Patricio Vela: Course Wiki

This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong.
====== Dynamixel Motors: Hardware Setup  ======
---------------------------------------------

Hardware components and cables are illustrated below. Numbers labelling each component in the image correspond to those in the follow-on tables.

{{dynamixel:hw_overview.png?800x0|Hardware Overview}}

^  Component List  ^^
^  ID  ^  Component  ^
|  1  | OpenCM EXP485 (power-communication junction) |
|  2  | U2D2 |
|  3  | AC/DC Power Adapter (12 V) |
|  4  | Dynamixel motor(s) |
|  5  | Laptop/PC  |

^  Cable List  ^^^^
^  ID  ^  Connects to  ^  Connects to  ^  Description  ^
|  6  | U2D2 | OpenCM EXP485 | 3-pin or 4-pin (motor dependent) Dynamixel connector |
|  7  | U2D2 | Laptop/PC | USB-A male to USB-B (micro) male |
|  8  | OpenCM EXP485 | Dynamixel motor(s) | 3-pin or 4-pin (motor dependent) Dynamixel connectors |

===== Setup Procedure  =====

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.

{{dynamixel:junction.png?300x0|OpenCM EXP485 board}}  


2. **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.


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.

{{dynamixel:u2d2_junction_connect_led.png?300x0|Connection: U2D2-to-PC}}  


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.

{{dynamixel:junction_U2D2_powered.png?300x0|Connection: AC/DC Adapter-to-OpenCM EXP485}}  


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. 

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}}  


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.


---------
;#;
[[dynamixel:main | Main (Dynamixel) ]] -- [[dynamixel:sw_prelim | Next: Matlab ]]
;#;