This is an old revision of the document!
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
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 half duplex serial protocol and forwarded on to the motors. Likewise, transcription is performed in the reverse direction as well.
2. Connect (Controller-to-FTDI USB-to-Serial): Connect the green-yellow-black cable to the controller unit (4-pin connector) as well as to the red FTDI breakout PCB.
NOTE that the red FTDI breakout PCB may look slightly different (there are different variants of this board floating around the lab). When connecting to the FTDI PCB, ensure that the cable's black wire is aligned with the GND pin (printed/labelled on the red FTDI PCB).
3. Connect (FTDI USB-to-Serial-to-PC): Connect the USB cable to the red FTDI PCB and 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.
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 (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 - ie. it does not matter which connector the motor cable is connected to on the OpenCM EXP485 board. All communication occurs on a serial communication bus, where each motor and controller are effectively individual 'drops' on the bus. Connect the other end of the Dynamixel motor cable to the connector on the back of the motor.
6. Turn on Controller: Flip 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 now be illuminated.
