\n 12V\/5A power supply.\n <\/li>\n

\n BT-410 Dongle module.\n <\/li>\n

\n BT-410 Slave module.\n <\/li>\n

\n Dynamixel servomotor (here an MX-28).\n <\/li>\n

\n OpenCM9.04.\n <\/li>\n

\n OpenCM485\n <\/li>\n

\n 3 (or 4) pin cable for Dynamixel.\n <\/li>\n

\n Micro USB cable.\n <\/li>\n <\/ul>\n \n \n

\n Required software\n <\/h2>\n \n \n
\n
\n Arduino.IDE.\n <\/li>\n <\/ul>\n \n \n
\n Installation\n <\/h2>\n \n \n
\n Connections:\n <\/h3>\n \n \n
\n
\n Connect the\n \n OpenCM9.04\n <\/a>\n board to the\n \n OpenCM485\n <\/a>\n EXP board.\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n
\n Connect the\n \n servomotor\n <\/a>\n to the OpenCM485 EXP via the 3 (or 4) pin Dynamixel cable.\n <\/li>\n
\n Connect the\n \n BT-410 Slave\n <\/a>\n to the OpenCM9.04 board on the UART port.\n <\/li>\n
\n Connect the OpenCM9.04 board to the PC via the micro USB cable.\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n The OpenCM9.04 board is switched on and the BT-410 module flashes blue.\n <\/p>\n \n \n
\n Software:\n <\/h3>\n \n \n
\n
\n Download the\n \n Arduino.IDE\n <\/a>\n software.\n <\/li>\n
\n Launch Arduino.IDE, go to\n \n File\n <\/em>\n , then\n \n Preferences\n <\/em>\n .\n <\/li>\n
\n In\n \n Preferences\n <\/em>\n , enter the following link into the\n \n Additional Boards Manager URLs\n <\/em>\n field: https:\/\/raw.githubusercontent.com\/ROBOTIS-GIT\/OpenCM9.04\/master\/arduino\/opencm_release\/package_opencm9.04_index.json\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n
\n Go to\n \n Tools\n <\/em>\n , then\n \n Board Type\n <\/em>\n and click on\n \n Board Manager\n <\/em>\n .\n <\/li>\n
\n Search for the\n \n OpenCM9.04 by ROBOTIS\n <\/em>\n section and press\n \n install\n <\/em>\n button.\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n
\n Close the Arduino.IDE software, then launch it again.\n <\/li>\n
\n Go to\n \n Tools\n <\/em>\n , and then\n \n Board Type\n <\/em>\n . From the list, select\n \n OpenCM9.04 Board\n <\/em>\n .\n <\/li>\n
\n Go to\n \n Tools\n <\/em>\n , then to\n \n Port\n <\/em>\n . Select the port corresponding to the OpenCM9.04 board.\n <\/li>\n <\/ul>\n \n \n
\n Operation\n <\/h2>\n \n \n
\n Setup\n <\/h3>\n \n \n
\n
\n Launch Arduino.IDE.\n <\/li>\n
\n Go to\n \n Files\n <\/em>\n ?\n \n Examples\n <\/em>\n ?\n \n OpenCM9.04\n <\/em>\n ?\n \n 08_DynamixelWorkbench\n <\/em>\n , then click on\n \n h_Position\n <\/em>\n .\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n
\n A new window opens with the setup program required to control the servomotor.\n <\/li>\n <\/ul>\n \n \n
\n Program\n <\/h3>\n \n \n
\n
\n Write the program you want.\n <\/li>\n
\n Download the program onto the OpenCM9.04.\n <\/li>\n
\n Unplug the OpenCM9.04 board from the PC\n <\/li>\n
\n Power the OpenCM485 EXP board using the 12V\/5A power supply and press the switch.\n <\/li>\n
\n Connect the\n \n BT-410 Dongle\n <\/a>\n module to the PC. Bring the two modules closer together in order to pair them. The modules are synchronized when the flashing stops.\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n
\n From the Arduino.IDE software, go to\n \n Tools\n <\/em>\n ,\n \n Port\n <\/em>\n and select the port corresponding to the BT-410 Dongle module.\n <\/li>\n
\n Open the serial monitor to communicate with the OpenCM9.04 board. The monitor must be set to 57600 baud.\n <\/li>\n <\/ul>\n \n \n
\n Examples of programs\n <\/h2>\n \n \n
\n Controlling the servo motor\n <\/h3>\n \n \n
\n Allows the position of the servo motor to be selected between position 0 and position 4095.\n <\/p>\n \n \n
\n
\n Enter the code line \u00ab\n \n int Position_du_servomoteur\u00a0;\n <\/em>\n \u00bb below the code line \u00ab\n \n DynamixelWorkbench dxl_wb;\n <\/em>\n \u00bb.\n <\/li>\n
\n In the\n \n void setup()\n <\/em>\n function, enter the code line\u00a0\u00ab\n \n Serial2.begin(57600);\n <\/em>\n \u00bb.\n <\/li>\n
\n In the\n \n void loop()\n <\/em>\n function, enter the following lines of code:\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n \n
\n Series of positions\n <\/h3>\n \n \n
\n Allows to launch a series of predefined positions when a specific command is given (here, the command is \u00ab\u00a01\u00a0\u00bb).\n <\/p>\n \n \n
\n
\n Enter the code line \u00ab\n \n int Lancement_du_programme\u00a0;\n <\/em>\n \u00bb below the code line \u00ab\n \n DynamixelWorkbench dxl_wb;\n <\/em>\n \u00bb.\n <\/li>\n
\n In the\n \n void setup()\n <\/em>\n function, enter the code line\u00a0\u00ab\n \n Serial2.begin(57600);\n <\/em>\n \u00bb.\n <\/li>\n
\n In the\n \n void loop()\n <\/em>\n function, enter the following lines of code:\n <\/li>\n <\/ul>\n \n \n
\n
\n $\"\"$ \n <\/figure>\n <\/div>\n \n <\/body>\n<\/html>","protected":false},"excerpt":{"rendered":"
With this tutorial, you will learn how to easily control your Robotis Dynamixel servomotors from your computer thanks to a Bluetooth connection. This makes it easy to perform your tests and saves you from annoying cable connections. Required hardware 12V\/5A power supply. BT-410 Dongle module. BT-410 Slave module. Dynamixel servomotor (here an MX-28). OpenCM9.04. OpenCM485[…]
Read this article >><\/a><\/p>\n","protected":false},"author":188,"featured_media":7376,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[10535],"tags":[],"class_list":["post-7378","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-guides-and-tutorials"],"_links":{"self":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7378","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/users\/188"}],"replies":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/comments?post=7378"}],"version-history":[{"count":2,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7378\/revisions"}],"predecessor-version":[{"id":7546,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/posts\/7378\/revisions\/7546"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media\/7376"}],"wp:attachment":[{"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/media?parent=7378"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/categories?post=7378"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.generationrobots.com\/blog\/wp-json\/wp\/v2\/tags?post=7378"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}

\n Installation\n <\/h2>\n \n \n