Differences

This shows you the differences between two versions of the page.

--- dh4d:home [2017/04/10 14:06] – Pedro Ramilo
+++ dh4d:home [2023/05/12 18:11] (current) – SeedR KB Admin
@@ Line 1: / Line 1: @@
-===== SR-RH4D Hand =====
+===== RH4D Advanced Manipulator =====
 {{:dh4d:infograma_com_a_mao_e_as_setas_a_indicar_as_funcoes-02.png?nolink&600|}}
-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 interfaces. USB 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).
-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.\\
-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.
-A versatile, built 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 ===
-As of March 1st 2017, we began shipping the RH4D with the new Eros Architecture that already powers the RH7D.\\
-Our goal is to have all our units under one common, modular architecture.
-We have published information about the transition in the document [[eros:whatsnewvsares|EROS vs ARES architecture: What's new and What's changed]]
-If just purchased your unit, please scroll down to the section pertaining to the EROS Architecture.\\
-If you own a previous unit, please refer to the ARES section.
+The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth.
 ==== Getting Started ====
   * [[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]]
-  * Using the Darwin-OP Framework: [[dh4d:DarwinOPFramework|Operation with the Darwin-OP Framework]]
-==== - Eros Architecture - ====
+==== Command and Control Architecture ====
-Units built on or after March 1st 2017.
-=== Command and Control Architecture ===
+  * [[eros:dynamixelcontroltables|RH4D Control Tables]]
-  * [[eros:dynamixelcontroltables|EROS Control Tables]]
   * [[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 ===
@@ Line 78: / Line 45: @@
 === In-depth information ===
-  * [[dh4d:connector_pinouts|Connector Pinouts and Part numbers]]
+  * [[common:connectorpinouts_connectionoptions|Connector Pinouts and Part numbers]]
@@ Line 98: / Line 65: @@
 ==== Maintenance ====
-  * [[dh4d:firmware_upgrade|Ares units: Upgrading your Firmware]]
   * [[eros:upgrademainboard_fw|EROS units: Upgrading the main board Firmware]]
-  * [[eros:actuators:upgrading_fw|EROS units only: Upgrading the Actuators' firmware]]
+  * [[eros:seedactuators:upgrading_fw|EROS units only: Upgrading the Actuators' firmware]]
-  * [[dh4d:led_errorcodes|LED Error codes]]
   * [[dh4d:maintenance|Maintaining your Unit in top working condition]]
@@ Line 108: / Line 73: @@
   * [[dh4d:Technical_specifications|Technical Specifications]] [ Placeholder ]
   * [[dh4d:Warranty+Support|Warranty and Support]] [ Placeholder ]
+''Notice: Legacy ARES Documentation - Units built before March 1st 2017, use the original ARES architecture. Documentation for ARES has been [[ares:legacy_introduction|archived here]]\\
+There's also a [[eros:whatsnewvsares|EROS vs ARES architecture: What's new and What's changed]] document available.''
 **Please note: [ Placeholder ] sections are either Beta or currently in the process of migration from paper form to our Knowledge Base. If you require any of this information while we build the Knowledge Base, please contact our technical support by email.
 **