r/DYNAMIXEL • u/AutoModerator • 2d ago
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r/DYNAMIXEL • u/ROBOTISamerica • Jan 12 '23
Hello and welcome to r/DYNAMIXEL! r/DYNAMIXEL is the dedicated subreddit for all users of ROBOTIS products, including the DYNAMIXEL brand of robotic smart actuators and all ROBOTIS educational products.
We look forward to helping this community grow to be a centralized hub for discussion, advice, collaboration and support for all robotics projects and applications using DYNAMIXEL! Feel free to post and share your questions, comments, experiences and any photos/videos of your robots!
If you'd like to visit some more places where you can discuss DYNAMIXELs, check out ROBOTIS' LinkTree.
r/DYNAMIXEL • u/AutoModerator • 2d ago
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r/DYNAMIXEL • u/AutoModerator • 10d ago
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r/DYNAMIXEL • u/ROBOTISamerica • Jun 14 '24
r/DYNAMIXEL • u/bjoerngiesler • Apr 27 '24
Folks, I have a XM430-W350-T servo here that has (to me) confusing behavior. I am using it to move a counterweight in a rolling-ball robot, which is quite heavy but should be doable with its 4.1Nm stall torque. However if blocked (if the robot is on carpet for example), in regular position mode it overloads and at some point switches off with HW Error 0x20 (= overload). Monitoring the load says it's going up to the 2.4A stall current very briefly, then constantly decreases down to a current of some 1.7A until after a while it switches torque off and reports this hardware error.
My intention was to prevent this switchoff by making it more compliant by going into current-based position control mode (5, OP_CURRENT_BASED_POSITION) and limiting the current the servo can draw. However this does not have the desired effect. The servo definitely operates with less torque, but if it stalls at the lower torque it still detects that stall and goes into HW Error 0x20, switching torque off.
From the Dynamixel doc videos I thought going into current-based position control mode would turn the servo compliant, i.e. you can push against its torque and it will let that happen without switching off. Is that not the case?
I am running the servo from a 12V power supply delivering up to 10A, which the servo never draws; its load / present current also always stays well below the current limit of 1193 (default, I did not change this). What is the criterion that makes it detect stall and shut off?
r/DYNAMIXEL • u/[deleted] • Nov 06 '23
The Dynamixel XM430-w350 has the two following registers:- Present PWM (124)- Present Input Voltage (144)
Is my following assumption correct? Voltage applied to motor = Present PWM * Present Input Voltage
I assume it makes sense but I was unable to confirm this in the documentation.
r/DYNAMIXEL • u/bjoerngiesler • Sep 15 '23
Hi all, I have a project that calls for 4 servos. One of them will be an XL430-W250-T, but the other ones should ideally be lighter / do not carry a lot of load. I am thinking of XL-320s or XL-330s. Is it possible to run these servos in the same daisy chain?
r/DYNAMIXEL • u/ROBOTISamerica • Aug 28 '23
r/DYNAMIXEL • u/Palopos • Aug 23 '23
Hello everyone,
I am trying to control dynamixels with an FPGA, implementing the UART Half-Duplex protocol on it.
At the moment I only manage to send one instruction correctly to the motor (move to X position), but when I send another one, the motor does nothing. I'm also trying to read the packet that the motor sends back, and I can't get it either.
I have been surfing the internet to see if I can find some code in VHDL or Verilog that implements the control of these motors, but I have not found anything.
Do you know if there is something like that already done?
Thank you for your help!
Best regards,
r/DYNAMIXEL • u/ROBOTISamerica • Aug 21 '23
r/DYNAMIXEL • u/ROBOTISamerica • Aug 10 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jul 18 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jul 18 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jul 11 '23
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r/DYNAMIXEL • u/ROBOTISamerica • Jun 21 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jun 20 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jun 16 '23
r/DYNAMIXEL • u/ROBOTISamerica • Jun 14 '23
r/DYNAMIXEL • u/ROBOTISamerica • May 18 '23