Axis Dynamixel AX-12 User`s manual

v1.2
Closer to Real,
USB2Dynamixel
User’s Manual
ROBOTIS CO.,LTD. www.robotis.com
User’s Manual
contents
1. Introduction··························· 2
1-1.
1-2.
1-3.
1-4.
Functions································
Composition ······························
System Requirements ··························
USB2Dynamixel Connection ·······················
2
3
3
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. Transformation of an USB port into a Serial port·············· 7
1-4-5. Pin Figure ································ 8
1-4-6. How to Supply Power··························· 9
1-5. Installation ·······························10
1-5-1. Installation of Driver ··························· 10
1-5-2. Installation and Implementation of the Dynamixel Manager ········· 12
2. Dynamixel Manager ······················· 15
2-1.
2-2.
2-3.
2-4.
2-5.
2-6.
Connection ·······························15
List···································16
Operation································17
Configure ·······························20
Network ································21
Information ·······························22
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.
In addition, the USB2Dynamixel can be used to transform a
USB port into a serial port for a PC without a serial port
such as a lap-top computer. This function can be used
effectively when dynamixel exclusive controllers such as
the CM-2, CM-2+ and CM-5 are connected to an UBS port
or when the ZIG2Serial is connected to an USB port to
control a robot by radio.
Following pictures show how to use the USB2Dynamixel:
◎ Control of the USB2Dynamixel using a PC
USB
Power line
◎ Transformation of a Serial Port
USB
◎ Wireless Network
ZIG2Serial
USB
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User’s Manual
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.
◎ Software
A software that can directly drive a dynamixel on a PC only with the
USB2Dynamixel without a dynamixel exclusive controller such as CM2, CM-2+ and CM-5 is provided. There are two types of software
provided:
1. USB2Dynamixel driver
2. Dynamixel Manager
Downloadable from our website (www.robotis.com/usb2dynamixel)
◎ Manual
This manual describes how to install and use the USB2Dynamixel /
Dynamixel Manager.
Downloadable from our website (www.robotis.com/usb2dynamixel)
1-3. System Requirements
◎ PC
: PC compatible with IBM
(required)
USB 1.1 or higher
(required)
◎ OS
: Windows 2000 or Windows XP
(required)
◎ CPU
: Intel Pentium III 1GHz , AMD Athlon XP 1GHz or higher
(recommended)
◎ RAM
: 256MB or higher
(recommended)
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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
: Selects how TTL, RS-485 and RS-232 communicates
3P Connector
: Connects to AX series dynamixel using TTL network
4P Connector
: Connects to DX or RX series dynamixel using RS-485 network
Serial Connector
: Transforms a USB port into a serial port using RS-232 network,
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1-4-2. Connection of AX series Dynamixel
Set the function selection switch to TTL
mode
Connect the 3P cable to the 3P 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 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
Caution
how to supply power, please refer to 1-4-6 How to Supply Power.
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User’s Manual
1-4-3. 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.
Connect the power line to the last dynamixel.
POWER
(RX-10: DC10 to 12V)
(RX-28: DC12 to 16V)
(RX-64: DC15 to 18V)
(DX-117: DC12 to 16V)
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User’s Manual
1-4-4. Transformation of an USB port into a Serial port
The 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
mode.
The CM-5 communicates using a serial port.
When the USB2Dynamixel is used, the
network with CM-5 can be made even using
an USB port of a PC. For further information
on this, please refer to the CM-5 manual
The ZIG2Serial can be used as an USB port
using USB2Dynamixel. For this type of
operation, the ZIG2Serial can be used
without additional power supply. For further
information on this, please refer to the
ZIG2Serial manual.
Do not connect to an equipment that consumes more than 500mA, which may
Caution
damage the USB board.
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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.
Pin Figure of 4P/3P Cable Connector
4 Pin Cable
Pin No.
Signal
1
GND
2
NOT Connected
3
DATA + (RS-485)
4
DATA - (RS-485)
3 Pin Cable
Pin Figure
4
3 2
1
Pin No.
Signal
1
GND
2
NOT Connected
3
DATA (TTL)
Pin Figure of Serial Connector
Pin No.
Signal
1
Data (TTL)
2
RXD (RS-232)
3
TXD (RS-232)
4
D+ (RS-485)
5
GND
6
D- (RS-485)
7
Short with No. 8
8
Short with No. 7
9
USB power (5V)
Pin Figure
8
Pin Figure
3
2
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User’s Manual
1-4-6. How to Supply Power
The 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.
◎ Power Connection to the Dynamixel
Based
PIN#1: -
on
the
“1-4-5
Pin
Figure”,
connect the plus (+) power to the No. 2
pin of the connector, and the minus (-)
PIN#2: +
power to the No. 1 pin (Since two
connectors
of
the
dynamixel
are
identical, the power can be connected to
any one of them).
PIN#2: +
PIN#1: -
◎ Power Connection between the USB2Dyanmixel and Dynamixel
If the power cannot be connected to the
dynamixel as above, connect the power
between the USB2Dynamixel and the
dynamixel as shown on the left.
Separate the wire connected to the No.
2 pin of the UBS2Dynamixel connector,
and connect the plus (+) power to it.
PIN#1: -
Connect additional wire via the Y
PIN#2: +
winding to the wire connected to the No.
1 pin of the USB2Dynamixel connector,
and connect the minus (-) power to it.
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User’s Manual
1-5. Installation
1-5-1. Installation of Driver
< Step 1 > Download the Dynamixel Driver file from our website and uncompress it.
( www.robotis.com/usb2dynamixel )
< Step 2 > Connect USB2Dynamixel to a 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 was uncompressed from step 1.
< Step 4 > If the New Hardware Search window appears again, repeat the Step 2 to 3 one more time.
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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.
< Step 7 > Double-click on “USB Serial Port(COM#)”, and select “Port Setting >> Advanced” to modify
the Latency time to 1ms. Doing such will increase the network speed.
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User’s Manual
1-5-2. Installation and Implementation of the Dynamixel Manager
< 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.
USB
Power line
If the USB2Dynamixel driver is not yet installed on the PC and if the USB2Dynamixel is
connected to the PC, the following window appears. In this case, install the driver by
referring to Section 1-5-1 Installation of Driver.
< Step 2 > Download the Dynamixel Manager file, ‘DynamixelManager.zip’ from our website
( www.robotis.com/usb2dynamixel )
< Step 3 > Decompress ‘DynamixelManager.zip’. Execute the ‘DynamixelManager.exe’ file which was
decompressed from the zip file.
< Step 4 > A window that sets the port of the PC appears. Select the communication port labeled ‘USB
Serial Port’ which was added at the Management Console during the installation of the driver.
The Dynamixel Manager displays all ports, including the USB2Dynamixel , that support
USB2Serial. Thus, a port supporting the UBS2Dynamixel should be selected correctly. If the
connection of the port is not correct, the dynamixel is searched when the ‘Search’ function in
Step 5 is implemented.
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User’s Manual
< Step 5 > When the window searching the dynamixel appears, press the ‘Search’ button.
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 between the USB2Dynamixel and the dynamixel
and the status of power supply.
4. Quick Search is only possible when the Baud rate of the dynamixel is set to the main
Baud rate. When the user has changed the Baud rate of the dynamixel arbitrarily, do
not use the Full Search function.
< Step 6 > Dynamixel Manager will be implemented when the ‘OK’ button is pressed after the dynamixel
is searched.
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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.
If there is a problem on the connection between the USB2Dynamixel and the dynamixel,
an error message appears as below. In this case, restart from the Step 5 referring to the
Connection menu of Dynamixel Manager after checking the status of the connection
between the USB2Dynamixel and the dynamixel and the status of power supply.
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User’s Manual
2. Dynamixel Manager
The Dynamixel Manager is a utility that helps manipulate a dynamixel from a PC easily. It can also change
variables such as the ID or the Baud rate of the dynamixel.
2-1. Connection
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.
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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 Baud rate 1 are connected, and their IDs are
No. 1 and 4. A dynamixel with the Baud rate 34 is connected, and its ID is No. 2.
Only one dynamixel can be driven. To drive it, click on the corresponding ID.
When a communication error breaks out between the USB2Dynamixel and the
dynamixel, click on the dynamixel in question, then the following error message
appears. If the OK button is pressed, the dynamixel where the communication
error broke out will disappear from the list.
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User’s Manual
2-3. Operation
The Operation tab is used to drive the dynamixels.
Torque
If ‘On’ is clicked, the output torque is applied to the dynamixel.
If ‘Off’ is clicked, the output torque of the dynamixel is removed.
LED
If ‘On’ is clicked, the LED of the dynamixel is turned on.
If ‘Off’ is clicked, the LED of the dynamixel is turned off.
Speed
Sets the driving rate of a dynamixel. Tune the rate by moving the scroll bar with the
mouse. For the fine tuning, use the left and right direction keys ( ←, → ) on the
keyboard. The value of Speed can be set 0 to 1023 as data value of rate. The
value in the brackets is the value of RPM.
The STOP button is activated when Operation Mode is set to Wheel in Configure,
and works as a function stopping the driving of Wheel.
The maximum driving rate of a dynamixel depends on the type of dynamixels and
the level of connected voltage. Thus, in most cases, the maximum rate is achieved
when the value of Speed is lower than 1023. The driving speed cannot be raised
even if the value of Speed is set higher than the value of Speed at which the
maximum driving speed reaches. For further information about this, please refer to
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User’s Manual
the manual of each dynamixels. The Speed value 1 is the lowest speed, and the
Speed value 0 the highest.
Goal Position
Sets the driving angle of a dynamixel. Adjust it by moving the scroll bar with the
mouse. For the fine tuning, use the left and right direction keys ( ←, → ) on the
keyboard. The value of Goal Position can be set 0 to 1023 as data value of position.
The value in the brackets is the angle.
The Center button is to move the dynamixel to the center (Position Data: 512).
PWM Control Property A dynamixel can be smoothly driven by setting the value of PWM Control Property.
Goal Position
CCW
CW
CW
Y axis: Output Torque
A
B
C
E
CCW
E
X axis: Position
D
A : CW Compliance Slope
B : CW Compliance Margin
C : CCW Compliance Margin
D : CCW Compliance Slope
E : Punch
CW Compliance
Sets a margin where torque is removed before arriving at Goal Position
Margin
while moving it clockwise.
CCW Compliance
Sets a margin where torque is removed before arriving at Goal Position
Margin
while moving it counter-clockwise.
CW Compliance
Sets a margin where torque is slowly removed before arriving at Goal Position
Slope
while moving it clockwise.
CCW Compliance
Sets a margin where torque is slowly removed before arriving at Goal Position
Slope
while moving it counter-clockwise.
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User’s Manual
Punch
Sets the minimum value of output Torque.
Torque Limit
Sets the maximum value of 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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User’s Manual
2-4. Configure
The Configure tab is used to set additional 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.
Wheel: Used when endless turn is required like a wheel.
Angle Limit
Sets a driving angle. Angle Limit Error occurs when the system strays out of the set
driving angle.
Voltage Limit
Sets a level of connected voltage. Input voltage Error occurs when the connected
voltage strays out of the set value.
Temp. Limit
Sets the maximum value of operating temperature. Overheating Error occurs when
the ambient temperature strays out of the operating temperature.
Max Torque
Sets the maximum value of output torque.
Alarm LED
When a selected error occurs, the LED is turned on
Shutdown
When a selected error occurs, this removes output torque.
Apply
Saves changed information by pressing the Apply button after changing information.
Set Default
Restores the default values set in the factory from set information.
Caution
If the maximum value of each function is set too low or if the minimum value is set
too high, an errors may occur at a dynamixel.
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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. Save information by pressing the Apply button after
changing information.
ID
Sets the ID of a dynamixel. The ID connected to the USB2Dynaminxel is marked
as [Occupied]. The ID cannot be changed using an Occupied ID.
Baud Rate
Sets the Baud rate between the dynamixel and the PC. It can only be changed to
the main Baud rate.
Return Level
Sets how a dynamixel returns the achieved output of an order to the PC. If the
Return Level is set 0, the [Operation] and [Configure] functions cannot be used.
Return Delay Time
There is a time delay between receiving the order of the dynamixel and returning
the achieved output of the order to the PC. This menu sets the time delay occurring
at this time.
Apply
When the Apply button is pressed after information is changed, the changed
information is saved.
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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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