Notice: This information is for the FIRST models of RH2D
THIS INFORMATION IS BEING PROVIDED FOR REFERENCE ONLY

These models use the Robotis XL-320 actuators and therefore have slightly different control features and capabilities as well

The RH2D is an entry level model, designed for competition and for applications where the main purpose is to explore and research new techniques: manipulation with tendon based units, grasping with force control based on current sensing (with optional sensors), …

The architecture of the RH2D is the same as all our units: the latest EROS architecture.
For this reason, most of the Manual details similar instructions.

However, depending on your version, there may be a special particularity to this unit: it employs the Robotis XL320 Actuators instead of Seed Robotics custom actuators. This results in a few, but important differences that are outlined in the page containing the Control Table for the Robotis XL-320 Actuator (used in RH2D).

• Unpacking and Mechanical Assembly [ PLACEHOLDER ]
• Connection Diagrams and Connector Pinouts

• Dynamixel Protocol: Default IDs and Communication Settings
• Add support for RH2D in Robotis/Roboplus Dynamixel Wizard

• RH2D Main board Control Table
• RH2D Actuators Control Table (Robotis XL320)
• Controlling the unit using the Dynamixel Protocol (main connector interface)
• Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance (USB or Bluetooth interface)
• Complete List of Console Commands (to be used in the USB or Bluetooth console)

• 1023 (10bit) vs 4095 (12bit) position resolution [ NOT YET SUPPORTED IN THE RH2D ]
• Current sensing and Force estimation: how it works and how to take advantage of it
  

( Please note that Current Sensing was optional in the first RH2D. )

• Operation with the Darwin-OP Framework
• Operation with ROS, PyPot and other Frameworks

[ PLACEHOLDER }

• Upgrading the Main Board firmware