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dh4d:home [2017/08/17 08:25]
pedro.ramilo
dh4d:home [2019/10/30 08:11] (current)
pedro.ramilo
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-===== SR-RH4D Hand =====+===== RH4D Advanced Manipulator ​=====
  
 {{:​dh4d:​infograma_com_a_mao_e_as_setas_a_indicar_as_funcoes-02.png?​nolink&​600|}} {{:​dh4d:​infograma_com_a_mao_e_as_setas_a_indicar_as_funcoes-02.png?​nolink&​600|}}
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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 actuated DoF (using 4 smart actuators). 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 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.
- + 
-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.** +
- +
-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 (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 ​(used in all other Seed Robotics products).\\ 
-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 ​is available ​in the document [[eros:​whatsnewvsares|EROS vs ARES architecture:​ What's new and What's changed]]. 
- +In the interest of organization, we have moved the documentation related to models manufactured before that that [[ares:​legacy_introduction|(the old Architecture (ARES)) to a separate, legacy section]].\\
-Information about the transition in the document [[eros:​whatsnewvsares|EROS vs ARES architecture:​ What's new and What's changed]]. +
- +
-To ease finding your documentation, we have moved the documentation related to the [[ares:​legacy_introduction|old Architecture (ARES) to a separate, legacy section]].\\ +
-The present document, details instructions for the new EROS units.+
  
  
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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 ​==== +==== 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)   * [[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 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]]   * [[dh4d:​maintenance|Maintaining your Unit in top working condition]]
  

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  • dh4d/home.1502972756.txt.gz
  • Last modified: 2017/08/17 08:25
  • by pedro.ramilo