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Converter TTL to RS485 for dynamixel #103

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fuad99 opened this issue Oct 21, 2020 · 3 comments
Open

Converter TTL to RS485 for dynamixel #103

fuad99 opened this issue Oct 21, 2020 · 3 comments

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@fuad99
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fuad99 commented Oct 21, 2020

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
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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.
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@fuad99
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fuad99 commented Nov 3, 2020

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
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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.

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