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Dynamixel library for Arduino .

Version 1.2.0

begin ()

Description
Initialize the serial communication arduino .

Syntax
begin ( baudRate );
begin ( baudRate , DATACONTROL )

SoftSerial version
begin ( baudRate , rxPin , TxPin )
begin ( baudRate , rxPin , TxPin , DATACONTROL )

Parameters
baudRate - serial transmission rate in bps
DATACONTROL - pin control for data transmission and recepcionde
RxPin - pin for receiving data
TxPin - pin for data transmission

Example
Dynamixel.begin (1000000) ; Dynamixel.begin (1000000 2) ;
SoftSerial Version: Dynamixel.begin (1000000 , 2, 3 ) ;
Dynamixel.begin (1000000 , 2 , 3 , 4 ) ;

ping ( )

Description
Send a question to the servo motor status .

Syntax
ping ( ID) ;

Syntax setId (ID . setId () Description Change the ID of the servomotor.identification number of the servomotor returns -1 If there was no response from the servomotor .identification number of the servomotor newID . reset () Description Return to the factory settings of the servomotor. Parameters ID .reset ( 1) . Syntax reset ( ID) .ping ( 1) .# Error found servomotor called Example Dynamixel. newID ). Parameters ID .identification number of the servomotor returns -1 If there was no response from the servomotor . Parameters ID .new servomotor ID .# Error found servomotor called Example Dynamixel.

Syntax move ( ID . move () Description Move the actuator to the position indicated. 2 ) .# Error found servomotor called Example Dynamixel. setBD ( ) Description Change the Baud Rate of the servomotor.servo position 0 to 1023 ( 0 to 300 degrees) .serial transmission speed in bps returns -1 If there was no response from the servomotor .setID ( 1.identification number of the servomotor buadRate . Parameters ID .identification number of the servomotor Position . baudRate ).# Error found servomotor called Example Dynamixel. 115200 ). Position) .returns -1 If there was no response from the servomotor . Syntax setBD (ID .setBD (1. Parameters ID .

Position) . Parameters ID .identification number of the servomotor Position . Parameters ID . moveRW ( ) Description Save the instruction that moves the actuator to the position indicated.# Error found servomotor called Example Dynamixel.identification number of the servomotor Position . Speed) . 512) .move (1.servo position 0 to 1023 ( 0 to 300 degrees) . 1023 ). Syntax movespeed (ID . 512 .# Error found servomotor called Example Dynamixel. Position.returns -1 If there was no response from the servomotor .speed that will move the servo 0 to 1023 returns -1 If there was no response from the servomotor .servo position 0 to 1023 ( 0 to 300 degrees) Speed . movespeed () Description Move the actuator to the position indicated airspeed .moveSpeed (1. Syntax moveRW (ID .

returns -1 If there was no response from the servomotor .identification number of the servomotor Position .# Error found servomotor called Example Dynamixel.moveSpeedRW (1. Syntax moveSpeedRW (ID . 512) .speed that will move the servo 0 to 1023 returns -1 If there was no response from the servomotor . moveSpeedRW ( ) Description Save the instruction that moves the actuator to the position indicated airspeed .moveRW (1. Position. Parameters none .servo position 0 to 1023 ( 0 to 300 degrees) Speed . 512 . Syntax action () . 1023 ). Speed) .# Error found servomotor called Example Dynamixel. action () Description Executes the instruction stored in the servomotor. Parameters ID .

# Error found servomotor called Example Dynamixel.setEndless (1. ON) . setEndless ( ) Description Enables or disables continuous mode servomotor rotation .on or off the Endless ( ON or OFF) mode returns -1 If there was no response from the servomotor . Status ).# Error found servomotor called Example Dynamixel.identification number of the servomotor Side .action ( ) . turn () Description Servomotor rotates to the right or left and the speed indicated only if in continuous rotation mode . Syntax setEndless (ID .identification number of the servomotor Status . Parameters ID . Parameters ID .direction in which to rotate ( RIGTH or LEFT) Speed . Speed) . Side. Syntax turn ( ID .speed that will move the servo 0-1020 .returns -1 If there was no response from the servomotor .

LEDStatus () Description Turns the LED on the back of the servomotor.# Error found servomotor called Example Dynamixel. Parameters ID . Status ).# Error found servomotor called Example Dynamixel. Syntax torqueStatus (ID . Parameters ID .returns -1 If there was no response from the servomotor .identification number of the servomotor Status .identification number of the servomotor Status .on or off the touch (ON or OFF) returns -1 If there was no response from the servomotor . ON) . Syntax LEDStatus (ID .turn (1. 1000) .torqueStatus ( 1 . torqueStatus ( ) Description Enables or disables the torque on the servomotor. LEFT. Status ).on or off (ON or OFF) LED .

Syntax setAngleLimit (ID . 80 ) . Parameters ID . Syntax setTempLimit (ID .returns -1 If there was no response from the servomotor . Parameters ID .identification number of the servomotor Temperature . CCW ). ON) . setAngleLimit ( ) Description Sets a maximum angle CW and CCW operating servomotor.identification number of the servomotor CW .maximum angle against clockwise .setTempLimit (1.ledStatus (1. Temperature) .# Error found servomotor called Example Dynamixel.maximum angle to clockwise CCW .# Error found servomotor called Example Dynamixel. CW .the maximum temperature to which the servomotor work returns -1 If there was no response from the servomotor . setTempLimit ( ) Description Configures a maximum operating temperature of the servomotor.

setVoltageLimit (1.identification number Maxtorque . Syntax setMaxTorque (ID .identification number of the servomotor minVoltage . 70 . 160 ) . setMaxTorque ( ) Description Sets a maximum torque on the actuator . Parameters ID . Maxtorque ). minVoltage .returns -1 If there was no response from the servomotor . Syntax setVoltageLimit (ID .servomotor maximum torque ( 0-1023 ) .setAngleLimit (1. maxVoltage ).# Error found servomotor called Example Dynamixel.# Error found servomotor called Example Dynamixel. 45 . Parameters ID . 45 ) .minimum operating voltage of the servomotor maxVoltage - maximum operating voltage of the servomotor returns -1 If there was no response from the servomotor . setVoltageLimit ( ) Description Set a minimum and maximum operating voltage on the actuator .

identification number of the servomotor SRL . RDT ). Parameters ID . Syntax setSRL (ID . 1023 ) .# Error found servomotor called Example Dynamixel. ( read Return 1 ) .returns -1 If there was no response from the servomotor .time information return (0-255 ) * 2us . Parameters ID .identification number of the servomotor RDT .setMaxTorque (1. setRDT ( ) Description Return Delay Time Sets the servomotor . setSRL ( ) Description Sets the Status Return Level of servomotor.setSRL ( 1. 2 ) . (2 Return all) returns -1 If there was no response from the servomotor .# Error found servomotor called Example Dynamixel. SRL ).(0 Return none). Syntax setRDT (ID .

identification number of the servomotor LEDAlarm .setRDT (1. Parameters ID . setShutdownAlarm ( ) Description Set the alarm off the booster.setLEDAlarm ( 1 . 255 ) . LEDAlarm ). 255 ) .# Error found servomotor called Example Dynamixel.identification number of the servomotor shutdownAlarm . shutdownAlarm ). Parameters ID . Syntax setShutdownAlarm (ID .shutdown .# Error found servomotor called Example Dynamixel. setLEDAlarm ( ) Description Set the alarm LED servomotor.alarm LED ( 0-255 ) returns -1 If there was no response from the servomotor . Syntax setLEDAlarm (ID .returns -1 If there was no response from the servomotor .

identification number of the servomotor CWCM .CW Compliance Margin ( 0-255 ) CCWCM . CCWCM ). Parameters ID .CCW Compliance Margin ( 0-255 ) returns -1 If there was no response from the servomotor . CWCM . Syntax setCSlope (ID . Syntax setCMargin (ID . 255 ) .setCMargin ( 1.# Error found servomotor called Example Dynamixel. setCSlope ( ) Description Set the servomotor Compliance Slope . 1 . CWCS . setCMargin ( ) Description Compliance Margin Sets the servomotor .CCW Compliance Slope ( 0-255 ) . 1) .setShutdownAlarm (1. CCWCS ).CW Compliance Slope ( 0-255 ) CCWCS .identification number of the servomotor CWCS .# Error found servomotor called Example Dynamixel. Parameters ID .alarm ( 0-255 ) returns -1 If there was no response from the servomotor .

setPunch ( ) Description Punch Sets the maximum current or servomotor. 64 ) . Punch ). Parameters ID .returns -1 If there was no response from the servomotor .# Error found servomotor called Example Dynamixel. Parameters ID .setPunch (1. 64. 1023 ) .identification number of the servomotor . Syntax moving (ID ) .current in the servomotor ( 0-1023 ) returns -1 If there was no response from the servomotor .setCSlope (1.# Error found servomotor called Example Dynamixel.identification number of the servomotor Punch . Syntax setPunch (ID . moving () Description Check or read if the servomotor is moving.

Parameters ID . RWStatus ( ) Description Lee REG_WRITE state servomotor .RWStatus int ( 1) .identification number of the servomotor returns -1 If there was no response from the servomotor .# Error found servomotor called 0 if the servo does not have a saved instruction 1 if the actuator has a saved statement Example var = Dynamixel.moving int ( 1) .# Error found servomotor called -0 If the actuator is not in motion -1 If the servo is still moving Example var = Dynamixel. Syntax RWStatus (ID ) .returns -1 If there was no response from the servomotor . lockRegister ( ) Description Blocks 24 to 35 records of the servomotor. Parameters ID .identification number of the servomotor . Syntax lockRegister (ID ) .

# Error found servomotor called Example Dynamixel. readVoltage ( ) Description Read the supply voltage of the servomotor.identification number of the servomotor .readTemperature int ( 1 ) . Syntax readVoltage (ID ) .returns -1 If there was no response from the servomotor .# Error found servomotor called # Internal temperature of the servomotor Example var = Dynamixel. Parameters ID .lockRegister ( 1) . Syntax readTemperature (ID ) . readTemperature ( ) Description Reads the internal temperature of the servomotor . Parameters ID .identification number of the servomotor returns -1 If there was no response from the servomotor .

readPosition ( ) Description Reads the position in which the actuator is located . Parameters ID .# Error found servomotor called # Supply voltage servomotor Example var = Dynamixel. Parameters ID .# Error found servomotor called .identification number of the servomotor .identification number of the servomotor returns -1 If there was no response from the servomotor .returns -1 If there was no response from the servomotor . Syntax readSpeed (ID ) .# Position of the servomotor Example var = Dynamixel. Syntax readPosition (ID ) .readPosition int ( 1) .readVoltage int ( 1) . readSpeed ( ) Description Read the rpm of the servomotor.

# Error found servomotor called .# Used by current servomotor Example var = Dynamixel. .# Error found servomotor called .readSpeed int ( 1) .identification number of the servomotor returns -1 If there was no response from the servomotor .returns -1 If there was no response from the servomotor . Syntax readLoad (ID ) . readLoad ( ) Description Read the current used by the servomotor.# Speed in rpm of the servomotor Example var = Dynamixel.readLoad int ( 1) . Parameters ID .