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POST No. 2407682
Discovering order of dynamixel IDs in daisy chain
2019-11-26 12:20:51 jabroni

I currently have six XL430-W250T motors daisy chained interfaced through the U2D2. The six motors form three pan-tilt platforms. I have them set up on a frame, but I anticipate I will swap motors in and out of the frame quite frequently.


Is there a way I can scan the motor IDs and discover the order in which they are daisy-chained? This way, I can automate in code which motor ID belongs to which position in the pan-tilt platform.


I am controlling the motors using the Dynamixel SDK in C++ (linux64).

2019-11-26 12:20:51
jabroni
2019-12-03 15:26:43 Will Son

Hi,


For now, unfortunately if DYNAMIXELs are daisy chained, it is difficult to detect the order of connection from the software side.

Thank you for your inquiry.

2019-12-03 15:26:43
willson
2019-12-04 10:39:07 Susan Mackay

If all you want to do is to find a new servo in the chain, then number them all with an ID that is NOT 1. When you add the new one it will have the default ID of 1 so you can talk to that, determine which it is and then reprogram the ID to whatever is should be.

Susan

2019-12-04 10:39:07
aussiesusan
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