When connecting to an EROS main board via USB, it will create a Virtual COMM Port.

In Windows this will create a new COMxx port and in Linux a /dev/ttyxxx.

However, depending on your Windows version or the user priveleges in Linux, you may need to take additional steps to have the unit properly recognized and set-up.

Preparing the Connection

  1. Remove the small cover located on the side of your unit, near the back to expose the USB connector. RH4D units have a snap in cover; for RH7D units you need to remove a small bolt on the side to remove the cover. (Earlier RH7D models don't have a side cover; in this case you need to loosen the top cover screws and gently lift the back of the cover about 5mm; this will expose the connector).
  2. Connect a micro USB cable to the hand
  3. Apply power to the hand using the Main communications port (the one at the back): while the electronics of the hand can be powered via USB, the actuators, need an independent power supply to operate. Connecting the hand to the USB host without an external power supply, will result in the actuators not responding and not moving.
  4. Connect the USB cable to the host and install the appropriate drivers, if needed.

Installing the USB Drivers for the Virtual COMM Port (Windows) / udev rules (Linux)

Seed Robotics units runs a Cortex M4 with an auxiliary Cortex M0 running the bootloader.
When connected to the board via USB, the board will create Virtual COMM on the PC.

At the time of writing:

  • Linux does not need extra drivers to recognize the unit but you need to add udev rules to obtain RW access to the device (by default Linux may set it as R (read) only). The link contains comments in the header explaining how to install theudev rules.
  • For MacOS no additional drivers or steps should be required.
  • Windows 10 or newer also don't need any additional drivers.
  • For earlier versions of Windows (before Windows 10), you need to download and install the Virtual COMM Port drivers from the PJRC website (the manufacturer of the bootloader we use (Teensy))

Connecting to unit

After you have connected the hand to your host, a vertial communications port will be created. Use a Serial Terminal Program to communicate with it. We suggest Putty but any Serial Terminal can be used for this task.

Connection settings

The USB interface actually supports connection at any baud up to 10Mbps (the board adjusts automatically to any baud rate in this range), with the standard setting 8N1 (8 data bits, no Parity, 1 stop bit)

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  • eros/settingup_usbconnection.txt
  • Last modified: 2017/06/06 15:31
  • by pedro.ramilo