Dynamixel MX-106T (2.0)+OpenCM9.04+Arduino IDE_Extended Position Control Mode+Current limit

Using Arduino Programming Questions
1

Hi everyone, I am using MX-106 ((2.0) connected with OpenCM904 and Dynamixel2Arduino library to upload the code using Arduino IDE. Here I want to set/limit the current of the MX (as to control the torque) under extended position control mode but it doesn’t work. I am trying with this below code;

void setup() {
  // put your setup code here, to run once:
  DEBUG_SERIAL.begin(115200);
  dxl.setPortProtocolVersion(2.0);
  dxl.begin(57600);
  dxl.scan();

  // Turn on torque
  dxl.writeControlTableItem(TORQUE_ENABLE, DXL_ID, 0);

  /* set velocity(speed) mode */
  // MX2.0, X serise
  dxl.writeControlTableItem(OPERATING_MODE, DXL_ID, 4);
  
  // AX~MX
  //dxl.writeControlTableItem(CONTROL_MODE, DXL_ID, 4);
  
  // Turn on torque
  dxl.writeControlTableItem(TORQUE_ENABLE, DXL_ID, 1);
}
/*************************************************************/  
void loop() {
  // put your main code here, to run repeatedly:
  Serial_print();
  dynamixel();
}
/*************************************************************/  
 void Serial_print(){
 currT=millis();
  if (currT-prevT>200){
  Torque=dxl.readControlTableItem(PRESENT_CURRENT, DXL_ID);
  prevT=currT;
    torque=(Torque/2047)*100;
    Serial.print("Torque= "); Serial.print(torque);Serial.println("% ");
  }
 }
 /*************************************************************/  
 void dynamixel(){
     
  // MX2.0, X serise
  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 40); //for Mx(2.0)
  if(dxl.writeControlTableItem(CURRENT_LIMIT, DXL_ID, 200))
  {  
  dxl.setOperatingMode(DXL_ID, OP_EXTENDED_POSITION); 
  if(dxl.setGoalPosition(DXL_ID, -10000)){
     delay(5000);
  }
  }
  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 20); //for Mx(2.0)
  if(dxl.writeControlTableItem(CURRENT_LIMIT, DXL_ID, 300)){
  dxl.setOperatingMode(DXL_ID, OP_EXTENDED_POSITION);
  if(dxl.setGoalPosition(DXL_ID, 10000)){
     delay(5000);
  }
  }
 }

It would be great if anyone can suggest me or correct me. Thanks in advance to all.

2

there is work you can take off from the shoulders of your potential helpers.

You should provide tested download-links to the datasheets of the devices that you are using.

best regards Stefan

1 Like
3

Yes now onward, next time I will must try to include the links too.

And this problem has been solved at some extent on the below forum;

https://community.robotis.us/t/dynamixel-mx-106t-2-0-opencm9-04-arduino-ide-extended-position-control-mode-current-limit/476/8

Thanks.

4

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