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dh4d:home [2017/04/10 14:05] Pedro Ramilodh4d:home [2018/02/19 11:12] Pedro Ramilo
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-The [[http://www.seedrobotics.com/rh4d-ares-hand.html|Seed Robotics SR-RH4D]] (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuators. (4 actuated DoF)+The [[http://www.seedrobotics.com/rh4d-ares-hand.html|Seed Robotics SR-RH4D]] (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuated DoF (using 4 smart actuators).
-The hand includes five microprocessors: a 32 bit ARM Cortex M4 for High Level control and communication with external peripherals and four ATMEGA88 for distributed low level motion control. All external communication is handled by the ARM processor at 96Mhz.+
  
-The hardware is designed to receive commands from multiple simultaneous protocols and interfacesUSB and optinally Bluetooth are available and a third interface (the main connector) can be set up as One Wire Half Duplex TTL (0-3.3V~5V), RS485, Full Duplex TTL (0-3.3V~5V).+The hand uses the latest **EROS Architecture** for electronics and software comprised of one main processor - ARM Cortex M4 - and 4x dedicated ATMEGA processors (one on each smart actuator), for distributed and scalable processing of low level motion control. 
 + 
 +The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth
 + 
 +To **control the unit and query its status, the unit exposes Control Tables** (a memory-mapped kind of abstraction) where you can write to specific addresses to control the unit or read from other addresses to get real time status information.\\ 
 +A full query cycle usually takes less than 5ms (average 3ms), **enabling closed loop control frequencies of up to 200~250 Hz.**
  
-Control is performed using a memory mapped paradigm: Control Tables enable querying and setting a number of parameters that control and provide real-time feedback on the unit.\\ 
 Reading and writing the control table is done using the Robotis Dynamixel Protocol (a Serial protocol) or through the Seed Robotics own Text protocol.\\ Reading and writing the control table is done using the Robotis Dynamixel Protocol (a Serial protocol) or through the Seed Robotics own Text protocol.\\
-This Control table is structured to emulate the original Robotis MX series servo (the version that works under Dynamixel V1 protocol)making it compatible out of the box with Robotis products and frameworks such as Robotis OP/OP2 Robot or any Dynamixel based Robot. +**Users of Robotis products** should also know that the Control table works under the **Dynamixel 1.0 protocol (AX, MX series) and optionally under the Dynamixel protocol**for compatibility with the Robotis XM and Pro series.\\ 
- +Such flexibility makes the units directly compatible with Robotis Dynamixel based assemblies and frameworks such as Robotis OP/OP2 Framework, Dynamixel SDKROSPyPot and others.\\ 
-A versatilebuilt in[[dh4d:consolecommands|console interface]] is also available and enables console enables advanced configuration, diagnostics and control. This is especially useful if you have the Bluetooth module installed as it enables real-time diagnostics and tuning without having to interrupt operation of the unit. By default, the console functionality is also available over USB.+ 
  
 === NOTICE: Change from the Ares to Eros Architecture === === NOTICE: Change from the Ares to Eros Architecture ===
  
-As of March 1st 2017, we began shipping the RH4D with the new Eros Architecture that already powers the RH7D.\\ +As of March 1st 2017, we began shipping the RH4D with the new, scalable Eros Architecture.\\ 
-Our goal is to have all our units under one commonmodular architecture.+While the external interfaces remain mostly the samethe new architecture scales much better and makes a better distribution of processor load for improved performance.
  
-We have published information about the transition in the document [[eros:whatsnewvsares|EROS vs ARES architecture: What's new and What's changed]] +Information about the transition is available in the document [[eros:whatsnewvsares|EROS vs ARES architecture: What's new and What's changed]]. 
- +In the interest of organizationwe have moved the documentation related to the [[ares:legacy_introduction|old Architecture (ARES) to separatelegacy section]].\\
-If just purchased your unitplease scroll down to the section pertaining to the EROS Architecture.\\ +
-If you own previous unitplease refer to the ARES section.+
  
  
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   * [[dh4d:unpacking+assembly|Unpacking and Mechanical Assembly]]   * [[dh4d:unpacking+assembly|Unpacking and Mechanical Assembly]]
 +  * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
- +  * [[rh4d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]]
-==== Testing your Unit ====+
   * [[dynamixel:dynwzrd_ctrltables|Add support for RH4D in Robotis/Roboplus Dynamixel Wizard]]   * [[dynamixel:dynwzrd_ctrltables|Add support for RH4D in Robotis/Roboplus Dynamixel Wizard]]
-  * Using the Darwin-OP Framework: [[dh4d:DarwinOPFramework|Operation with the Darwin-OP Framework]] 
- 
-==== - Eros Architecture - ==== 
-Units built on or after March 1st 2017. 
  
-=== Command and Control Architecture ===+==== Command and Control Architecture ====
  
-  * [[eros:dynamixelcontroltables|EROS Control Tables]]+  * [[eros:dynamixelcontroltables|RH4D Control Tables]]
   * [[dynamixel:Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)   * [[dynamixel:Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)
-  * [[seedstpprotocol:Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP)]] (USB or Bluetooth interface+  * [[seedstpprotocol:Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance]] (USB or Bluetooth interface)
-  * [[eros:consolecommands|Complete List of Console Commands]] (to be used in the USB or Bluetooth console)+
  
 +=== The Console ===
  
-=== Special configuration features === +EROS units expose a Serial Console through which you can perform a number of queries, obtain real time diagnostics and also control the unit.
-  * [[eros:1023and4095positionrange|1023 (10bit) vs 4095 (12bit) position resolution]]+
  
 +By default the firmware exposes the Serial Console on the USB Virtual Serial Port and on the Bluetooth interface (if optionally installed).\\
 +Use of the Console can be done simultaneously while controlling your unit through the main connector and while connected to your robot. This enables real time diagnostics and online application of corrective measures.
  
-==== - Ares Architecture - ==== +  * [[eros:consolecommands|Complete List of Console Commands]] (to be used in the USB or Bluetooth console)
-Units built before March 1st 2017.+
  
-=== Command and Control Architecture === 
  
-  * [[dh4d:DynamixelIDsandCOMMsettings|Dynamixel Protocol: Default IDs and Communication Settings]] +=== Special configuration features === 
-  * [[dynamixel:Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface) +  * [[eros:1023and4095positionrange|1023 (10bit) vs 4095 (12bit) position resolution]]
-  * [[seedstpprotocol:control_using_stp|Controlling the unit using Seed Robotics Simple Text Protocol (STP)]] (USB and Bluetooth connections) +
-  * [[dh4d:DynamixelControlTables|RH4D Control Tables]] +
- +
-  * [[dh4d:usbconsole|USB Interface: Console for Control and Diagnostics]]  +
-  * [[dh4d:bluetooth|Bluetooth Interface: Console for Control and Diagnostics (optional)]] +
-  * [[dh4d:consolecommands|List of RH4D Console Commands]] +
- +
-  * [[dh4d:1023and4095positionrange|Configuring the SR-DH4D for 1023 (10bit) or 4095 (12bit) position resolution]] +
- +
- +
-==== - Common Documentation - ====+
  
 === Robots and Frameworks === === Robots and Frameworks ===
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 === In-depth information === === In-depth information ===
  
-  * [[dh4d:connector_pinouts|Connector Pinouts and Part numbers]]+  * [[common:connectorpinouts_connectionoptions|Connector Pinouts and Part numbers]]
  
  
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 ==== Maintenance ==== ==== Maintenance ====
  
-  * [[dh4d:firmware_upgrade|Ares units: Upgrading your Firmware]] +  * [[eros:upgrademainboard_fw|EROS units: Upgrading the main board Firmware]] 
-  * [[eros:upgrademainboard_fw|EROS units: Upgrading your Firmware]] +  * [[eros:seedactuators:upgrading_fw|EROS units only: Upgrading the Actuators' firmware]]
-  * [[eros:actuators:upgrading_fw|EROS units only: Upgrading the Actuators' firmware]]+
  
-  * [[dh4d:led_errorcodes|LED Error codes]] 
   * [[dh4d:maintenance|Maintaining your Unit in top working condition]]   * [[dh4d:maintenance|Maintaining your Unit in top working condition]]
  

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  • dh4d/home.txt
  • Last modified: 2023/05/12 18:11
  • by SeedR KB Admin