POST No. 2407436
Safety encoders for Dynamixel or Dynamixel Pro
2019-06-05 20:34:26 danielbarmaimon

Dear Robotis team and community,

I am developing an AGV for working in an industrial environment in which there will be people working.

For that reason the regulation force the use of safety system (such as safety scanner, safety button, etc.)

I was wondering if it is possible to set up one of these encoders (https://www.sick.com/ag/en/encoders/safety-encoders/dfs60s-pro/c/g309664) in combination with the motor.

I know that all Dynamixel have absolute encoders and Dynamixel Pro have incremental encoders in addition. The problem is that I do not think they are considered SIL3 components as they are embedded in the motor itself.

Thanks a lot for the help.



2019-06-05 20:34:26
2019-06-10 14:00:57 Will Son

Dear Dani,

Thank you for your inquiry.

External devices may be connected to the external port of DYNAMIXEL PRO+, however, the operating voltage will be limited to 3.3V.

The encoder you chose has the minimum 4.2V operating voltage.

Also, the DYNAMIXEL protocol should be processed in the controller so that DYNAMIXEL could be controlled based on LiDAR sensor input.

If this is possible, I'd say the encoder can be used with DYNAMIXEL with proper hardware combination.

Please note that DYNAMIXELs are not comply with industrial standard yet.

Thank you.

2019-06-11 16:58:08 danielbarmaimon
Thanks a lot for taking your time to answer my question.

I could connect the safety encoder to an external power supply. My question was a little bit more towards mechanical installation as there is no space in between the motor and the wheel. I was wondering if someone has already attached an external encoder to the Dynamixel. Any piece of advice in this sense?

Regarding the industrial standardization, any plans on moving forward? With the level of accuracy you provide and how compact and easy to install the solutions are I do not believe I am the first considering using them for industrial purposes.

Thanks a lot once more and keep up the great job.
2019-06-11 16:58:08
2019-06-10 14:00:57
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