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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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Converter TTL to RS485 for dynamixel #103

Open fuad99 opened 3 years ago

fuad99 commented 3 years ago

is it possible to combine R series dynamixel with T series dynamixel? because i'm using dynamixel 2XL430-W250 to add the DoF in robotis OP3. can the TTL dynamixel convert to RS485? i'm very need help :) Thanks!

ROBOTIS-Will commented 3 years ago

Hi @fuad99 , Under the limited condition, TTL and RS-485 DYNAMIXEL can be mixed, but when Sync / Bulk instructions are used like OP3's case, 2XL430-W250 is hard to be connected to XM430-W350-R. If you use TTL port on U2D2 and OpenCR, then modify the code to separately control the 2XL430-W250, it could be a viable option. image

fuad99 commented 3 years ago

I've done adding .device file on ROBOTIS-FRAMEWORK after i add 2XL430-W250 on OP3.Robot. But while i run op3_manager, error info appear "Robotis first bulk fail". it's problem with bulk sync?

Today, i try the test program inside the DYNAMIXEL-SDK, and it's work to control Dynamixel 2XL430-W250 and XM430-W350 together! The problem i've found is declaration of port(just declaration, both is '/dev/ttyUSB0'). If i put same declaration port at 2 Dynamixel, it will be error. But if i declared diffrent port like this: port1='/dev/ttyUSB0' (for XM430-W350) port2='/dev/ttyUSB0' (for 2XL430-W250) it's work to bulk read/write.

The next problem is i can't find this solution in Robotis-Framework. Is it still possible to edit Robotis Framework?

ROBOTIS-Will commented 3 years ago

Hi, Since TTL and RS-485 are not recommended to put together and therefore we do not have further instruction on these configuration. Robotis-Framework is an open source and you can freely modify upon your necessity. Thank you.