Axis Dynamixel AX-12 Bedienungsanleitung PDF herunterladen (Seite 15)

TROBOT 4.0 Assembly Guide (2-18-12)

This TROBOT 4.0 uses a combination of AX & RX series servos. The parameters for both series are the

same but the communication interface is different for each. The AX servos use a 3-pin connector and all

data is transmitted and received over a single TTL level communication pin. The RX-series use RS485

Asynchronous Serial Communication Setup as 8bit, 1stop, No Parity. Both use a ‘Multi-Drop, Daisy

chained’ connection. The TROBOT requires a dual UART interface to ... (more later)

All Dynamixel servos come factory set to an address of ‘1’. Each servo should be individually powered

up and the ID reset to the appropriate axis number.

The default baud rates between AX and RX series servos are different from the factory as well.

There are also a number of other parameters that should be setup as well.

CW & CCW Servo limits should be set for each axis to prevent a servo from trying to move too far in

either direction.

Axis 2 & 3 Accelerations (Compliance Slope) should adjusted to better ‘smooth’ the robot motion.

Axis 2 & 3 Maximum speed (Moving Speed) should also be reduced.

Dynamixel Servo Support and Info: http://support.robotis.com/en/

Below is a table of recommended settings for each servo:

Recommended Initial Dynamixel Servo Settings

TROBOT Axis Number 1 2 3 4 5 6

Servo Type AX-12A RX-64 RX-24F AX-12A AX-12A AX-12A

Servo ID setting (0x03) 1 2 3 4 5 6

Baud Rate (0x04) 34 34 34 34 34 34

CW Angle Limit (0x06 word)

184 330 350 0 280 0

CCW Angle Limit (0x08 word)

840 880 650 1023 950 1023

Moving Speed (0x32 word)

80 80

CW Compliance Slope (0x28 word)

128 128

CCW Compliance Slope (0x29 word) 128 128

xxxxxxxxxxxxxxx (0x00 word)

* Some servos can be installed in one of two orientations, if so your Angle Limits could be different.

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Axis Dynamixel AX-12 Bedienungsanleitung Seite 15