EX Series

 

Connection to UART

To control EX Sereis 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.

 

rx_series_circuit.png

 

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 EX 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.

 

rx_series_pin.png

 

Wiring

Wiring should be done Pin2Pin as shown below. By connecting as such, several EX-series can be controlled on a BUS.

rx_series_wiring.png

 

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.
 

Improved Funtion

Close Control

The location and the speed can be controlled by the 4096-step resolution since Encoder is installed.

Current Sensing

Detailed calculation is possible while controlling robots because it is possible to measure the amount of current consumed by the motor.

Supporting Dual Mode

Two units of EX-106+ can be synchronized, that is, can be controlled simultaneously in a parallel to increase the torque.