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POST No. 2408047
Time Out pop up on Dynamixel Wizard
2021-05-20 21:53:56 Xavixav

Hi,
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
  • 1x Other power hub board (though I do not know the model)
  • 3x Power supplies 12 Volts DC - 5 Amps

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:

  1. 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.

  2. I always get the Time Out pop up (as shown on the picture):

    image
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 as being all 0, which I know is false. 

Also, here are more details of my setup. Right now, I am controlling them directly from my PC. I am writing and reading information using groupSyncRead and groupSyncWrite from the dynamixel_sdk library. As for the length of cables, it’s about 1-2 meters long from my PC to the last motor. I believe we are using 4 ports cables that were bought on Robotis of different length.

As for the connection setup, see picture below:

image
image1059×680 150 KB


The Rx Tx wire are all in series between the different motors.


Thanks a lot!

2021-05-20 21:53:56
Xavixav
2021-05-25 13:16:55 Will Son

Please refer to the redundant issue thread below.

https://community.robotsource.org/t/time-out-pop-up-in-dynamixel-wizard/2054/3

2021-05-25 13:16:55
willson