통신 속도를 115200으로 변경이 안됩니다

Community 한국어 커뮤니티
1

xm430-w350에 아두이노 라이브러리로 사용하고 있습니다.

통신 속도를 115200으로 변경할려고 begin(115200)으로 하고, getPortBaud()를 하면 115200으로 나옵니다.

그러나 setBaudrate()를 하면 fail이 되고, ping을 해도 xm430이 응답하지 않습니다.

2

You’ll also need to change the communication speed on the actuator itself, either by using the DYNAMIXEL Wizard configuration tool or by changing the Baud Rate setting inside your Arduino sketch

3

dxl.begin(115200);
을 실행하고, dxl.getPortBaud()로 읽어보면 115200이 나옵니다.
그러나 통신은 되지 않습니다.
serial 통신 속도를 57600으로 다시 낮추면 통신이 됩니다.

그래서 dxl.setBaudrate(SERVO_SETUP_ID, 115200)으로 명령어를 주면 false가 리턴 됩니다.

무엇이 문제일까요?

4

The DXL Baud Rate is an EEPROM parameter

image
image1357×382 38.2 KB

So you need to TorqueOff first, set the baud rate, then turn TorqueOn back to set the new value in EEPROM, something like this

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image700×156 15.1 KB

5

torqueOff 하고 TorqueOn해도 변경아 안됩니다. 제품마다 관련 value를 변경하지 못하도록 설정해서 출하가 되기도 하나요?

6

What kind of controllers are you using? 904-C or RB-150? Or something else? Can you also share your code?

Below is a picture of my setup using OpenRB-150 and XL-430.

IMG_003625
IMG_0036251920×1862 139 KB

Also enclosed is a complete sketch that I used to convert my current DXL configuration using 1 Mbps to 115.2 Kbps (for your case your DXL is defaulted to 57.6 Kbps right? - so adjust the code as needed). Please note that there is a code section that needs to be used only once (to set it to 115.2 Kbps) - afterwards you need to comment out that code section.

#include <Dynamixel2Arduino.h>

// #define DXL_SERIAL   Serial3 //OpenCM9.04 DXL Serial Port (Serial1 for DXL port on OpenCM 9.04 board, Serial3 on 485-EXP)
#define DXL_SERIAL   Serial1 //OpenRB-150
#define DEBUG_SERIAL Serial
const int DXL_DIR_PIN = -1; //= -1 for OpenRB-150  - for OpenCM9.04 DIR PIN. (28 for DXL port on the OpenCM 9.04 board, 22 for 485-EXP)

const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;  // 1.0 for AX-12; 2.0 for X series

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

//This namespace is required to use Control table item names
using namespace ControlTableItem;

void setup() {
  // put your setup code here, to run once:

  // The below code section is needed only ONCE to set your XL Actuators to 115200
  // It is actually easier to use U2D2 and Dynamixel Wizard to do this job
  dxl.begin(1000000);  // currently my DXL port and actuators are set to 1 Mbps - yours may be set to 57.6 Kbps
  // Turn off torque when configuring items in EEPROM area
  dxl.torqueOff(DXL_ID);
  dxl.setBaudrate(DXL_ID, 115200);  // now setting Actuator XL-430 Baud Rate to 115200
  dxl.torqueOn(DXL_ID);
  delay(1000);
  // End of code section needed only ONCE.

  // From this point onward is the "normal" set up to be used (once your DXL Comm. Baud Rate is set to 115200)
  // Use UART port of DYNAMIXEL Shield to debug.
  DEBUG_SERIAL.begin(115200);  // USB port - NOT to be confused with DXL Port

  // Set DXL Port baudrate - This has to match with "new" DYNAMIXEL baudrate.
  dxl.begin(115200);  // set DXL Port to 115200
  dxl.torqueOff(DXL_ID);
  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
  dxl.setOperatingMode(DXL_ID, OP_POSITION);
  dxl.torqueOn(DXL_ID);

  // Get DYNAMIXEL information
//  dxl.ping(DXL_ID);

  // Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 70);
}

void loop() {
  // put your main code here, to run repeatedly:
  
  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
  // Set Goal Position in RAW value
  dxl.setGoalPosition(DXL_ID, 1000);

  int i_present_position = 0;
  float f_present_position = 0.0;

  while (abs(1000 - i_present_position) > 10)
  {
    i_present_position = dxl.getPresentPosition(DXL_ID);
    DEBUG_SERIAL.print("Present_Position(raw) : ");
    DEBUG_SERIAL.println(i_present_position);
  }
  delay(1000);

  // Set Goal Position in DEGREE value
  dxl.setGoalPosition(DXL_ID, 5.7, UNIT_DEGREE);
  
  while (abs(5.7 - f_present_position) > 2.0)
  {
    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
    DEBUG_SERIAL.print("Present_Position(degree) : ");
    DEBUG_SERIAL.println(f_present_position);
  }
  delay(1000);
}