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ROBOTIS-GIT / DynamixelSDK

ROBOTIS Dynamixel SDK (Protocol1.0/2.0)
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
Apache License 2.0
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No Status packet error on Python read_write.py AX12a #605

Closed ARLunan closed 1 year ago

ARLunan commented 1 year ago

ISSUE TEMPLATE ver. 1.2.0

Please fill this template for more accurate and prompt support.

  1. Which DYNAMIXEL SDK version do you use? 3.7.51

  2. Which programming language/tool do you use? Python3

  3. Which operating system do you use?MACOS 13.5.1

  4. Which USB serial converter do you use? USB2Dynamixel

  5. Which DYNAMIXEL do you use? AX12a

6 Have you searched the issue from the closed issue threads? Similar to #532 & #599

  1. Please describe the issue in detail Based on Protocol1_0 read_write.py, revised Control Table Addresses to Torque Enable 24, Target Position 30, Present Position 36, Protocol=1.0, Baudrate =100000., device name='/dev/cu.usbserial-A1012MN6'. Configured AX12a for baudrate=1000000.

Followed installation procedure in DynamixelSDK Getting Started Python video with following result in the Terminal. Ross@Kepler protocol1_0 % python read_write_ax12a_macm1.py Succeeded to open the port Succeeded to change the baudrate [TxRxResult] There is no status packet! Press any key to continue! (or press ESC to quit!) [TxRxResult] There is no status packet! [TxRxResult] There is no status packet! [ID:002] GoalPos:010 PresPos:000 Press any key to continue! (or press ESC to quit!) [TxRxResult] There is no status packet! Ross@Kepler protocol1_0 %

Failed line appears to be the #Enable Dynamixel Torque as there is no "Dynamixel has been successfully connected" message

Tried other Dynamixel with ID=2 with same result.

  1. How can we reproduce the issue?
ARLunan commented 1 year ago

3 more datapoints: 1) I confirmed using the Dynamixel Wizard 2.0 on my MAC connected with a DynamixelUSB2 that the Dynamixel AX12a is correctly configured with ID=1 & Baudrate=1000000. 2) I also configured my Ubuntu 22.04 MAC VM and 3) Raspberry Pi 4/Ubuntu 22.04 with the DynamixelSDK/python. Using the edited read_write.py with the AX12a Baudrate & Control Addresses, same error result. Appreciate your troubleshooting advice read_write_ax12a_ub22.pdf

ARLunan commented 1 year ago

Problem solved due broken cable - Replaced cable connecting Servo to Dynamixel AX12a. py read_write_ax12a_macm1.py actuates the servo as specified. Thank you to the Robotis developer for making this code available to support this excellent Servo.