3.7.21 Arduino OpenCM 9.04 + EXP XL-430-W250-T Issue : My motor doesn't work`

[kkk123m]

BE CAREFUL!! FOLLOW THE RULES AS FOLLOWS, OR YOUR ISSUE WILL BE WON'T FIX ANYWAY

I'm using `DynamixelSDK ver. 3.7.21

• I'm using Arduino IDE Language
• I'm using OpenCM904 + Open CM EXP board
• I'm using XL430-W250-T

• and I'm having an issue of My motor doesn't work

  Hi I am using below sletch from example for XL 430. My motor doesn't move. How I can make sure it is not a communication issue.

/*

• Controller : OpenCM9.04 + OpenCM 485 EXP

• Dynamixel : XL-320, X-Series, MX-Series with Protocol 2.0

• Power source

• • XL-320 : LB-040/041(x2) on OpenCM9.04C
• • X-Series/MX-Series : SMPS 12V 5A on OpenCM 485 EXP

• XL-320 is connected to Dynamixel TTL 3PIN of the OpenCM9.04

• http://emanual.robotis.com/docs/en/parts/controller/opencm904/#layoutpin-map

• X-Series and MX-Series are connected to Dynamixel BUS on 485 EXP board

• http://emanual.robotis.com/docs/en/parts/controller/opencm485exp/#layout

• This example will test only one Dynamixel at a time. */

include

define ADDRESS_XL320_TORQUE_ENABLE 24

define ADDRESS_XL320_GOAL_POSITION 30

define ADDRESS_XL320_PRESENT_POSITION 37

define ADDRESS_X_TORQUE_ENABLE 64

define ADDRESS_X_GOAL_POSITION 116

define ADDRESS_X_PRESENT_POSITION 132

/ Uncomment below definition in order to use the sketch for X series/MX-series with Protocol 2.0 other than XL-320/ // #define use_XL_320

ifdef use_XL_320

// Definition 1 : Control table address for XL-320 // Use "Definition 1" for XL-320

define ADDRESS_TORQUE_ENABLE ADDRESS_XL320_TORQUE_ENABLE

define ADDRESS_GOAL_POSITION ADDRESS_XL320_GOAL_POSITION

define ADDRESS_PRESENT_POSITION ADDRESS_XL320_PRESENT_POSITION

else

// Definition 2 : Control table address for X Series and MX Series with Protocol 2.0 // Ues "Definition 2" for X Series or MX Series with Protocol 2.0

define ADDRESS_TORQUE_ENABLE ADDRESS_X_TORQUE_ENABLE

define ADDRESS_GOAL_POSITION ADDRESS_X_GOAL_POSITION

define ADDRESS_PRESENT_POSITION ADDRESS_X_PRESENT_POSITION

endif

// Protocol version

define PROTOCOL_VERSION 2.0 // See which protocol version is used in the Dynamixel

// Default setting

define DXL_ID 1 // Dynamixel ID: 1

ifdef use_XL_320

define BAUDRATE 1000000 // XL-320 default baudrate : 1000000 (Default Baudrate for X series and MX series(with Protocol 2.0) is 57600)

else

define BAUDRATE 57600 // XL-320 default baudrate : 1000000 (Default Baudrate for X series and MX series(with Protocol 2.0) is 57600)

endif

define DEVICENAME "3" // Check which port is being used on your controller

                                                        // DEVICENAME "1" -> Serial1
                                                        // DEVICENAME "2" -> Serial2
                                                        // DEVICENAME "3" -> Serial3(OpenCM 485 EXP)

define TORQUE_ENABLE 1 // Value for enabling the torque

define TORQUE_DISABLE 0 // Value for disabling the torque

define DXL_MINIMUM_POSITION_VALUE 100 // Dynamixel will rotate between this value

define DXL_MAXIMUM_POSITION_VALUE 900 // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)

define DXL_MOVING_STATUS_THRESHOLD 20 // Dynamixel moving status threshold

define ESC_ASCII_VALUE 0x1b

void setup() { // put your setup code here, to run once: Serial.begin(115200); while(!Serial);

Serial.println("Start..");

// Initialize PortHandler instance // Set the port path // Get methods and members of PortHandlerLinux or PortHandlerWindows dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);

// Initialize PacketHandler instance // Set the protocol version // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);

int index = 0; int dxl_comm_result = COMM_TX_FAIL; // Communication result int dxl_goal_position[2] = {DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE}; // Goal position

uint8_t dxl_error = 0; // Dynamixel error

ifdef use_XL_320

// Variable to save 2 Byte Present Position for XL-320
int16_t dxl_present_position = 0;

else

// Variable to save 4 Byte Present Position for X-Series and MX-Series with Protocol 2.0
int32_t dxl_present_position = 0;

endif

// Open port if (portHandler->openPort()) { Serial.print("Succeeded to open the port!\n"); } else { Serial.print("Failed to open the port!\n"); Serial.print("Press any key to terminate...\n"); return; }

// Set port baudrate if (portHandler->setBaudRate(BAUDRATE)) { Serial.print("Succeeded to change the baudrate!\n"); } else { Serial.print("Failed to change the baudrate!\n"); Serial.print("Press any key to terminate...\n"); return; }

// Enable Dynamixel Torque dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, DXL_ID, ADDRESS_TORQUE_ENABLE, TORQUE_ENABLE, &dxl_error); if (dxl_comm_result != COMM_SUCCESS) { packetHandler->getTxRxResult(dxl_comm_result); } else if (dxl_error != 0) { packetHandler->getRxPacketError(dxl_error); } else { Serial.print("Dynamixel has been successfully connected \n"); }

while(1) { Serial.print("Press any key to continue! (or press q to quit!)\n");

while(Serial.available()==0);

int ch;

ch = Serial.read();
if (ch == 'q')
  break;

#ifdef use_XL_320
  // Write 2Byte Goal Position data for XL-320
  dxl_comm_result = packetHandler->write2ByteTxRx(portHandler, DXL_ID, ADDRESS_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
#else
  // Write 4Byte Goal Position data for X-Series and MX-Series with Protocol 2.0
  dxl_comm_result = packetHandler->write4ByteTxRx(portHandler, DXL_ID, ADDRESS_GOAL_POSITION, dxl_goal_position[index], &dxl_error);
  Serial.print("[Write 4");
  delay(1000);
#endif

if (dxl_comm_result != COMM_SUCCESS)
{
  packetHandler->getTxRxResult(dxl_comm_result);

}
else if (dxl_error != 0)
{
  packetHandler->getRxPacketError(dxl_error);
}

do
{
  #ifdef use_XL_320
    // Read 2Byte Present Position data for XL-320
    dxl_comm_result = packetHandler->read2ByteTxRx(portHandler, DXL_ID, ADDRESS_PRESENT_POSITION, (uint16_t*)&dxl_present_position, &dxl_error);
  #else
    // Read 4Byte Present Position data for X-Series and MX-Series with Protocol 2.0
    dxl_comm_result = packetHandler->read4ByteTxRx(portHandler, DXL_ID, ADDRESS_PRESENT_POSITION, (uint32_t*)&dxl_present_position, &dxl_error);
  #endif

  if (dxl_comm_result != COMM_SUCCESS)
  {
    packetHandler->getTxRxResult(dxl_comm_result);
  }
  else if (dxl_error != 0)
  {
    packetHandler->getRxPacketError(dxl_error);
  }

  Serial.print("[ID:");      Serial.print(DXL_ID);
  Serial.print(" GoalPos:"); Serial.print(dxl_goal_position[index]);
  Serial.print(" PresPos:");  Serial.print(dxl_present_position);
  Serial.println(" ");

}while((abs(dxl_goal_position[index] - dxl_present_position) > DXL_MOVING_STATUS_THRESHOLD));

// Change goal position
if (index == 0)
{
  index = 1;
}
else
{
  index = 0;
}

}

// Disable Dynamixel Torque dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, DXL_ID, ADDRESS_TORQUE_ENABLE, TORQUE_DISABLE, &dxl_error); if (dxl_comm_result != COMM_SUCCESS) { packetHandler->getTxRxResult(dxl_comm_result); } else if (dxl_error != 0) { packetHandler->getRxPacketError(dxl_error); }

// Close port portHandler->closePort();

}

void loop() { // put your main code here, to run repeatedly:

}

Here is the output

[KyoungHwan2046]

Hi, @kkk123m

Please make correct the baudrate of this line.

define BAUDRATE 57600 // XL-320 default baudrate : 1000000 (Default Baudrate for X series and MX series(with Protocol 2.0) is 57600)

endif

The output you uploaded is printed when the baudrate is not equal with dynamixel.

[ROBOTIS-zerom]

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.