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dh4d:home [2017/08/17 12:28] – Pedro Ramilo | dh4d:home [2019/02/20 14:22] – Pedro Ramilo | ||
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The [[http:// | The [[http:// | ||
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- | 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. | The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth. | ||
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- | 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.** | ||
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- | 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 protocol (AX, MX series) and optionally under the Dynamixel 2 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 fremwork, Dynamixel SDK, ROS, PyPot and others.\\ | ||
=== 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, all RH4D units are built on the scalable Eros Architecture |
- | While the external interfaces remain mostly the same, the new architectore is more scalable and makes better distribution of processor load for improved performance. | + | Information about the transition |
- | + | In the interest of organization, | |
- | Information about the transition in the document [[eros: | + | |
- | In the interest of organization, | + | |
- | __The present document, details instructions for the units using the EROS architecture.__ | + | |
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* [[dh4d: | * [[dh4d: | ||
+ | * [[common: | ||
- | + | * [[rh4d: | |
- | ==== Testing your Unit ==== | + | |
* [[dynamixel: | * [[dynamixel: | ||
- | * Using the Darwin-OP Framework: [[dh4d: | ||
- | === Command and Control Architecture === | + | ==== Command and Control Architecture |
- | * [[eros: | + | * [[eros: |
* [[dynamixel: | * [[dynamixel: | ||
- | * [[seedstpprotocol: | + | * [[seedstpprotocol: |
+ | |||
+ | === The Console === | ||
+ | |||
+ | EROS units expose a Serial Console through which you can perform a number of queries, obtain real time diagnostics and also control the unit. | ||
+ | |||
+ | 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. | ||
* [[eros: | * [[eros: | ||
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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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* [[eros: | * [[eros: | ||
- | * [[eros:actuators: | + | * [[eros:seedactuators: |
* [[dh4d: | * [[dh4d: |
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