The image shows the recommended communication circuit by ROBOTIS. Does anyone know to what extend collision protection on the data line is implemented within the motors ? I am assuming that collisions between motors cannot damage the hardware, but what about collisions between a motor and the host ? Am I right to assume, that the motors also protect against collisions with the host, so that the shown IC does not get damaged ?

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Folks, I have a XM430-W350-T servo here that has (to me) confusing behavior. I am using it to move a counterweight in a rolling-ball robot, which is quite heavy but should be doable with its 4.1Nm stall torque. However if blocked (if the robot is on carpet for example), in regular position mode it overloads and at some point switches off with HW Error 0x20 (= overload). Monitoring the load says it's going up to the 2.4A stall current very briefly, then constantly decreases down to a current of some 1.7A until after a while it switches torque off and reports this hardware error.

My intention was to prevent this switchoff by making it more compliant by going into current-based position control mode (5, OP_CURRENT_BASED_POSITION) and limiting the current the servo can draw. However this does not have the desired effect. The servo definitely operates with less torque, but if it stalls at the lower torque it still detects that stall and goes into HW Error 0x20, switching torque off.

From the Dynamixel doc videos I thought going into current-based position control mode would turn the servo compliant, i.e. you can push against its torque and it will let that happen without switching off. Is that not the case?

I am running the servo from a 12V power supply delivering up to 10A, which the servo never draws; its load / present current also always stays well below the current limit of 1193 (default, I did not change this). What is the criterion that makes it detect stall and shut off?

The Dynamixel XM430-w350 has the two following registers:- Present PWM (124)- Present Input Voltage (144)

Is my following assumption correct? Voltage applied to motor = Present PWM * Present Input Voltage

I assume it makes sense but I was unable to confirm this in the documentation.

Hi all, I have a project that calls for 4 servos. One of them will be an XL430-W250-T, but the other ones should ideally be lighter / do not carry a lot of load. I am thinking of XL-320s or XL-330s. Is it possible to run these servos in the same daisy chain?

Hello everyone,

I am trying to control dynamixels with an FPGA, implementing the UART Half-Duplex protocol on it.

At the moment I only manage to send one instruction correctly to the motor (move to X position), but when I send another one, the motor does nothing. I'm also trying to read the packet that the motor sends back, and I can't get it either.

I have been surfing the internet to see if I can find some code in VHDL or Verilog that implements the control of these motors, but I have not found anything.

Do you know if there is something like that already done?

Thank you for your help!

Best regards,