XM Series

Special features of Dynamixel X



Basic Feature

 

Various Control Functions

 

Connection to UART - XM430-W210-T / XM430-W350-T

To control the Dynamixel X-T actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.

            

Pin Assignment

The connector pin assignments are as the following. The two connectors on the Dynamixel are connected pin to pin, thus the Dynamixel can be operated with only one connector attached.

 

Caution : Please pay special attention to avoid incorrect pin assignments in wiring. Otherwise, Dynamixel may be damaged.

 

      

Connection to UART - XM430-W210-R / XM430-W350-R

To control X Series with a personally made Main Controller, the signal of Main Controller UART should be converted into RS485 type signal. The following is a recommended circuit diagram.

 

 

MAX485 Datasheet

 

The power of Dynamixel is supplied via Pin1(-), Pin2(+).

(The above circuit is built into Dynamixel-only controller.)

In the above circuit diagram, the direction of data signal of TxD and RxD in the TTL Level is determined according to the level of DIRECTION 485 as follows:

In case of DIRECTION485 Level = High: The signal of TxD is output to D+ and D-.

In case of DIRECTION485 Level = Low: The signal of D+ and D- is output to RxD.

Pin Assignment

The pin assignment of a connector is as shown below. The X-series Dynamixel has  two 4pin connectors on it and those two connectors have the same function. So, you may use any of the two when connecting the actuators.

 

 

Caution : Please pay special attention to avoid incorrect pin assignments in wiring. Otherwise, Dynamixel may be damaged.

Confirmation of Connection

The LED of Dynamixel flickers once if the power is supplied to Dynamixel properly via wiring.