MX Series

    

※ Dynamixel model-specific connectors standard   

MX-12W

Connection to UART

To control the Dynamixel 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 AX-12 can be operated with only one connector attached.

    
 

MX-28T, MX-64T, MX-106T

Connection to UART

To control the Dynamixel 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.

  

MX-28R, MX-64R, MX-106R

Connection to UART

To control MX 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.

 

 

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 MX-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.

 

 

Wiring

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

 

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.