as shown below, and supply power to the dynamixel unit(s). For further information on how to supply power, please refer to Section 1-4-6 How to Supply Power. - Page 14 If the ‘Search’ cannot be implemented, redo ‘Search’ after cheching the following: 1. Check whether the port is selected correctly. 2. Check whether the function selection switch of the USB2Dynamixel is located correctly. 3. Check the status of the connection betwee n the USB2Dynamixel and the dynamixel and the status of power supply.
- Page 15 User’s Manual If there is a problem on the connection of the USB2Dynamixel, an error message appears as below. If the OK button is pressed, the Dynamixel Manager is implemented as below. In this case, restart from the Step 4 referring to the Connection menu of the Dynamixel Manager after checking the connection between the USB2Dynamixel and the PC.
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Page 16: Dynamixel Manager
The Connection tab is used to set the connection status between the PC and dynamixel. Open / Close Opens or closes the network port of the USB2Dynamixel. Search Searches a dynamixel connected to the USB2Dynamixel. Exit Ends the Dynamixel Manager. -
Page 17: List
User’s Manual ２-２. List The List tab is used to show which dynamixel is connected to the USB2Dynamixel. The following picture shows that there are a total of three dynamixels connected. Specifically, two dynamixels with the B aud rate 1 are connected, and their IDs are No. -
Page 18: Operation
User’s Manual ２-３. Operation The Operation tab is used to drive the dynamixels. orque If ‘On’ is clicked, the output torque is applied to the dynamixel. If ‘Off’ is clicked, the output torque of the dynamixel is removed. If ‘On’ is clicked, the LED of the dynamixel is turned on. If ‘Off’... - Page 19 User’s Manual the m anual of each dynamixels. The Speed value 1 is the lowest speed, and the Spee d value 0 the highest. oal Position Sets the driving angle of a dynamixel. Adjust it by moving the scroll bar with the mouse.
- Page 20 User’s Manual Punch Sets the minimum value of output Torque. Torque Limit Sets the maximum value o f output Torque. Status Displays the present status of a dynamixel. Status Packet Error Displays the nature of the error when an error occurs while a dynamixel is driving.
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Page 21: Configure
User’s Manual ２-４. Configure The Configure tab is used to set addition al restrictive conditions necessary for driving a dynamixel. Save changed information by clicking on the Apply button after changing information. Operation Mode Selects a driving mode of a dynamixel. Joint: Used when the position/speed control is required like the joint of a robot. -
Page 22: Network
User’s Manual ２-５. Network The Network tab is used to set the functions necessary for the network of the dynamixel and the PC. Sa ve information by pressing the Apply button after changing information. Sets the ID of a dynamixel. The ID connected to the US B2Dynaminxel is marked as [Occupied]. -
Page 23: Information
User’s Manual ２-６. Information The Information tab displays information about the model and firmware version of the dynamixel connected at the moment.
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