Dynamixel OpenManipulatorX Write
Writes to the Dynamixel OpenManipulator-X joint commands, gains, and PWM commands.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Devices/Third-Party/Dynamixel/Robots')Description
The Dynamixel OpenManipulatorX Write block is used to send to the Dynamixel OpenManipulator the joint angular position commands, if the robot is used in Position Control Mode, or the joint PWM commands, if the robot is used in PWM Control Mode. Only one set of the Dynamixel OpenManipulatorX Read, and Kinova Dynamixel OpenManipulatorX Write blocks is allowed in a model.
Limitations
CAUTION: Open Architecture Robot!
When using this block, the Dynamixel OpenManipulator-X becomes an open architecture system.
This block is intended for mature and experienced engineers only!
The user must understand the difference between an industrial controller and an open architecture controller.
If it is unclear contact Quanser immediately at tech@quanser.com.
The user is solely responsible for the implementation of the open architecture controller! Quanser and Dynamixel are not responsible for any material or bodily damage that ensues from the use of this equipment.
Do not approach the robot when the arm or the controller are powered up! Install the robot in a safe location and ensure no personnel approaches the robot while it is in operation or while the arm is powered.
All software using this block supplied by Quanser is only to be considered a sample and should not be used on a regular basis. The user should write their own open-architecture control software.
Fully read this document as well as the Dynamixel OpenManipulatorX Write block documentation before connecting the QUARC external PC to the Dynamixel OpenManipulator-X.
Robot Limitations
The Dynamixel OpenManipulator-X is designed to operate within specific velocity and current limitations.
When designing and implementing controllers, the user is responsible to properly generate and regulate the position setpoints and commands
(and their rate of change) so that the Dynamixel OpenManipulator-X stays within its operational limits.
Serial Communication Rate Limitations
The communication to the Dynamixel OpenManipulator-X is carried out via the Robotis U2D2 USB communication converter, which convert between USB and TTL.
The communication cycle time (a.k.a., period) over the serial bus of the Dynamixel OpenManipulator-X takes approximately 7 ms.
Thus the model sample time must be set bigger than that.
Input Ports
open manipulator
A reference to the Dynamixel OpenManipulator-X that must be connected to the open manipulator output port of the Dynamixel OpenManipulator-X Read block. Failure to connect this signal to the Dynamixel OpenManipualtor-X Read block will result in an error being generated.
position command
A 5-element vector of double values containing the desired angular positions for the four (4) joints and gripper of the Dynamixel OpenManipulator-X. SI units are used the values are provided in radians (rad).
pwm command
A 5-element vector of double values containing the PWM commands applied to the 4 joint and gripper motors of the Dynamixel OpenManipulator-X. The units are between 0 and 1.
Output Ports
This block has no output ports.
Parameters and Dialog Box
The Dynamixel OpenManipulatorX Write block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Not supported in a referenced model. Use in top-level model only. |
||
|
Yes |
Not supported in a referenced model. Use in top-level model only. |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
||
|
No |
No |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
No |
No |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
No |
No |
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