The RH7D exposes multiple interfaces and protocol options, such as the Seed Robotics STP protocol and the Dynamixel Protocol.
This document assumes you are familiar with the Dynamixel Protocol.

The RH7D, like all Seed Robotics products, can be connected directly to any chain of Dynamixel devices. It is compatible with TTL and RS485 devices (depending on your choice of model) and supports the Dynamixel 1.0 and 2.0 protocol.
It will operate on the bus like any other Dynamixel device, exposing its I Ds and Memory Table.

The RH7D ships configured with the following defaults:

Communication Settings

By default the unit ships configured for operation at 1Mbps (8 data bits, no parity, 1 stop bit like all Dynamixel devices) on the External communications port (the one at the back of the hand).

It is possible to change the communication speed from 9600bps up to 3Mbps. We recommend operating at 1Mbps.

Default I Ds

The RH7D exposes 8 IDs on the bus:

  • 1 I D for the main control board where you can query the high level functionality of the system as well as get all real time current measurements at once.
  • 7 I Ds for the actuator: each actuator has its own I D and Control table for individual control and configuration of each joint. Through each individual ID you can query and set speed, position, … and fine tune each joint properties such as PID gains or zero offset.

For ease of use, we pre configure each hand with all I Ds in a sequence. Furthermore, each I D is connected to a main board port that is directly related to the I D number. To get the board port, take the last digit of the I D and subtract it by 1.

For example, for I D 34, take the last digit - 4 - and subtract 1, becoming 3. This I D is connected to the main board port 3, where you will be able to find the current reading and other parameters that are externally measured for the unit.

The default I Ds can be changed to suit the user needs. However, for ease of use, we recommend keeping some form of relation between the ID number and the port number on the board.

Default I Ds for the Left Hand

  • 40 Main board
  • 41 Wrist Rotation
  • 42 Wrist Adduction
  • 43 Wrist Flexion
  • 44 Thumb Adduction
  • 45 Thumb Flexion
  • 46 Index Flexion
  • 47 Middle fingers flexion

Default I Ds for the Right Hand

  • 30 Main board
  • 31 Wrist Rotation
  • 32 Wrist Adduction
  • 33 Wrist Flexion
  • 34 Thumb Adduction
  • 35 Thumb Flexion
  • 36 Index Flexion
  • 37 Middle fingers flexion

For further information on controlling the unit, please consult the RH7D Control Tables.

Copyright © 2015-2019 Seed Robotics Ltd

  • rh7d/dynamixelidsandcommsettings.txt
  • Last modified: 2018/02/19 06:12
  • by pedro.ramilo