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Both sides previous revision Previous revision Next revision | Previous revision | ||
dynamixel:dynamixel_protocol [2017/08/17 16:35] – [The timeout] Pedro Ramilo | dynamixel:dynamixel_protocol [2017/08/23 16:03] (current) – Pedro Ramilo | ||
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* for other devices, consult the manufacturer' | * for other devices, consult the manufacturer' | ||
- | Seed Robotics designed the Control tables to resemble those of an Robotis MX series | + | Seed Robotics designed the Control tables to resemble those of an Robotis MX series |
**Other Protocol features to ensure reliability** | **Other Protocol features to ensure reliability** | ||
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Explanation: | Explanation: | ||
- | First we write to memory position 24, which is the Memory Position to turn TORQUE ON. (you only need to turn Torque ON once; after that it will saty ON until you write the position to 0, to disable or power down the device)\\ | + | First we write to memory position 24, which is the Memory Position to turn TORQUE ON. (you only need to turn Torque ON once; after that it will stay ON until you write the position to 0, to disable or power down the device)\\ |
Next we write to the memory position 30, which is the Memory Position for GOAL POSITION.\\ | Next we write to the memory position 30, which is the Memory Position for GOAL POSITION.\\ | ||
For information about which memory positions to use, please see the Control Tables, listed above. | For information about which memory positions to use, please see the Control Tables, listed above. | ||
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* Robotis Dynamixel Wizard seems to use a timeout of 5 milliseconds when scanning the bus: when it '' | * Robotis Dynamixel Wizard seems to use a timeout of 5 milliseconds when scanning the bus: when it '' | ||
* Other users in more complex setups, or performing very long READs or WRITES may use timeouts of 10~20 milliseconds. | * Other users in more complex setups, or performing very long READs or WRITES may use timeouts of 10~20 milliseconds. | ||
- | * The typical measured turn around time for a command in the EROS architecture can be 2.5ms maximum or up to 6ms if the board is unable to verify a reply from the actuators. | + | * The typical measured turn around time for a command in the EROS architecture can be 2.5ms maximum or up to 6ms if the board is unable to verify a reply from the actuators, and needs to re-query them. |
- | Our recommendation, | + | Our recommendation, |
+ | Typically | ||
Increasing the timeout over 100 milliseconds, | Increasing the timeout over 100 milliseconds, | ||
**Note:** it is important to **clarify the " | **Note:** it is important to **clarify the " | ||
Because the protocol can operate at different baud rates, timeout should always be counted as above and never be counted as the time it takes between sending the last byte of the command and receiving the last byte of a reply. This would be wrong and would produce inconsistent results operating at different baud rates. | Because the protocol can operate at different baud rates, timeout should always be counted as above and never be counted as the time it takes between sending the last byte of the command and receiving the last byte of a reply. This would be wrong and would produce inconsistent results operating at different baud rates. | ||
+ | |||
+ | Furthermore, | ||
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