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dh4d:home [2017/08/17 12:37] – [Testing your Unit] 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 === | === The Console === | ||
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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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