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Dynamixel X with OpenCM 9.04C and ROS possible or OpenCR/U2D2 need?

asked 2019-01-27 09:53:07 -0600

updated 2019-02-19 14:19:38 -0600

Dear all,

I plan to build a robot arm with Dynamixel X servos. I also want to use ROS tools and drivers for the servos. I found there is a cheap OpenCM 9.04C Controller board (~20USD) available, also the U2D2 USB Interface (~50USD) and then the OpenCR Board (~200USD). In the ROS packages I only found the OpenCR mentioned. My plan is that ROS runs on the PC and I just need the interface from there to Dynamixel X. My question is: Can I control the Dynamixel X (T version with 3 cables) on ROS through the OpenCM 9.04 board? And can you name me the ROS packages I need for this? Or do I need to buy one of the 2 other boards (U2D2 or OpenCR)?

Thank you for any help, I'm new to Dynamixel ;-)

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answered 2019-02-06 18:54:50 -0600

Darby Lim gravatar image

Thank you for your inquiry about Dynamixels.

To control Dynamixels on your PC, you are supposed to need U2D2 ( ) and U2D2 power hub ( )

The releated packages are showing

DynamixelSDK and Dynamixel-Workbench

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Hi, good to see this post. I have the similar situation. I have RPi3+openCM904 and i am willing to use ROS with this configuration. Can I go with configuring ROS on "RPi3+openCM9.04+Dynamixel"? If YES, please help me to setup the supported library and development. Please guide me accordingly~ Thanks! Best Regards, /Ash

Ashkr gravatar image Ashkr  ( 2019-09-10 20:37:00 -0600 )edit

answered 2019-02-19 14:16:05 -0600

updated 2019-02-19 14:23:12 -0600

It works with U2D2 as mentioned above. However it could probably work with any UART instead of U2D2. E.g. any USB to Serial/UART adapter which start at round 10EUR. Also most µCs already have this included. If you use Raspberry Pi, you could probably directly use the pins on the GPIO without buying any additional HW. Just connect GPIO14 and GPIO15 with a 2k resistor and connect GPIO15 as Dynamixel data line. Note that you need to activate the UART in SW/Operating System of raspberry Pi... I plan to try it but did not find time yet... There is a picture here:

The Dynamixel SDK / Workbench directly control the Dynamixel via UART. This can be U2D2 or any other UART. Details can be found at Robotis documentation:

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Asked: 2019-01-27 09:53:07 -0600

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Last updated: Feb 19 '19