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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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How can I controlled Open Manipulator X with XM430-W350-R ? #223

Open ahmetmustafakos opened 2 years ago

ahmetmustafakos commented 2 years ago

I am following this tutorial : https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/ My motors communicates with RS485 as oppose to TLL. When I upload the OpenCR with arduino IDE using example code "open_manipulator_chain" and then when I try to control manipulator with Processing I get an error saying; "Please, set on controller [0] "COM5" [1] "COM6" [2] "COM7"

My openCR is connetted to COM7 I set this setting like this: " connectOpenCR(2); "

What should I do to control this manipulator?

ROBOTIS-Will commented 2 years ago

Hi @ahmetmustafakos

Some latest version of Processing may not compatible to the instructions. Please try using the Processing v3.5.4.

Also, make sure to press the reset button of the OpenCR before running the processing as written in the eManual below. https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide_basic_operation/#launch-controller

When the Processing is up and running, you should click on the CONTROLLER ON button first then manipulate the arm with the GUI.

ahmetmustafakos commented 2 years ago

hello @ROBOTIS-Will I tested using Processing v3.5.4 version. I can make changes in the GUI without any errors. But there is no movement in my motors. Could this tutorial be written for the XM430-W350-T motors communicating with TTL? Because I am using the XM430-W350-R model motors. This motors uses RS485. Do I need to make changes to the code so I can use these motors?

ROBOTIS-Will commented 2 years ago

Hi @ahmetmustafakos

When resetting the OpenCR, do DYNAMIXEL gets powered(LED blinks once) and torque on (stiff joint)? The example code is written for the official OpenMANIPULATOR-X package and you don't need to change anything. As long as you have correctly connected DYNAMIXEL to the RS485 port of OpenCR, it doesn't matter whether you are running TTL or RS485 DYNAMIXEL. Thanks.

ahmetmustafakos commented 2 years ago

Hi @ROBOTIS-Will When I reset OpenCR, the motors leds are blinking but the motors are not getting torque.

ROBOTIS-Will commented 2 years ago

@ahmetmustafakos

If DYNAMIXEL modules are not getting the torque after pressing the OpenCR reset button, most likely your DYNAMIXEL have not been configured correctly. The OpenMANIPULATOR-X package comes with DYNAMIXEL configured as below.

You should match the default setting in order to run the Arduino example. Thanks!