dynamixel:hardware
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Dynamixel Motors: Hardware Setup
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.
| Component List | |
|---|---|
| ID | Component |
| 1 | OpenCM 9.04 (controller) |
| 2 | OpenCM EXP485 (expansion board) |
| 3 | FTDI USB-to-Serial Board |
| 4 | AC/DC Power Adapter (12 V) |
| 5 | Dynamixel motor(s) |
| 6 | Laptop/PC |
| Cable List | |||
|---|---|---|---|
| ID | Connection #1 | Connection #2 | Description |
| 7 | OpenCM 9.04 | FTDI USB-to-Serial board | 3-pin; yellow, green, black (serial comm.) |
| 8 | FTDI USB-to-Serial board | Laptop/PC | USB A male to USB B (micro) male |
| 9 | OpenCM EXP485 | Dynamixel motor | 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.
- Connect (Controller-to-FTDI USB-to-Serial):
- Connect (FTDI USB-to-Serial-to-PC):
- Connect Power:
- Connect (Controller-to-Motor(s)):
- Turn on Controller:
dynamixel/hardware.1529935889.txt.gz · Last modified: 2024/08/20 21:38 (external edit)