bender_fieldbus

bender_fieldbus

El package bender_fieldbus contiene archivos necesarios para el control de dispositivos basados en el protocolo Dynamixel, este protocolo usa RS485 como capa física y permite la conexión de multiples nodos en un mismo bus.

Instalación

Para instrucciones de instalación ver bender_fieldbus/install/README.md

Dispositivos

Tablas de control

• Dynamixel MX-106
• Dynamixel EX-106+
• Dynamixel RX-64
• Dynamixel RX-28

Brazo derecho r_arm

Joint	Model	ID	Lowest Limit Voltage	Highest Limit Voltage	Status Return Level	Alarm LED	Alarm Shutdown
r_shoulder_pitch_joint	EX-106+	1	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
r_shoulder_roll_joint	MX-106	2	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
r_shoulder_yaw_joint	RX-64	3	120 (12.0 V)	165 (16.5 V)	2	0x25	0x04
r_elbow_pitch_joint	MX-106	4	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
r_elbow_yaw_joint	RX-64	5	120 (12.0 V)	165 (16.5 V)	2	0x25	0x04
r_wrist_pitch_joint	RX-28	6	120 (12.0 V)	165 (16.5 V)	2	0x25	0x04

Brazo izquierdo l_arm

Joint	Model	ID	Lowest Limit Voltage	Highest Limit Voltage	Status Return Level	Alarm LED	Alarm Shutdown
l_shoulder_pitch_joint	MX-106	11	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
l_shoulder_roll_joint	MX-106	12	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
l_shoulder_yaw_joint	RX-64	13	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
l_elbow_pitch_joint	MX-106	14	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
l_elbow_yaw_joint	RX-64	15	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
l_wrist_pitch_joint	RX-28	16	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04

Gripper izquierdo l_gripper

Joint	Model	ID	Lowest Limit Voltage	Highest Limit Voltage	Status Return Level	Alarm LED	Alarm Shutdown
	RX-28	17	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04
	RX-28	18	120 (12.0 V)	160 (16.0 V)	2	0x25	0x04

Gripper derecho r_gripper

Joint	Model	ID	Lowest Limit Voltage	Highest Limit Voltage	Status Return Level	Alarm LED	Alarm Shutdown
	RX-28	7	120 (12.0 V)	165 (16.0 V)	2	0x25	0x04
	RX-28	8	120 (12.0 V)	165 (16.0 V)	2	0x25	0x04