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Thread: Dynamixel SDK RXTIMEOUT Error - Visual Studio -USB2Dynamixel - XL-320

  1. #1
    evilmime Guest

    Dynamixel SDK RXTIMEOUT Error - Visual Studio -USB2Dynamixel - XL-320

    I am having trouble communicating with my dynamixel xl-320.

    Current setup is using the windows sdk and visual studio 2013, communication via usb2dynamixel by replacing the smaller connector on the xl-320 to one that is compatible with the Usb2Dynamixel.

    I can control the xl-320 with no problems at all using the dynamixel manager in roboplus. I can also compile the sdk examples and connect to the usb2dynamixel with no problems. But when trying to run the READ_WRITE example with the xl-320 (after updating the control table addresse to match the xl-320's specs), I continually get a RXTIMEOUT error.

    One obvious possibility is the baud rate of the xl-320 not matching what I'm trying to communicate with, but I've checked and double checked that they are the same. I manually set the baud rate to 9600 in the dynamixel manager, and then tried the following:

    Code:
    #define DEFAULT_BAUDNUM        207 
    dxl_initialize(DEFAULT_PORTNUM, DEFAULT_BAUDNUM)
    but when I try executing the following code I still get a timeout error

    Code:
    dxl_write_word(DEFAULT_ID, P_GOAL_POSITION_L, GoalPos[index])
    I then manually set the baud rate back to 1 Mbs and changed DEFAULT_BAUDNUM back to 1, but am still having the same issue.

    Any ideas on what could be going wrong?

  2. #2
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    Re: Dynamixel SDK RXTIMEOUT Error - Visual Studio -USB2Dynamixel - XL-320

    The XL-320 use the dxl2.0 protocol, not the dxl1.0 protocol available in the dynamixel sdk. You will have to modify the sdk to get it working with the XL-320 or any Dynamixel Pro servos.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
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  3. Re: Dynamixel SDK RXTIMEOUT Error - Visual Studio -USB2Dynamixel - XL-320

    I'm doing this for linux at least if you're still working on it:
    https://github.com/jefesaurus/DynamixelSDK2.0

    Currently works for pinging/reading/writing to XL-320's using USB2AX

    To get it to work on windows, you would probably have to swap in the windows versions of dxl_hal.c/h which are in robotis's repos somewhere.

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