Open CR Question

[roboteer]

@adrsmr

You would need to keep the Power Circuit of the DXLs separate from the Control Circuit of the same DXLs (which is via the OpenCR). You can try to use the Zees 80C battery just to power the DXLs, but don’t daisy-chain them more than 4 DXLs per chain. Then another smaller LiPo battery just to run the OpenCR and other peripherals.

You are going to find these 3P Hub handy.

3P Extension PCB

These 2 posts got some ideas for you to consider/adapt for your needs:

Power to 24 dynamixels

What is the Ah rating on your LiPo battery? Also how do you want to control them? Via U2D2? I just remember another Robotis recommendation which is not to daisy-chain more than 4 actuators within one mini-chain to minimize possible DXL control packet delays. So considering all that I would suggest 3 U2D2 power hubs because each hub has only THREE 4-pin connectors. So hub 1 for 9 dxls, hub 2 for 7 dxls and hub 3 for 8 dxls from the power point of view and have all 3 hubs share into a common g…

Servos Ax-12A, Xl-320 and Mx-28

Basically you need to remember that the Control Circuit for all DXLs uses the same 5V TTL coming from the DATA line of ALL DXL connectors, although their Power Circuits may use an assortment of Power Voltages of 12V, 7.5V and 5V through their VDD line which of course have to be kept separate, but at the same ground line. I called that a DXL Palooza and you can read up on this post to get an idea: You are going to need separate PS and these DXL hubs will be very handy: And also various “co…