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End Effector Servos
The new Tool Interface for end effectors incorporates 2 Dynamixel XL-320 servos which use a single wire, half duplex, serial interface and a data format known as the Dynamixel v.20 Protocol. These become the 6th and 7th axis for the robot.
The connector on the servo is a Molex Microlatch 3 pin. For a PCB, the mating part is the Molex 53253-0370
| Pin | Signal |
|---|---|
| 1 | GND |
| 2 | VDD |
| 3 | DATA |
Data for the servo bus comes from the main controller board. See the Tool Interface page for more on that wiring.
The firmware was changed May 29th on the TDInt branch to accept servo commands via the Set Parameter command and to include measured angle and force data via the returned status data
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