Differences

This shows you the differences between two versions of the page.

--- dynamixel:hardware [2018/06/21 14:56] – typos
+++ dynamixel:hardware [2024/09/23 13:31] (current) – typos
@@ Line 2: / Line 2: @@
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-Required components and cables are illustrated in the below image. ID numbers labelling each component and cable, in the image, correspond to ID numbers in the follow-on component and cable tables.
+Hardware components and cables are illustrated below. Numbers labelling each component in the image correspond to those in the follow-on tables.
-{{dynamixel:hw_setup_diag.png?800x0|Hardware_Setup}}
+{{dynamixel:hw_overview.png?800x0|Hardware Overview}}
 ^  Component List  ^^
 ^  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  |
 ^  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 |
 ===== Setup Procedure  =====
- - **Controller:** The OpenCM 9.04 micro-controller is 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 half duplex serial protocol and forwarded on to the motors. Likewise, transcription is performed in the reverse direction as well.
+. **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.
+{{dynamixel:junction.png?300x0|OpenCM EXP485 board}}
+. **Connect (U2D2-to-OpenCM EXP485 board):**  Connect a Dynamixel cable to the U2D2 (transparent rectangular device), and to the blue OpenCM EXP485 board.
+{{dynamixel:U2D2_freecable.png?300x0|Connection: U2D2-to-OpenCM EXP485}}
+ {{dynamixel:u2d2_junction_connect.png?300x0|Connection: U2D2-to-OpenCM EXP485}}
+**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.
+. **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.
+{{dynamixel:u2d2_junction_connect_led.png?300x0|Connection: U2D2-to-PC}}
+. **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.
+{{dynamixel:junction_U2D2_powered.png?300x0|Connection: AC/DC Adapter-to-OpenCM EXP485}}
+. **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.
+Connect the other end of the Dynamixel cable to the motor.
+{{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 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.
+---------
+;#;
+[[dynamixel:main | Main (Dynamixel) ]] -- [[dynamixel:sw_prelim | Next: Matlab ]]
+;#;