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17 

3

 

ROBOTIS Manipulator SDK Example 
 
3.1

 

How to use Robotis Manipulator SDK 
 

3.1.1

 

  Preparation before SDK 

 

I.

 

The following are pre-requisites to use the SDK.. 

 

 

Eigen Package

 (

http://eigen.tuxfamily.org

, version 3.0.6 or Later) 

 

3.1.2

 

  Package    Installation 

 

I.

 

Download and extract the Eigen Package. 
 

II.

 

Go to

 ‘Project Properties → VC++ Directories → Include Directories’ 

and 

designate the folder where the Eigen sources are located.

 

 

 
 

 

 

III.

 

Repeat procedures I and II to include the examples and include directories. 
 

IV.

 

Preparation now complete. Press F7 to start compiling. In case a compile error 
occurs, repeat the procedures above.     

 
 
 
 
 
 
 

www.jingtianrobots.com

Содержание H-Series

Страница 1: ...ROBOTIS Manipulator SDK Quick Start ...

Страница 2: ... 3 Specification 5 2 Getting Started 2 1 Preparation 6 2 2 Installation 7 2 3 USB2Dynamixel Setting 10 2 4 Manipulator Test using Dynamixel Wizard 11 3 ROBOTIS Manipulator SDK Example 3 1 How to use the ROBOTIS Manipulator SDK 17 3 2 Example 18 www jingtianrobots com ...

Страница 3: ...the ROBOTIS Manipulator SDK to operate the ROBOTIS Manipulator SDK iii The examples in this manual are based on Windows10 and Visual Studio Express 2013 iv It is strongly recommended for those who are used to Dynamixel PRO C C to read through this manual v The units utilized in the ROBOTIS Manipulator SDK are in radians rad and millimeters mm vi Last updated on September 23 2015 www jingtianrobots...

Страница 4: ...4 1 2 Layout H Series ROBOTIS Manipulator Dimension 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis www jingtianrobots com ...

Страница 5: ...RO Model Name 1 Axis H54 200 S500 R 2 Axis 3 Axis H54 100 S500 R 4 Axis 5 Axis H42 20 S300 R 6 Axis Operating Range 1 Axis 𝜋 𝜋 𝑟𝑎𝑑 2 Axis 0 5𝜋 0 5 𝜋 𝑟𝑎𝑑 3 Axis 0 5𝜋 0 75𝜋 𝑟𝑎𝑑 4 Axis 𝜋 𝜋 𝑟𝑎𝑑 5 Axis 0 5𝜋 0 5𝜋 𝑟𝑎𝑑 6 Axis 𝜋 𝜋 𝑟𝑎𝑑 Default ID 1 Axis ID 2 1 Axis ID 2 3 Axis ID 3 4 Axis ID 4 5 Axis ID 5 6 Axis ID 6 Baudrate RS485 www jingtianrobots com ...

Страница 6: ...capable of supplying 24V and 15A or higher ii 4P Cable The 4P Cable connects the manipulator and USB2Dynamixel iii Power Cable The power cable supplies power to the manipulator iv USB2Dynamixel The USB2Dynamixel sends ArmSDK commands to the manipulator Connect the USB2Dynamixel to the PC via USB hub www jingtianrobots com ...

Страница 7: ...base plate and can differ from the actual base plate used i Rest and fix join 1 of the manipulator ii The photo on the left is the external wiring for the arm Label 1 shows a pair of 4P cables and power connector these connect to joint 1 as shown on the right picture www jingtianrobots com ...

Страница 8: ... photo below iv Label 2 shows a 4P connector and 4 power connectors and these connect to the power expansion hub and the 4P cable connects to the extension v Connect the USB2Dynamixel to the hub with the 4P cable connect another port of the 4P hub to the extension www jingtianrobots com ...

Страница 9: ...9 vi Connect the USB2Dynamixel to the PC via USB hub The USB hub acts as an isolator to protect the PC from any possible unexpected surges caused by arm action www jingtianrobots com ...

Страница 10: ...amixel 2 RS485 Communication DX series RX series EX series communicated with 4 pin Dynamixel PRO 3 RS232 Communication CM 5 CM 510 communicates with controllers using serial cable The manipulator is based on the RS 485 communications so make sure to set to the dongle to 2 RS 485 www jingtianrobots com ...

Страница 11: ...he SDK to check for any anomalies II Dynamixel Wizard is included in RoboPlus program RoboPlus can be downloaded from the ROBOTIS website Support Download http www robotis com BlueAD board php bbs_id service_03 III Install and run RoboPlus Click on the Expert tab then click on the Dynamixel Wizard button www jingtianrobots com ...

Страница 12: ...ynamixel Device Manager Port COM LPT USB Serial Port III After checking the Port number set the msec to 1 Properties Port Setting Advance Setting Change Latency Time msec Always ensure the wiring is complete before powering on If the power is on do not change wires otherwise it may cause undesired operations IV The picture on the upper left shows the port number which is connected to the USB2Dynam...

Страница 13: ... Then click Search The manipulator s default baudrate is 1Mbps VI Once the search is complete the Dynamixel PROs that make up the ROBOTIS Manipulator will appear on the left side Click on the individual Dynamixel PRO to display the contents of the Control Table www jingtianrobots com ...

Страница 14: ...O only operates when the Torque is On The Torque can be turned on using Torque Enable function is located in the middle of Dynamixel Wizard on Table address 562 Change the value on the lower right side to 1 then click Apply to turn on www jingtianrobots com ...

Страница 15: ...al Position Joint 6 which is closest to the End Effector is safest to move and test Set the Goal Position of joint 6 to about 90 degrees The position value for joint 6 H42 20 S300 R for 90 degrees is 75938 Please refer to the User Manual for more information on the Resolution for the Joint Position X Once the Goal Position is set to 90 degrees check if the Manipulator has actually moved 90 degrees...

Страница 16: ...able has been set to 1 and try again Change the Torque Enable value to 0 to move the Dynamixel PRO to is original position XII Do the same procedure for all the other joints Once the test is complete be sure to Off the Torque Enable function by changing the value to 0 then start using the ROBOTIS Manipulator SDK Example www jingtianrobots com ...

Страница 17: ...ater 3 1 2 Package Installation I Download and extract the Eigen Package II Go to Project Properties VC Directories Include Directories and designate the folder where the Eigen sources are located III Repeat procedures I and II to include the examples and include directories IV Preparation now complete Press F7 to start compiling In case a compile error occurs repeat the procedures above www jingt...

Страница 18: ...tics ComputeIK function moves each Joint using Solution position rad 3 SimplePtoP This example enables the End Effector to move points P1 and P2 4 SimpleIK This example enables users to control the pose of the End Effector and can control the end effector s Position X Y Z Orientation Roll Pitch Yaw with a with keys 5 SimpleTorqueOnOffandFK Turns the manipulator s joints torque On Off When the Torq...

Страница 19: ... number please refer to the eManual http support robotis com ko product dynamixel_pro control_table ht m III Once input for both numbers is successful you will see Succeed to open USB2Dynamixel Then you will see Press any key to move first pose press any key to move to the Manipulator to its first pose Press again any key to start the saved PtoP Motion once it completes its first pose The photo on...

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