DYNAMIXEL LABVIEW DRIVER
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Diagram of position values of the Dynamixel actuator.
Robotis Dynamixel Actuators in LabVIEW
The Blue box controls the scaled angle and byte control explore in more detail below. Front Panel The Front panel is the only portion of this VI that is needed to be to achieve communication. The control table Figure 3. This allows for the expandability or subtraction of the needed Dynamixels to be addressed for the Sync Write.
This sub VI reads the position values from either the Dial Input or Manual Input for each ID and pareses the data into the specific parameters that are needed to control position on the Dynamixel. This result will be split into an integer, 1, the High byte and the decimal. The data passed through a type cast to flatten the data to a string. Structure of a Sync Write instruction. We use the Sync Write method as documented by Robotis. The Front panel contents are as follows:.
The basic structure of the sync write command is as follows Figure 3. The Front panel is the labvieq portion of this VI that is needed to be to achieve communication.
The range is a 10 bit unsigned integer, but the motor when addressed wants two, 8 bit bytes of information. Each of these will be described in detail in the following sections. The number is attached to the end of the of the serial dynamixxel.
Robotis Dynamixel Actuators in LabVIEW – National Instruments
Overview of communication with Dynamixel actuators. One of these servo actuators available is the Robotis Dynamixel. Servo actuators are a common staple when it comes to creating robotic applications.
This documents presents the structure in terms of LabVIEW but, the information can also be found in general programming terms in the RX,28,64 manuals.
Each parameter is concatenated into an array dynamixeel the order that will be found in the final serial string. The data is unbundled by name when it is needed. Position sub-VI front panel.
Solved: Dynamixel motors control using Labview SDK – Discussion Forums – National Instruments
The code natively changes the size of the array of clusters with an dunamixel of the Number of Dynamixels control Figure 2. This value must relate labvie order to mix real values with Dynamixel values. This table houses all the Hex addresses of the possible commands to be sent to a Dynamixel.
Each is added together and applied to the not operator to invert the final output. This VI builds the header that is attached to the front of position data. Checksum sub-VI block diagram.
Motion Control and Motor Drives
Header sub-VI block diagram. The Block diagram Figure 3. Position sub-VI block diagram. Back to Top 3. The left of the dotted line is where the Sync Write header parameters are calculated and built. The Dynamixel movement is defined as travel from 10 bit number. The most common servo actuators are the PWM labvew found in most hobby planes, boats, and cars.
These motors are relying on a daisy chain method lqbview communication Figure 1.