[ARES] Configuring the SR-DH4D for 1023 or 4095 position resolution

Starting with firmware V10, the SR-DH4D can now be configured for operation in the 0~1023 (10 bit) or 0~4095 (12 bit) position resolution. Previous versions of the firmware only allow operation in the 0~1023 (10 bit) position resolution.

This change has been implemented as a result of user feedback and to improve compatibility with Frameworks designed for operation with the Robotis MX series of actuators. (such as the Darwin/Robotis OP[2] framework).

The resolution is now user configurable to enable smoother integration in Dynamixel buses where 10bit resolution or 12bit resolution servos as used.

All new hands now ship pre-configured for 4095 (12bit) position resolution

Firmware versions < 10

If you are running a firmware version prior to version 10, it is locked to operating in the 0~1023 range (10 bit resolution). To enable 12bit resolution, you will need to update your firmware to a version >= 10 and explicitly change the configuration to 12bit range as explained below.

Configuring the Hand for 1023 (10bit) or 4095 (12bit) position resolution

Configuration of this option is performed through the Dynamixel Protocol (by writing to Dynamixel Memory Position 0x14 (20 decimal) of the Virtual Hand ID ) or through the Console command ree

Configuration using the Dynamixel Protocol
  • If you are using Dynamixel Wizard, the select the Virtual ID for the hand, and locate memory position 20 (0x14).
  • If you are using dxl_monitor or any other software to communicate with the bus, WRITE a byte to memory position 20 (0x14)
    • For 1023 (10bit) resolution set this parameter to 0
    • For 4095 (12bit) resolution set this parameter to 1
    • Any other value is Invalid and will produce a Range Error

Once the command is accepted, the value is stored in the internal EEPROM. You need to power cycle the hand and the changes will become effective on reboot.

Configuration using the Console

Position Resolution can also be configured using the Console (either the USB Console or via the Bluetooth console).

  • Open a console window as described in this documentation
    • Enter the command ree 5 0 to enable 1023 (10 bit) position resolution
    • Enter the command ree 5 1 to enable 4095 (12 bit) position resolution

Once the command is accepted, the value is stored in the internal EEPROM. You need to power cycle the hand and the changes will become effective on reboot.

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  • dh4d/1023and4095positionrange.txt
  • Last modified: 2017/03/21 13:03
  • by pedro.ramilo