dynamixel ax-12a

fred2014 · Joined: 01 Dec 2014 Posts: 1

i have a servo ax-a12
i want to drive it by 16f877a in ccs
i need to know how i can drive it
is there any library for it?
someone can explain to me step by step
i have read its datasheet but i cant understand enough
thanks

Ttelmah · Joined: 11 Mar 2010 Posts: 19539

You need the interface circuit that converts TTL serial RX/TX signals to the one wire interface it uses (CM-5). Then you can just use serial commands to control it. For the extra 'direction' wire, connect this to one other pin on the PIC, and set this as the direction control line (ENABLE in the #USE RS232).
The unit then accepts serial commands. It uses 1000000bps initially. You send it simple commands for maximum torque, where to go, speed etc., and can read back replies. Each packet needs a checksum, which is the low byte of the sum of all the bytes sent, inverted.
You can daisy chain multiple units on one bus, with different ID's.
I've seen a couple in use, and they are nice units.

dyeatman · Joined: 06 Sep 2003 Posts: 1934 Location: Norman, OK

Some more info can be found here:
http://developer.mbed.org/users/chris/notebook/Dynamixel-AX-12/

and more here:
http://webbot.org.uk/WebbotLibDocs2/44080.html

even more connection info here:
http://www.instructables.com/id/How-to-drive-Dynamixel-AX-12A-servos-with-a-Raspbe/step3/The-Joy-of-UART-Communication/

PIC code here in the Talking to the AX-12 using a PIC Section:
http://www.lukeallen.com/AX12robotleg.html
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