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.
| 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.
2. Connect (U2D2-to-OpenCM EXP485 board): Connect a Dynamixel cable to the U2D2 (transparent rectangular device), and to the blue OpenCM EXP485 board.
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.
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.
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.
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.