Pixhawk integration question

Technical Support
1

I’m trying to connect a ym080-230-r051-rh to a Pixhawk. I can command the servo in position control mode using the Dynamixel GUI. I have 2 problems (at least).

What I can’t get to work:

  1. Enabling torque mode (I’m guessing the Pixhawk code is incorrect for this servo here): ardupilot/libraries/AP_RobotisServo/AP_RobotisServo.cpp at f0900bd119562dffe4cafabc1d2903e6951c128f · ArduPilot/ardupilot · GitHub

Certain parts of this code work: for example, I can send the broadcast packet and get a response from the servo to read its ID, and I can attempt to send a command.

  1. I also tried sending a goal position to the servo. If I send the packet on the left (which I believe means go to position 0), the response from the servo on the right has no error.
    image

If I send anything other than 0 for goal position, I get back an … 0x55 0x04 … which I understand is an out of range error. Maybe this is because torque is disabled?

Is there a sequence of packets that I need to send to enable the servo after applying power? I’m assuming I need to enable TORQUE @ address 512 but I don’t know how to do that. Could you please provide example packets to send to enable the servo and move it to certain position in degrees?

Thanks in advance

2

All I’m asking is for an example packet to enable torque and another to send a goal position. My interpretation of the manual isn’t working; can anyone help me understand the manual?

3

Hello,
This is the control table for the Y series. Please refer to it.
For the YM080, the address value for Goal Position is 532.
Additionally, please make sure to set Torque Enable (512) to ON (1) before sending the Goal Position command.

Using the Dynamixel Wizard 2.0 for operation and packet analysis can be helpful.
Thank you.