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common:connectorpinouts_connectionoptions [2017/09/06 19:51] – Pedro Ramilo | common:connectorpinouts_connectionoptions [2018/02/15 11:07] – Pedro Ramilo | ||
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All Seed Robotics models come standard with USB interface and one main interface (the main connector), with a logical interface selected by the customer: One Wire TTL, Full Duplex TTL or RS485.\\ | All Seed Robotics models come standard with USB interface and one main interface (the main connector), with a logical interface selected by the customer: One Wire TTL, Full Duplex TTL or RS485.\\ | ||
- | In addition an [[dh4d:bluetooth| Optional Bluetooth Module]] can be installed on the unit and connects to any terminal that supports the Bluetooth SPP (Serial Port) Profile. | + | In addition an [[eros:bluetooth_module| Optional Bluetooth Module]] can be installed on the unit and connects to any terminal that supports the Bluetooth SPP (Serial Port) Profile. |
Below we detail the connector types for the units and connection diagrams with the most commonly used tools. | Below we detail the connector types for the units and connection diagrams with the most commonly used tools. | ||
- | ==== About Supplying Power ==== | + | ==== Supplying Power ==== |
- | External power must **always be supplied through the main connector port** (the one with the 3 pin or 4 pin connector).\\ | + | External power must **always be supplied through the main connector port** (the one with the 3 pin or 4 pin connector |
- | **If you intend on using other interfaces for control | + | **If you intend on using other interfaces for control such as USB or Bluetooth, power must still be applied through this connector on the VDD and GND pins.** |
Acceptable voltage range is typically 9V~24V. Please refer to the documentation of your specific model for the exact voltage range accepted. | Acceptable voltage range is typically 9V~24V. Please refer to the documentation of your specific model for the exact voltage range accepted. | ||
- | ==== Main Connector: One Wire Serial | + | ==== Main Connector: One Wire TTL UART Interface ==== |
- | The One Wire TTL Serial interface enables daisy chained connection of multiple units. | + | The One Wire TTL Serial |
- | This interface operates natively at 3.3V but it is tolerant to 5V or higher voltages making it compatible | + | This interface operates natively at 3.3V but it is tolerant to 5V, for interfacing |
This interface option is directly compatible with Robotis Dynamixel AX, MX series of servos. It can also connect to XL and XM series of servos provided you create a necessary adapter cable or board to connect them. | This interface option is directly compatible with Robotis Dynamixel AX, MX series of servos. It can also connect to XL and XM series of servos provided you create a necessary adapter cable or board to connect them. | ||
- | It is important to note that this connection uses only 1 wire for DATA, which means a special adapter is required to control the line switching between RX and TX.\\ | + | It is important to note that this connection uses only 1 wire for DATA, which means a special adapter |
The most common adapters and connection methods are shown below. | The most common adapters and connection methods are shown below. | ||
- | __**Robotis | + | __**Seed Robotis |
+ | (Using Robotis SMPS2Dynamixel + USB2Dynamixel or U2D2)**__ | ||
- | {{: | + | {{: |
__**Xevel Labs USB2AX:**__ | __**Xevel Labs USB2AX:**__ | ||
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{{: | {{: | ||
- | __**Connector pinout for TTL signal level interface: | + | __**Connector pinout for One Wire TTL UART signal level interface: |
{{: | {{: | ||
- | ==== Main Connector: RS485 Serial Interface ==== | + | ==== Main Connector: RS485 UART Serial Interface ==== |
The RS485 interface uses a differential pair to operate in half duplex mode. | The RS485 interface uses a differential pair to operate in half duplex mode. | ||
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**IMPORTANT: | **IMPORTANT: | ||
- | __**Robotis | + | __**Seed Robotis |
+ | (Using Robotis SMPS2Dynamixel + USB2Dynamixel or U2D2)**__ | ||
- | {{: | + | {{: |
__**Connecting to an existing Dynamixel Servo Chain or Dynamixel based Robot:**__ | __**Connecting to an existing Dynamixel Servo Chain or Dynamixel based Robot:**__ | ||
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{{: | {{: | ||
- | __**Connect to an RS485 converter: | + | __**Connect to a generic |
The diagram below is generic: it is designed in a way to suit all major RS485 converters.\\ | The diagram below is generic: it is designed in a way to suit all major RS485 converters.\\ | ||
If you have any question regarding connection to your specific converter, please contact support@seedrobotics.com and we'll be happy to assist you. | If you have any question regarding connection to your specific converter, please contact support@seedrobotics.com and we'll be happy to assist you. | ||
- | When selecting an RS485 converter, please observe the maximum baud rate of the converter. Bear in mind the default communication speed on the main port is 1Mbps. While it is possible to reduce it to a much lower value (115.2/ | + | When selecting an RS485 converter, please observe the maximum baud rate of the converter. Bear in mind the default communication speed on the main port is 1Mbps. While it is possible to reduce it to a much lower value (115.2/ |
{{: | {{: | ||
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Failure to do so will result in the Actuators not responding and the hand not moving as they will not be powered. | Failure to do so will result in the Actuators not responding and the hand not moving as they will not be powered. | ||
- | **IMPORTANT: | + | **IMPORTANT: |
{{: | {{: | ||
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**IMPORTANT: | **IMPORTANT: | ||
- | This is especially convenient for **online diagnostics** and maintenance. | + | This is especially convenient for **online, wireless |
When connecting via Bluetooth, you must apply power through the Main Connector as shown in the diagram below.\\ | When connecting via Bluetooth, you must apply power through the Main Connector as shown in the diagram below.\\ | ||
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By default the firmware is configured to expose the Console over Bluetooth. This means that control using the Dynamixel protocol is not enabled by default on the Bluetooth port (although it can be enabled if required).\\ | By default the firmware is configured to expose the Console over Bluetooth. This means that control using the Dynamixel protocol is not enabled by default on the Bluetooth port (although it can be enabled if required).\\ | ||
- | For more information, | + | For more information, |
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