ROBOTIS e-Manual v1.13.01
This is an example for LabView.
This example has been tested in LabView 2009, and the source has been written in LabView 8.0 for compatibility.
To execute this example, DLL file must be imported so as to use Dynamixel control command in LabView. The import procedure of DLL file is as follows.
To use Dynamixel SDK in LabView, you must go through the Library import procedure. Library can be imported in LabView as below.
1. Select Tools - Import - Shared Library (.dll) in the "Getting Started" window of LabView.
2. Select "Create VIs for a shared library," and then click "Next" button.
3. Select dynamixel.dll and dynamixel.h in Dynamixel SDK folder.
4. Click "Next" button.
5. Click "Next" button.
6. If there is no specific reason, click "Next" button without changing the basic value as below.
7. Click "Next" button.
8. If there is no specific reason, click "Next" button without changing the basic value as below.
9. It shows the contents to be created. Click "Next" button.
10. So far based on the set contents, create vi file.
11. The vi file creation of Dynamixel SDK is completed.
12. Dynamixel SDK functions can be called through LabView User Libraries as below.
This is a Read / Write example.
The communication mode of USB2Dynamixe is selected for the appropriate environment.
The information regarding communication modes pursuant to the location of switch is as follows:
1 - TTL Mode
It can communicate with devices using 3-pin cable such as AX-12/12+, AX-S1, and AX-20.
2 - RS485 Mode
It can communicate with devices using 4-pin cable such as DX-Series, RX-Series, etc.
3 - RS232 Mode
It can communicate with devices using serial cable such as CM-5, CM-510, etc.
One Dynamixel must be connected to USB2Dynamixel.
In case of using EX-series Dynamixel, the ID must be set to 1; the communication speed is 1 Mbps.
The Port number must be adjusted to the users' environment. The basic value is set to COM3.
Pressing the button, the motor is operated by dialing, and the present position value is shown on the gauge.
Three Dynamixels must be connected to USB2Dynamixel.
The IDs of each Dynamixel are 1, 2, and 3, and the communication speed must be set to 1Mbps.
The Port number must be adjusted to the users' environment. The basic value is set to COM3.
Pressing the button, different phases are shown on each of three motors, and they are controlled by Sine curve.
