I am currently working on a robotic arm. I am using these:
- 2x dynamixel motors XM540-W150
- 2x dynamixel motors XM540-W270
- 2x dynamixel motors XM430-W210
- U2D2 to connect to my microsoft PC
- 2x Power Hub Board
The two XM540-W270 are on the same joint. One of them is in slave mode. The other motors control the other joints. I therefore have a 5 degree of freedom robotic arm (you get the picture?).
The baudrate of each motor is at 4 000 000 bps. The usb port (COM) is set at 9600 bps and has latency time of 1 ms.
My problems are the following:
When I scan my motors on Dynamixel Wizard, the software doesn’t always detect 6 motors. Would you know why? When it happens, I just scan it again until it detects 6 motors.
I always get the Time Out pop up (as shown on the picture):
This happens whether the torque is enabled or disabled. It happens with all the motors. From what I understand, I get this message because I didn’t receive my motor’s status message within 5 milliseconds. Is that correct? My question is why do I keep getting this pop up and how can I avoid it? I believe it affects the control of the robotic arm because I sometimes read the position of my motors to be all at 0, which I know is false.
Thank you very much!