FAQ
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DYNAMIXEL Information
What's the easiest way to get started working with DYNAMIXELs?
The OpenRB-150 Starter Set contains everything that you need to get started developing Arduino based DYNAMIXEL projects, while the DYNAMIXEL Starter Set (DYNAMIXEL not included) contains everything you need to connect your DYNAMIXEL to a PC. This tutorial will also help to walk you througth the process of setting up your first DYNAMIXEL actuator, including a quick introduction to the DYNAMIXEL Wizard 2.0 configuration software.
What makes a DYNAMIXEL different from a standard servo motor?
A DYNAMIXEL is a fully integrated smart servo featuring all of the hardware and software components needed to produce smooth and precise servo motion, along with providing detailed realtime data about the performance and condition of the servo. DYNAMIXELs feature integrated networking hardware to allow multiple units to be connected directly and controlled simultaneously to make it as easy as possible to add high precision robotic motion to any project.
How many DYNAMIXELs can be connected in a daisy chain?
Up to 253 DYNAMIXELs can be connected to a single DYNAMIXEL network for bothTTL or RS-485. Actual communications performance may vary depending on cable length, power conditions, and operating environment.
What communication protocols do DYNAMIXELs use?
DYNAMIXEL supports both TTL or RS-485 physical serial interfaces, using ROBOTIS Protocol 1.0 or Protocol 2.0 communications depending on the specific model.
How can I save the multi turn position information to my DYNAMIXEL X or P servo after a reboot?
DYNAMIXEL X and P series servos do not support the saving of multi turn position information, advanced users may acheive similar results by storing the required position information in their control application and restoring it on power up.
What is Return Delay Time?
Return Delay Time is the amount of time a DYNAMIXEL servo will wait after receiving a command packet before responding with a status packet. Lowering this control table value will increase the maximum acheivable speed of DYNAMIXEL communication, but may result in increased packet loss on busy DYNAMIXEL networks.
How can I synchronize the movement of multiple DYNAMIXEL servos?
There are multiple ways to operate DYNAMIXEL servos in synchronization. The simplest solution would be through the use of matching Shadow IDs to send identical commands. Other options include the use of the Registered Write instruction with a synchronized command and the Sync/Bulk write functionality of the DYNAMIXEL SDK. It is likely that you'll need to look into each of these options to determine which would likely be the best option for your application.
Is it possible to use DYNAMIXELS with different operating voltages on the same DYNAMIXEL network?
Yes, it's possible to mix DYNAMIXEL servos with multiple operating voltages on the same DYNAMIXEL network, however, you will need to create separate power supply circuits for each group of servos with a different operating voltage.
What kind of information is recorded by a DYNAMIXEL's internal sensors?
DYNAMIXEL servos monitor data including position, speed, temperature, voltage, current, error status and more. The specific information recorded by each DYNAMIXEL model may differ, so always refer to the emanual page for the actuator in question for more specific information.
How can I tune my DYNAMIXEL's PID settings?
The ROBOTIS OpenSource Team has an available tutorial on DYNAMIXEL PID Tuning
How can I find out which cables, idlers, frames or other accessories are compatible with my DYNAMIXEL servo?
ROBOTIS maintains an accessory compatibility guide on our international website. Additionally, information on compatible cables and accessories is also available on the emanual page for each model of DYNAMIXEL actuator.
How can I replace the gears in my DYNAMIXEL servo? Can I install different gears to change the gear ratio of my DYNAMIXEL?
This YouTube video will guide you through the process of DYNAMIXEL X gear replacement. All gears produced for the same size of DYNAMIXEL servos will work in any servo of that size. For example, it is possible to replace the gears from a XM540-W150-R with a replacement gear set for the XM540-W270-R, and the resulting servo will be the equivalent of a new XM540-W270-R.
I want to implement my own TTL or RS485 half duplex converter. Is there a reccomended circuit diagram I should use?
ROBOTIS's reccomended half duplex conversion circutry diagram is available on the emanual.
Can you control DYNAMIXEL servos with PWM input?
DYNAMIXEL servos do have a PWM control mode supporting similar behavior to RC based PWM servos, but only X330 sized miniservos support connection to an RC-PWM bus directly.
What are the different DYNAMIXEL series, and what do they do?
DYNAMIXEL X is the standard series of DYNAMIXEL servos, intended to fulfill the bulk of needs for high performance servos at low prices.
DYNAMIXEL P is our initial series of high performance servomotors with integrated cycloidal gear reduceers, aimed at providing much higher performance for demanding applications.
DYNAMIXEL Y is the latest version of our high performance series, featuring an improved modular construction allowing for never-before seen customization along with the option of integrated poweroff brakes.
DYNAMIXEL P is our initial series of high performance servomotors with integrated cycloidal gear reduceers, aimed at providing much higher performance for demanding applications.
DYNAMIXEL Y is the latest version of our high performance series, featuring an improved modular construction allowing for never-before seen customization along with the option of integrated poweroff brakes.
What operating modes are supported by DYNAMIXEL servos?
DYNAMIXEL X and P servos support:
Current Control Mode (Not supported by XC or XL 430 sized servos): Controls the output current of the servo, to provide constant output torque regardless of speed and position.
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
Extended Position Control Mode: This mode is similar to Position Control Mode, but allows multi turn position based control for applications requiring continuous rotation.
PWM(Voltage) Control Mode: This mode allows the user to specify the final output voltage sent to the motor, allowing for direct control of motor output.
DYNAMIXEL XC and XL430 servos support:
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
Extended Position Control Mode: This mode is similar to Position Control Mode, but allows multi turn position based control for applications requiring continuous rotation.
PWM(Voltage) Control Mode: This mode allows the user to specify the final output voltage sent to the motor, allowing for direct control of motor output.
DYNAMIXEL Y Servos support:
Current Control Mode: Controls the output current of the servo, to provide constant output torque regardless of speed and position.
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
Current Control Mode (Not supported by XC or XL 430 sized servos): Controls the output current of the servo, to provide constant output torque regardless of speed and position.
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
Extended Position Control Mode: This mode is similar to Position Control Mode, but allows multi turn position based control for applications requiring continuous rotation.
PWM(Voltage) Control Mode: This mode allows the user to specify the final output voltage sent to the motor, allowing for direct control of motor output.
DYNAMIXEL XC and XL430 servos support:
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
Extended Position Control Mode: This mode is similar to Position Control Mode, but allows multi turn position based control for applications requiring continuous rotation.
PWM(Voltage) Control Mode: This mode allows the user to specify the final output voltage sent to the motor, allowing for direct control of motor output.
DYNAMIXEL Y Servos support:
Current Control Mode: Controls the output current of the servo, to provide constant output torque regardless of speed and position.
Velocity Control Mode: Controls the output speed of the servo, for a constant speed regardless of torque and position.
Position Control Mode: The default operating mode for new DYNAMIXEL servos. This mode behaves similarly to hobby servos, providing precise positioning control.
What are Indirect Addreses?
Indirect Addresses are a feature allowing DYNAMIXEL servos to assign control table items to a special reserved section in memory, allowing them to be rearranged to decrease access time and increase maximum communications speed.
What is Shadow ID?
A DYNAMIXEL's Shadow ID is a second ID number assigned to the servo, unlike the primary ID, the shadow ID can be shared among multiple different DYNAMIXEL servos allowing them to respond to the same commands and operate in sync
What is Status Return Level?
Status Return Level adjust the servo's response policy to received command packets, adjusting this setting may help reduce communications issues on busy DYNAMIXEL networks.
What are Motion Profiles?
Motion Profiles are an acceleration/deceleration control technique to reduce vibration, noise and load on the motor by limiting dramatic changing of velocity and acceleration. DYNAMIXEL servos support three built-in motion profiles, selected automatically based on configured Profile Acceleration and Profile Velocity settings:
Step: This profile is enabled when both Profile Acceleration and Profile Velocity are set to 0, and represents an unlimited allowed acceleration and velocity.
Rectangle: This profile is enabled when Profile Acceleration is set to 0, and allows an unlimited acceleration with a limited maximum velocity.
Trapezoid: This profile is enabled when both Profile Acceleration and Profile Velocity are not set to 0, and limits both acceleration speed and maximum velocity
Step: This profile is enabled when both Profile Acceleration and Profile Velocity are set to 0, and represents an unlimited allowed acceleration and velocity.
Rectangle: This profile is enabled when Profile Acceleration is set to 0, and allows an unlimited acceleration with a limited maximum velocity.
Trapezoid: This profile is enabled when both Profile Acceleration and Profile Velocity are not set to 0, and limits both acceleration speed and maximum velocity
Are DYNAMIXELs compatible with ROS?
Yes, DYNAMIXEL servos are compatible with ROS through the DYNAMIXEL SDK and the ROBOTIS Framework
What is the difference between TTL and RS485 Communications? Can I mix DYNAMIXELs using the two different communications protocols?
TTL and RS485 are two different implementations of serial communications protocols, RS485 provides slightly more reliable communications but for most applications either RS485 or TTL will suffice. In order to mix servos across different serial protocols, you'll need to use the DYNAMIXEL Communication bridge.
What programming languages are supported by the DYNAMIXEL SDK?
The DYNAMIXEL SDK supports C, C#, Java, MATLAB, LabVIEW, C++, Python and ROS/ROS2 using the provided C++ and Python modules
What is the DYNAMIXEL Protocol?
The DYNAMIXEL Protocol is the format DYNAMIXEL servos use to communicate over the connected serial interface. Complete documentation on the full protocol and all included commands is available on the ROBOTIS eManual.
What do DYNAMIXEL external ports do?
Certain models of DYNAMIXEL servo provide external ports that can be used to send and recieve data or control 3rd party components connected to your DYNAMIXEL servos.
What do DYNAMIXEL Series product names mean?
The product names for each DYNAMIXEL servo are an easy way to identify the specifications of a given DYNAMIXEL servo. Follow each of the links below to see the reference chart for each naming convention.
DYNAMIXEL Y
DYNAMIXEL P
DYNAMIXEL X
DYNAMIXEL Y
DYNAMIXEL P
DYNAMIXEL X
What are the DYNAMIXEL XD and XW specialty servos, and what makes them different?
The DYNAMIXEL XW series is a specialty model of DYNAMIXEL servo featuring a waterproof construction, allowing the servos to be operated fully submerged in liquid or in similar challenging environments.
The DYNAMIXEL XD series is a specialty model of DYNAMIXEL servo featuring improved construction, providing an estimated doubling in the durability and expected lifetime of the product
What is the DYNAMIXEL SDK?
The DYNAMIXEL SDK is ROBOTIS's fully featured DYNAMIXEL development kit, intended to provide the most control possible for you to develop your custom DYNAMIXEL application. The SDK supports all available DYNAMIXEL models, and is compatible with a wide variety of programming languages.
What is DYNAMIXEL Wizard?
DYNAMIXEL Wizard is ROBOTIS's DYNAMIXEL calibration and configuration software, designed to simplify the process of setting up, configuring, and maintaining your DYNAMIXEL servos. DYNAMIXEL Wizard features tools for ID setup and inspection, simplified control table configuration and bulk deployment, and graphing and monitoring of DYNAMIXEL performance, as well a self-help troubleshooting and recalibration tools.
I need a DYNAMIXEL cable length not found on your website. Are custom length DYNAMIXEL cables available?
The specifications for DYNAMIXEL cables, as well as the required connector types are available on the eManual page for each DYNAMIXEL actuator. This information makes it easy to create your own custom cables in any length you want.
What is a DYD? What features do they have?
The DYD is a standalone cycloidal gear reducer intended to be paired with other actuaton solutions. DYD units are not standalone servomotors, and do not include motor components.
Which kinds of DYNAMIXEL repair and replacement components are available for purchase?
ROBOTIS makes replacement gears and horns available on our website. Replacement casing, accessory, or frame components may be made available upon RMA request, internal electronics or PCB components are not available for sale as replacement parts.
Troubleshooting/Errors
What is an Overload Error?
An overload error indicates that the internal motor has stalled, or is attempting to move a load too heavy for the servo's maximum output. Try testing the servo in question without anything attached to the output to verify it is working correctly. Servos that experience a constant error state when powered on may require RMA repair service to restore functionality.
What is an Electronic Shock (ES) Error?
An Electronic Shock error occurs when there is an internal short circuit in the DYNAMIXEL's onboard electronics, or when there is not enough power being supplied to the servos to correctly operate them. In the case of insufficent power, switching to a different power supply will resolve the issue. If the servo enters a constant ES error state when powered on, it is likely to require RMA repair service to restore functionality.
What is an Motor Encoder Error?
A motor encoder error indicates that the motor's internal position encoder has reported an error code status. In most cases, simply restarting the servo will resolve the error. If the error is not resolved by a restart or a firmware recovery, RMA service will be required.
What is an Overheating Error?
A motor experiencing an overheating error has detected an internal motor tempurature higher than the safely allowed values. In the event of an overheating error, allow the motors five minutes to cool off before restarting them. Continuing operation of the servos while at a dangerously high tempurature is likely to cause damage to the internal components.
What is an Input Voltage Error?
An Input Voltage Error indicates that the connected power supply is not providing the correct input voltage to the servo. Always ensure that your connected power supply provides a safe operating voltage for all connected servos. Operating any DYNAMIXEL with an incorrect input voltage will void your warranty, and may cause damage to your servosl
Why does my servo keeps moving strangely for the first few movements after a restart?
If your servo is not set to multi-turn mode, then the servo may move in an unexpected direction during initial motion due to the resetting of the single turn mode position. Try operating your servo in multi-turn mode in order to ensure that the servo will always take the shortest path to the goal position, even following resets.
My servo won't cross over the zero position, and keeps rotating back and forth instead of turning continuously.
Your servo has not been set to multi-turn mode. DYNAMIXEL servos must be in multi-turn mode in order to rotate past 360 degrees.
Why does the red indicator LED on my servo keep blinking?
If the red indicator LED on your servo is blinking constantly, that indicates that the servo has detected a hardware error status. First, try disconnecting the servo completely from power and restarting it. If the LED continues to blink, then your servo may require RMA service in order to restore functionality.
Is multi-turn (over 360 degrees) possible?
Yes, supported models allow rotation beyond 360 degrees.
General Information
What is the difference between an incremental encoder and and absolute encoder?
An incremental encoder is only able to detect changes in rotation relative to where the encoder was located when powered on, while absolute encoders can detect the encoder's current position at any time, even if moved when power was off. All DYNAMIXEL servos include built in absolute encoders for maximum positional accuracy.
What is Backlash, and why is it important?
Backlash represents the small gap between the teeth of the servo's gear train that allows a small amount of free movement when changing direction. Generally, having a smaller backlash is better as it will improve movement precision, but having too little backlash may result in excessive wear and tear on the servo's internal components. For information on the specific backlash allowed for a particular DYNAMIXEL servo, please refer to the emanual page for the servo in question.
What is the difference between Stall Torque and Continuous Torque?
Stall torque is a measure of the maximum output force that the servo can output when in a stall, while Continuous torque is the maximum output that the servo can provide while in motion. Generally, the Stall Torque value will be slightly higher, but the Continuous torque will be a better reperesentation of the actual maximum torque output in real-world conditions.
What is a PID controller?
A PID or Proportional, Integral, and Derivative controller is a type of feedback mechanisim that allows the DYNAMIXEL to automatically adjust it's motions according to user defined parameters, letting users fine tune the performance of their DYNAMIXEL servo to reduce errors, provide faster response times, or increase precision.