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| dynamixel:hardware [2024/08/20 21:38] – external edit 127.0.0.1 | dynamixel:hardware [2024/09/23 13:31] (current) – typos |
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| Hardware components and cables are illustrated below. Numbers labelling each component in the image correspond to those in the following tables. | Hardware components and cables are illustrated below. Numbers labelling each component in the image correspond to those in the follow-on tables. |
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| {{dynamixel:hw_setup_diag.png?800x0|Hardware_Setup}} | {{dynamixel:hw_overview.png?800x0|Hardware Overview}} |
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| ^ Component List ^^ | ^ Component List ^^ |
| ^ ID ^ Component ^ | ^ ID ^ Component ^ |
| | 1 | OpenCM 9.04 (controller) | | | 1 | OpenCM EXP485 (power-communication junction) | |
| | 2 | OpenCM EXP485 (expansion board) | | | 2 | U2D2 | |
| | 3 | FTDI USB-to-Serial Board | | | 3 | AC/DC Power Adapter (12 V) | |
| | 4 | AC/DC Power Adapter (12 V) | | | 4 | Dynamixel motor(s) | |
| | 5 | Dynamixel motor(s) | | | 5 | Laptop/PC | |
| | 6 | Laptop/PC | | |
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| ^ Cable List ^^^^ | ^ Cable List ^^^^ |
| ^ ID ^ Connection #1 ^ Connection #2 ^ Description ^ | ^ ID ^ Connects to ^ Connects to ^ Description ^ |
| | 7 | OpenCM 9.04 | FTDI USB-to-Serial board | 3-pin; yellow, green, black (serial comm.) | | | 6 | U2D2 | OpenCM EXP485 | 3-pin or 4-pin (motor dependent) Dynamixel connector | |
| | 8 | FTDI USB-to-Serial board | Laptop/PC | USB-A male to USB-B (micro) male | | | 7 | U2D2 | Laptop/PC | USB-A male to USB-B (micro) male | |
| | 9 | OpenCM EXP485 | Dynamixel motor | 3-pin or 4-pin (motor dependent) Dynamixel connectors | | | 8 | OpenCM EXP485 | Dynamixel motor(s) | 3-pin or 4-pin (motor dependent) Dynamixel connectors | |
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| ===== Setup Procedure ===== | ===== Setup Procedure ===== |
| 1. **Controller:** The OpenCM 9.04 micro-controller should already be seated within the OpenCM EXP485 expansion board. The OpenCM 9.04 has been flashed and configured to run a 'serial tosser' upon power-up. All 3.3V TTL UART serial communication arriving from the PC (via FTDI USB-to-Serial board) is transcribed to a half duplex TTL (3-pin) or to a RS485 (4-pin) half duplex serial protocol that is forwarded on to the motors. Messages in the reverse direction (motors to PC) are also appropriately transcribed. | |
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| {{dynamixel:controller_embed.jpg?300x0|Controller (Serial Tosser)}} | 1. **Power-Communication Junction:** The OpenCM EXP485 board (square, blue PCB) serves as a convenient junction, to distribute power and communication to/from connected Dynamixel motors. It recieves power from a DC power supply and, in turn, supplies this to connected Dynamixel motors. It also recieves serial communication to/from a PC (via a connected U2D2) and passes this along from/to connected Dynamixel motors. All 3-pin Dynamixel connectors on the board reside on a single bus, dedicated to half duplex TTL communication; all 4-pin Dynamixel connectors reside on a separate 2nd bus, for RS485 (4-pin) half duplex serial communication. |
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| 2. **Connect (Controller-to-FTDI USB-to-Serial):** Connect the green-yellow-black cable to the controller unit (4-pin connector) and to the red FTDI breakout board. | {{dynamixel:junction.png?300x0|OpenCM EXP485 board}} |
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| {{dynamixel:controller_ftdi_connect.jpg?300x0|Connection: Controller-to-FTDI}} | |
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| **NOTE** that the red FTDI breakout PCB may look slightly different (there are different variants of this board used in the lab). When connecting to the FTDI PCB, ensure that the cable's black wire is aligned with the GND pin (printed on the red FTDI PCB). | 2. **Connect (U2D2-to-OpenCM EXP485 board):** Connect a Dynamixel cable to the U2D2 (transparent rectangular device), and to the blue OpenCM EXP485 board. |
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| 3. **Connect (FTDI USB-to-Serial-to-PC):** Connect the USB cable to the red FTDI PCB and to the laptop/PC. The USB-B micro male end should attach to the red FTDI board. The USB-A male end should be connected to an available USB port on the laptop/PC. | {{dynamixel:U2D2_freecable.png?300x0|Connection: U2D2-to-OpenCM EXP485}} |
| | {{dynamixel:u2d2_junction_connect.png?300x0|Connection: U2D2-to-OpenCM EXP485}} |
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| | **NOTE** that this Dynamixel cable is distinct from others that may be available. The connector end that mates with the U2D2 has a different form factor from the end that connects to the OpenCM EXP485 board. |
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| | 3. **Connect (U2D2-to-PC):** Connect the micro USB cable to the U2D2, and to the laptop/PC. The USB-B micro male end should attach to the U2D2. The USB-A male end should be connected to an available USB port on the laptop/PC. Once connected, a red LED on the U2D2 should light up and stay on. |
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| | {{dynamixel:u2d2_junction_connect_led.png?300x0|Connection: U2D2-to-PC}} |
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| {{dynamixel:controller_usb_pc_connect.jpg?300x0|Connection: FTDI-to-PC}} | |
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| 4. **Connect Power:** Connect the 12 V AC/DC power adapter to the OpenCM EXP485 expansion board (barrel jack). Connect the power adapter's 3-prong connector to an electrical outlet. | 4. **Connect Power:** Connect the 12 V AC/DC power adapter to the OpenCM EXP485 expansion board (barrel jack). Connect the power adapter's 3-prong connector to an electrical outlet. |
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| {{dynamixel:controller_power_connect.jpg?300x0|Connection: AC/DC Adapter-to-Controller}} | {{dynamixel:junction_U2D2_powered.png?300x0|Connection: AC/DC Adapter-to-OpenCM EXP485}} |
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| 5. **Connect (Controller-to-Motor(s)):** Connect the Dynamixel motor cable (3-pin or 4-pin depending on motor model) to the OpenCM XP485 expansion board. All 3-pin connectors are connected to one another and, likewise, all 4-pin connectors on the OpenCM EXP485 are connected to one another. In other words, it doesn't matter which connector the motor cable is connected to on the micro-controller unit; 3-pin cables can be plugged into any 3-pin socket and, likewise, any 4-pin cable can be plugged into any 4-pin socket. All communication occurs on a serial communication bus, where each motor and controller are effectively individual 'drops' on the bus. | |
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| Connect the other end of the Dynamixel motor cable to the connector on the back of the motor. | 5. **Connect (Motor(s)-to-OpenCM EXP485 board):** Connect the Dynamixel cable (3-pin or 4-pin depending on motor model) to the OpenCM EXP485 expansion board. It doesn't matter which connector the motor cable is connected to on the OpenCM EXP485 board; 3-pin cables can be plugged into any 3-pin socket and, likewise, any 4-pin cable can be plugged into any 4-pin socket. All communication occurs on a serial communication bus; motors behave as individual 'drops' on the bus. |
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| {{dynamixel:dynamixel_3pin_cable.jpg?300x0|Dynamixel Motor Cable}} {{dynamixel:dynamixel_motor_3pin.jpg?300x0|Cable-to-Motor}} {{dynamixel:controller_motor_connect.jpg?300x0|Connection Controller-to-Motor}} | Connect the other end of the Dynamixel cable to the motor. |
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| 6. **Turn on Controller:** | {{dynamixel:dynamixel_3pin_cable.jpg?300x0|Dynamixel Motor Cable}} {{dynamixel:dynamixel_motor_3pin.jpg?300x0|Cable-to-Motor}} {{dynamixel:junction_u2d2_ax12_power.png?300x0|Connection: Motor-to-OpenCM EXP485}} |
| Turn on the power switch, on the OpenCM EXP485 board. The controller board(s) and connected motors should now be powered. A red LED, on the OpenCM 9.04 controller (seated in the OpenCM EXP485 expansion board) should be illuminated. | |
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| {{dynamixel:dynamixel_controller_on.jpg?300x0|Controller Powered On}} | |
| | 6. **Turn on Controller:** |
| | Turn on the power switch, on the OpenCM EXP485 board. The connected motors should now be powered. A red LED will momentarily illuminate on each connected motor - this serves as verification that the motor is connected and powered. If a motor's LED does not momentarily flash red, upon power up, something is wrong. |
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