DYNAMIXEL LABVIEW DRIVER
These motors are relying on a daisy chain method of communication Figure 1. Each of these will be described in detail in the following sections. Servo actuators are a common staple when it comes to creating robotic applications. Checksum sub-VI front panel. Back to Top 4. The orange box is the final stage in the position sub VI.
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The data passed through a type cast to flatten the data to a string. We use the Sync Write method as documented by Robotis.
Therefore the Low byte is and the high byte is 1. Servo actuators are a dynamixep staple when it comes to creating robotic applications. The servos have finite control to become a joint or continuous rotation for a wheeled vehicle. These motors also have position, velocity, and compliance control to name a few.
Solved: Dynamixel motors control using Labview SDK – Discussion Forums – National Instruments
This table houses all the Hex addresses of the possible commands to be sent to a Dynamixel. Back to Top 4. The software theoretically supports up to Dynamixel actuators; we only tested up to The Property nodes maintain the dynamic resizing of the control arrays and width of the output serial indicator.
The Blue box controls the scaled angle dynamixep byte control explore in more detail below.
Robotis Dynamixel Actuators in LabVIEW
Each parameter is concatenated into an array in the order that will be found in the final serial string. One of these servo actuators available is the Robotis Dynamixel. That value is multiplied by a conversion number 3. Finally the resultant needs to be an integer therefore an absolute value is taken to retrieve the lower byte Dynamixe left of the dotted line is where the Sync Write header parameters are calculated and built.
Hex – FF01 3. Front Panel The Labvies panel is the only portion of this VI that is needed to be to achieve communication.
This 10 bit integer is split up into dynmaixel parts; the following example shows how this is done. The Front panel contents are as follows: This documents presents the structure in terms of LabVIEW but, the information can also be found in general programming terms in the RX,28,64 manuals. The Front panel contents are as follows:.
These actuators usually offer just position control with limited range of motion. The concatenated string and the pre-type cast data is packed into cluster to be sent to the next two VI’s for use. Position sub-VI block diagram. Lxbview front panel Figure 3. The dial or manual input supplies the angle in the form of Degrees.
Two things to take notice the build array in line with the cluster output and the For Loop. This determined by the max motor position value of Figure 3. This allows for the expandability or subtraction of the needed Dynamixels to be addressed for the Sync Write. Checksum sub-VI block diagram.
Dynamixeel range is a 10 bit unsigned integer, but the motor when addressed wants two, 8 bit bytes of information. Rate this document Select a Rating 1 – Poor 2 3 4 5 – Excellent. Each of these will be described in detail in the following sections.