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dh4d:home [2017/08/17 12:19] – Pedro Ramilo | dh4d:home [2018/02/19 11:12] – Pedro Ramilo | ||
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The [[http:// | The [[http:// | ||
- | The hand includes | + | The hand uses the latest **EROS Architecture** for electronics and software comprised of one main processor - ARM Cortex M4 - and 4x dedicated ATMEGA processors |
The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth. | 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.\\ | + | 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.** | A full query cycle usually takes less than 5ms (average 3ms), **enabling closed loop control frequencies of up to 200~250 Hz.** | ||
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.\\ | ||
- | Users of Robotis products should also know that the Control table works under the Dynamixel 1.0 framewoef | + | **Users of Robotis products** should also know that the Control table works under the **Dynamixel 1.0 protocol |
- | Such flexibility makes the units directly compatible with Robotis Dynamixel based assemblies and frameworks such as Robotis OP/ | + | Such flexibility makes the units directly compatible with Robotis Dynamixel based assemblies and frameworks such as Robotis OP/ |
+ | |||
=== 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, scalable Eros Architecture.\\ | As of March 1st 2017, we began shipping the RH4D with the new, scalable Eros Architecture.\\ | ||
- | While the external interfaces remain mostly the same, the new architectore is more scalable | + | While the external interfaces remain mostly the same, the new architecture scales much better |
- | Information about the transition in the document [[eros: | + | Information about the transition |
- | + | In the interest of organization, we have moved the documentation related to the [[ares: | |
- | To ease finding your documentation, we have moved the documentation related to the [[ares: | + | |
- | The present document, details instructions for the new EROS units. | + | |
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* [[dh4d: | * [[dh4d: | ||
+ | * [[common: | ||
- | + | * [[rh4d: | |
- | ==== Testing your Unit ==== | + | |
* [[dynamixel: | * [[dynamixel: | ||
- | * Using the Darwin-OP Framework: [[dh4d: | ||
- | ==== - Eros Architecture | + | ==== Command and Control |
- | Units built on or after March 1st 2017. | + | |
- | === Command and Control Architecture === | + | |
- | + | ||
- | | + | |
* [[dynamixel: | * [[dynamixel: | ||
- | * [[seedstpprotocol: | + | * [[seedstpprotocol: |
- | * [[eros: | + | |
+ | === 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: | + | |
+ | 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: |
- | Units built before March 1st 2017. | + | |
- | === Command and Control Architecture === | ||
- | * [[dh4d: | + | === Special configuration features === |
- | * [[dynamixel: | + | * [[eros: |
- | * [[seedstpprotocol: | + | |
- | * [[dh4d: | + | |
- | + | ||
- | * [[dh4d: | + | |
- | * [[dh4d: | + | |
- | * [[dh4d: | + | |
- | + | ||
- | * [[dh4d: | + | |
- | + | ||
- | + | ||
- | ==== - 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: | ||
* [[eros: | * [[eros: | ||
- | * [[eros:actuators: | + | * [[eros:seedactuators: |
- | * [[dh4d: | ||
* [[dh4d: | * [[dh4d: | ||
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