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References

Brochure

Download PDF Outside pages (1, 4)
Download PDF Inside pages (2, 3)

Specifications

Main controller : powered by Intel Atom Z530 CPU (clocked @ 1.6GHz)
Sub controller : powered by STMicroelectronics Cortex-M3 STM32F103RE (clocked at 73MHz).
Camera
- 2MP HD webcam with up to 1600x1200 resolution (720p-capable)
- 30 fps
- YUV (capture format)
- Carl Zeiss focus.

Link Overall Specifications
Download PDF Diagrams

Hardware Specifications

Core Component Specifications

Main Controller (fit-PC2i)

Feature	Specifications
CPU	Intel Atom Processor: Z530 - 1.6Ghz @533MHz FSB L2-512KB(dynamic sizing), L1-32KB IC, 24KB DC. Intel Deep Power Down(C6) technology support
Chipset	Poulsbo US15 Intel System Controller Hub (INTEL SCH)
Memory	1GB DDR2, 533MHz, 64-bit
Solid State Disk	3.6GB NAND flash disk
Display Interface	SDVO based DVI interface(up to 1920x1080). Hotplug support.
Audio	Realtek ALC260, High Definition Audio, Line Out, shared line-in / mic-in
Ethernet	based on Gigabit PCI-Express controller Realtek RTL8111
WiFi	802.11 b/g/n capabilities, using RaLink RT3070 USB module. Up to 150Mbps, 2.4GHz band.
USB	2 external USB ports
BIOS	Phoenix SecureCore BIOS
SDIO slot	mini SD connector supporting SDIO1.1 and MMC4.1
Active consumption	5-7W depending on CPU load
Dimensions	104 x 96 x 23 mm
MTBF	> 100,000 hours
Operation temperature	0°C to 70°C
Storage temperature	-40°C to 85°C
Relative humidity	10% to 90% (operation) 5% to 95% (storage)

You may download CompuLab's reference guide with detailed specifications here. You can also get information on the speaker, microphones, and camera.

Sub Controller (CM-730)
- STMicroelectronics 32F103RE ARM Cortex 32-bit CPU (clocked @ 72MHz)
- Actuator Interface (TTL or RS-485 (5x) each)
- Converters (USB-to-Serial, ADC)
Actuator (DYNAMIXEL MX-28)
- Stall torque 24kgf.cm @ 12V
- Maxon RE-Max customized DC motor
- 193:1 reduction ratio
- Up to 3Mbps buffered TTL interface
- User programmable PID Gain
- Up to 4096 resolution absolute encoder
- DYNAMIXEL Protocol 1.0
Interface
- 3 buttons
- 7 LED's (2EA : 15-bit RGB, user-programmable)
Sensors
- IMUs (3-axis accelerometers, 3-axis gyroscope, both intrgrated into sub controller)
- Image (2MP Logitech C905) HD Camera
- (OPTION) Force: 4 FSR per foot
Battery (LiPo)
- Voltage : 11.1V
- Capacity : 1000 mAh
- Discharge : 10C
- Dimension : 70 x 35 x 15
- Weight : 83g
- PCM embedded to protect from over charge, over discharge, and excess current.
PCB Schematics
- Download PDFHead PCB Schematic
- Download PDFInterface(Back Panel) PCB Schematic
- Download PDFPower Schematic

Sub Controller

Download ZIP Framework
Download PDF Schematics
Download ZIP Reference Guide

You can also get information about the gyroscope and accelerometer.

How to convert TTL to RS485

Simply apply the 2 changes below to change the comm. method.

Yellow Rectangle : Change location of resistance
- RS24 Short : 3P
- R25 Short : 4P
Red Rectangle : Must change connector.
- Not sold separately by ROBOTIS.

For more information on the connector, please refer to the MX-28 Connector Information.

Features

Feature	Specifications
CPU	STMicroelectronics 32F103RE ARM Cortex 32-bit CPU (clocked @ 72MHz) (512KB Flash, 64KB SRAM )
Interface	5 x LED , 2 x RGB LED, 3 x Button, 1 x Buzzer
External ports	13 x ADC /I/O Ports
Sensor	3-axis gyroscope , 3-axis accelerometer, supply voltage sensor
Communication	USB Port, Serial Port , 5x TTL Ports (for DYNAMIXEL)
Audio & Mic Amp	Audio amp gain : 20, mic amp gain : 2027
ETC	DYNAMIXEL Power Control Unit, Head board port, Interface board port.
External supply voltage	8V ~ 16.8v
Current consumption	Maximum 150mA , Standby 50mA
Dimensions	80.0mm x 75.0mm x 20.0mm
Operation temperature	-65°C to +80°C
Weight	51g

Control Table

Control Table consists of data regarding the current status and operation of CM-730. The user can control CM-730 by changing data of Control Table via Instruction packet.

EEPROM and RAM

Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

Access

CM-730 has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16-bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet simutaneously.

EEPROM Area

Address	Name	Description	Access	Init Value
0 (0X00)	Model Number(L)	model number low byte	R	0(0X00)
1 (0X01)	Model Number(H)	model number high byte	R	115 (0X73)
2 (0X02)	Version of Firmware	firmware version	R	-
3 (0X03)	ID	DYNAMIXEL ID	RW	200 (0XC8)
4 (0X04)	Baud Rate	DYNAMIXEL baud rate	RW	1 (0X01)
5 (0X05)	Return Delay Time	Return Delay Time	RW	0 (0X0)
16 (0X10)	Status Return Level	Status Return Level	RW	2 (0X02)

RAM Area

Address	Name	Description	Access	Init Value
24 (0X18)	DYNAMIXEL Power	DYNAMIXEL On/Off	RW	0 (0X00)
25 (0X19)	LED Pannel	LED Pannel On/Off	RW	0 (0X00)
26 (0X1A)	LED 5 (L)	LED 5 low byte	RW	0 (0X00)
27 (0X1B)	LED 5 (H)	LED 5 high byte	RW	0 (0X01)
28 (0X1C)	LED 6 (L)	LED 6 low byte	RW	0 (0X00)
29 (0X1D)	LED 6 (H)	LED 6 high byte	RW	0 (0X01)
30 (0X1E)	Button	Button status	R	-
38 (0X26)	Gyro_Z(L)	Gyroscope Z-axis low byte	R	-
39 (0X27)	Gyro_Z(H)	Gyroscope Z-axis high byte	R	-
40 (0X28)	Gyro_Y(L)	Gyroscope Y-axis low byte	R	-
41 (0X29)	Gyro_Y(H)	Gyroscope Y-axis high byte	R	-
42 (0X2A)	Gyro_X(L)	Gyroscope X-axis low byte	R	-
43 (0X2B)	Gyro_X(H)	Gyroscope X-axis high byte	R	-
44 (0X2C)	ACC_X(L)	Accelerometer X-axis low byte	R	-
45 (0X2D)	ACC_X(H)	Accelerometer X-axis high byte	R	-
46 (0X2E)	ACC_Y(L)	Accelerometer Y-axis low byte	R	-
47 (0X2F)	ACC_Y(H)	Accelerometer Y-axis high byte	R	-
48 (0X30)	ACC_Z(L)	Accelerometer Z-axis low byte	R	-
49 (0x31)	ACC_Z(H)	Accelerometer Z-axis high byte	R	-
50 (0X32)	Present Voltage	Current Voltage	R	-
51 (0X33)	MIC 1 (L)	Mic 1 low byte	R	-
52(0x34)	MIC 1 (H)	Mic 1 high byte	R	-
53(0x35)	ADC 2(L)	ADC channel 2 low byte	R	-
54(0x36)	ADC 2(H)	ADC channel 2 high byte	R	-
55(0x37)	ADC 3(L)	ADC channel 3 low byte	R	-
56(0x38)	ADC 3(H)	ADC channel 3 high vyte	R	-
57(0x39)	ADC 4(L)	ADC channel 4 low byte	R	-
58(0x3A)	ADC 4(H)	ADC channel 4 high byte	R	-
59(0x3B)	ADC 5(L)	ADC channel 5 low byte	R	-
60(0x3C)	ADC 5(H)	ADC channel 5 high byte	R	-
61(0x3D)	ADC 6(L)	ADC channel 6 low byte	R	-
62(0x3E)	ADC 6(H)	ADC channel 6 high byte	R	-
63(0x3F)	ADC 7(L)	ADC channel 7 low byte	R	-
64(0x40)	ADC 7(H)	ADC channel 7 high byte	R	-
65(0x41)	ADC 8(L)	ADC channel 8 low byte	R	-
66(0x42)	ADC 8(H)	ADC channel 8 high byte	R	-
67(0x43)	MIC 2 (L)	Mic 2 low byte	R	-
68(0x44)	MIC 2 (H)	Mic 2 high byte	R	-
69(0x45)	ADC 10(L)	ADC channel 10 low byte	R	-
70(0x46)	ADC 10(H)	ADC channel 10 high byte	R	-
71(0x47)	ADC 11(L)	ADC channel 11 low byte	R	-
72(0x48)	ADC 11(H)	ADC channel 11 high byte	R	-
73(0x49)	ADC 12(L)	ADC channel 12 low byte	R	-
74(0x4A)	ADC 12(H)	ADC channel 12 high byte	R	-
75(0x4B)	ADC 13(L)	ADC channel 13 low byte	R	-
76(0x4C)	ADC 13(H)	ADC channel 13 high byte	R	-
77(0x4D)	ADC 14(L)	ADC channel 14 low byte	R	-
78(0x4E)	ADC 14(H)	ADC channel 14 high byte	R	-
79(0x4F)	ADC 15(L)	ADC channel 15 low byte	R	-
80(0x50)	ADC 15(H)	ADC channel 15 high byte	R	-

Address Function Help

Model Number

Represents the Model Number.

Firmware Version

Represents the firmware version.

ID

Is a unique number to identify DYNAMIXEL.
Values range from 0 (0x00) to 253 (0xFD), Value 254 (0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, then it can command to all DYNAMIXEL.

NOTE : Please be careful not to duplicate the ID of connected DYNAMIXEL. {: .notice}

Baud Rate

Represents the communication speed. 0 (0x00) to 254 (0xFE) can be used for it. This speed is calculated by using the below formula.
Speed(BPS) = 2000000/(Data+1)

Data	Set BPS	Target BPS	Tolerance
1	1000000.0	1000000.0	0.000 %
3	500000.0	500000.0	0.000 %
4	400000.0	400000.0	0.000 %
7	250000.0	250000.0	0.000 %
9	200000.0	200000.0	0.000 %
16	117647.1	115200.0	-2.124 %
34	57142.9	57600.0	0.794 %
103	19230.8	19200.0	-0.160 %
207	9615.4	9600.0	-0.160 %

NOTE : Maximum Baud Rate error of 3% is within the tolerance of UART communication. {: .notice}

Return Delay Time

Is the delay time per data value that takes from the transmission of Instruction packet until the return of Status packet.
0 (0x00) to 254 (0xFE) can be used. The delay time per data value is 2 microseconds (usec).
If the data value is delayed by 10, 20 usec the initial value is 250 (0xFA) (i.e., 0.5 msec).

Status Return Level

Decides how to return Status packet. There are three possibilities:

Value	Return of Status Packet
0	No return against all commands (Except PING Command)
1	Return only for the READ command
2	Return for all commands

NOTE : When Instruction packet is Broadcast ID, Status packet is not returned regardless of Status return level. {: .notice}

DYNAMIXEL Power

Value	Meaning
0	Turn off the power of all DYNAMIXEL connected to CM-730.
1	Turn on the power of all DYNAMIXEL connected to CM-730.

LED Pannel

BIT	7 ~ 3	2	1	0
Value	X	LED4	LED3	LED2

If each bit is SET, applicable LED lights up.
If each bit is RESET, applicable LED goes off.
EX) When the LED Panel = 3 (00000101), the LED4 and LED2 light up.

LED5 / LED6

BIT	15	14 ~ 10	9 ~ 5	4 ~ 0
Value	X	the value of blue light	the value of green light	the value of red light

LED HEAD/ LED EYE is 3 color LED. It can represent the value of 32 steps by colors.
It can be represent by controling the value of light by colors.

BUTTON STATUS

BIT	7 ~ 2	1	0
Value	X	the state value of START button	the state value of MODE button

It is the value which represents the state of buttons.
If the bit is SET, it represents that the button is pressed.
If the bit is RESET, it represents that the button isn't pressed.

GYRO / ACC

The following picture is the direction of axis at CM-730.
The Gyroscope and Accelerometer is 10mm distant respectively from the central axis of Dawin.

The positions of central axis and sensor at Dawin

Gyroscope

Accelerometer


The Gyroscope axis in the DARWIN-OP	The Accelerometer axis in DARWIN-OP

GYRO_X, GYRO_Y, GYRO_Z

They represent the angular velocity values of X-axis, Y-axis, Z-axis respectively.

The observable maximum velocity is -500DPS ~ 500DPS.
The following graph shows the process that angular velocity represents to value in reality.

ACC_X, ACC_Y, ACC_Z

They represent the acceleration values of X-axis, Y-axis, Z-axis respectively.

The observable maximum velocity is -4g ~ +4g.
The following graph shows the process that acceleration represents to value in reality.

PRESENT VOLTAGE

Present (input) voltage.
This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

MIC 1 , MIC 2

They are the wave values of MIC on the ears at HEAD PCB.
It is the value of ADC, and its range is 0~1023.

ADC 2 ~ ADC15

They are ADC values of ADC channel connected external port(J8).
CM-730 has ADC of 10BIT RESOLUTION.
Its range is 0~1023

FSR(Force Sensing Resister)

Feature	Specifications
Voltage	9V~12V
Running Temperature	-5°C ~ +80°C
Command Signal	Digital Packet
Protocol Type	Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (Physical)	TTL Level Multi Drop (daisy chain type Connector)
ID	254 ID (0~253)
Communication Speed	7,843bps ~ 3 Mbps
Feedback	Position, Temperature, Load, Input Voltage, etc.
Standby current	50 mA

Control Table

Control Table consists of data regarding the current status and operation of DYNAMIXEL. The user can control DYNAMIXEL by changing data of Control Table via Instruction packet.

EEPROM and RAM

Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

Access

DYNAMIXEL has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16-bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet simutaneously.

EEPROM Area

Address	Name	Description	Access	Init Value
0 (0X00)	Model Number(L)	Lowest byte of model number	R	84 (0X54)
1 (0X01)	Model Number(H)	Highest byte of model number	R	1 (0X01)
2 (0X02)	Version of Firmware	Information on the version of firmware	R	-
3 (0X03)	ID	ID of DYNAMIXEL	RW	100 (0X64)
4 (0X04)	Baud Rate	Baud Rate of DYNAMIXEL	RW	34 (0X22)
5 (0X05)	Return Delay Time	Return Delay Time	RW	250 (0XFA)
16 (0X10)	Status Return Level	Status Return Level	RW	2 (0X02)

RAM Area

Address	Name	Description	Access	Init Value
25 (0X19)	LED	LED On/Off	RW	0 (0X00)
26 (0X1A)	FSR1_L	Lowest byte of FSR 1 sensor data	R	-
27 (0X1B)	FSR1_H	Highest byte of FSR 1 sensor data	R	-
28 (0X1C)	FSR2_L	Lowest byte of FSR 2 sensor data	R	-
29 (0X1D)	FSR2_H	Highest byte of FSR 2 sensor data	R	-
30 (0X1E)	FSR3_L	Lowest byte of FSR 3 sensor data	R	-
31 (0X1F)	FSR3_H	Highest byte of FSR 3 sensor data	R	-
32 (0X20)	FSR4_L	Lowest byte of FSR 4 sensor data	R	-
33 (0X21)	FSR4_H	Highest byte of FSR 4 sensor data	R	-
34 (0X22)	FSR_Central_X	Center point of the X-axis force	R	-
35 (0X23)	FSR_Central_Y	Center point of the Y-axis force	R	-
42 (0X2A)	Present Voltage	Current Voltage	R	-
44 (0X2C)	Registered	Means if Instruction is registered	R	0 (0X00)
47 (0X2F)	Lock	Locking EEPROM	RW	0 (0X00)

Address Function Help

Model Number

Represents the Model Number.

Firmware Version

Represents the firmware version.

ID

Is a unique number to identify DYNAMIXEL.
Values range from 0 (0x00) to 253 (0xFD), Value 254 (0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, then it can command to all DYNAMIXEL.

when it's searched as Unknown Device, change the baudrate to 1(1000000).
Connect with DARWIN-OP after setting the ID as 111 for the right foot and 112 for the left.

NOTE : Please be careful not to duplicate the ID of connected DYNAMIXEL. {: .notice}

Baud Rate

Represents the communication speed. 0 (0x00) to 254 (0xFE) can be used for it. This speed is calculated by using the below formula.
Speed(BPS) = 2000000/(Data+1)

Data	Set BPS	Target BPS	Tolerance
1	1000000.0	1000000.0	0.000 %
3	500000.0	500000.0	0.000 %
4	400000.0	400000.0	0.000 %
7	250000.0	250000.0	0.000 %
9	200000.0	200000.0	0.000 %
16	117647.1	115200.0	-2.124 %
34	57142.9	57600.0	0.794 %
103	19230.8	19200.0	-0.160 %
207	9615.4	9600.0	-0.160 %

NOTE : Maximum Baud Rate error of 3% is within the tolerance of UART communication. {: .notice}

Return Delay Time

Is the delay time per data value that takes from the transmission of Instruction packet until the return of Status packet.
0 (0x00) to 254 (0xFE) can be used. The delay time per data value is 2 microseconds (usec).
If the data value is delayed by 10, 20 usec the initial value is 250 (0xFA) (i.e., 0.5 msec).

Status Return Level

Decides how to return Status packet. There are three possibilities:

Value	Return of Status Packet
0	No return against all commands (Except PING Command)
1	Return only for the READ command
2	Return for all commands

NOTE : When Instruction packet is Broadcast ID, Status packet is not returned regardless of Status return level. {: .notice}

LED

Value	Meaning
0	Turns LED off
1	Turns LED on


Diagram 1

FSR1,FSR2,FSR3,FSR4

FSR sensor data. Diagram 1 shows the location of each sensor.
Value range is 0 ~ 65535. Each value has 1/1000 N units.
For example, FSR1 has a load of 9.8N(1kgf); the value of FSR1 is 9800.
The smallest measurement load is 0.493N.
The measurement range is 0.493 N ~ 65.535N.

FSR_Central_X, FSR_Central_Y

DARWIN-OP's load is at the center of the foot.
Value range is 0 ~ 254.
When no load is present values will read 255.
Diagram 1 shows of the center point of each foot.

Present Voltage

Current input voltage. This value is 10 times larger than the actual voltage. For example, when 10V is supplied the data value is 100 (0x64).

Registered Instruction

Value	Meaning
0	There are no commands transmitted by REG_WRITE
1	There are commands transmitted by REG_WRITE

NOTE : If ACTION command is executed, the value is changed into 0. {: .notice}

Lock

Value	Meaning
0	EEPROM area can be modified
1	EEPROM area cannot be modified

CAUTION : If Lock is set to 1, the power must be turned off and then turned on again to change into 0. {: .notice--warning}

Mechanical Specifications

Actuator ID Map

Download PDF ID Map

Camera (Logitech C905)

Carl Zeiss® optics with autofocus
Native 2MP HD sensor
HD video capture (up to 1600x1200@10fps, 1280x720@30fps)
720p widescreen mode with recommended system
Up to 8-megapixel photos (enhanced from native 2MP sensor)
Microphone with Logitech® RightSound™ technology
Hi-Speed USB 2.0 certified
Output : MJPG, YUYV

Dimensions

DARWIN-OP dimensions illustrated in both SI and Imperial units.

Weight: 2.9kg (6.39lb)
Total height: 454.5mm (17.90in)

Download PDF Dimensions
Download ZIP 3D CAD Files
Download PDF Assembly Manual
Download PDF Wiring Manual
Download PDF Fabrication Manual

Dynamics

Information regarding DARWIN-OP's dynamics can be found here : DARWIN-OP_Dynamics.zip

Download ZIP 3D CAD Files

Kinematics

Download ZIP DARWIN-OP Kinematics

Software Specifications

Main Controller

Recovery Software

Every DARWIN-OP robot comes equipped with a USB thumb drive loaded with factory-default setting recovery software.
Please visit the link periodically for updates

Download Recovery Software

Source Code

You can update the source code for DARWINOP via Subversion.
The source code also contains the color cards.

Download Source Code

Sub Controller(CM-730)

Download CM-730 Information

Software Update Info

Framework Release Note

Framework source code download : SourceForge DARWIN-OP framework

Ver 1.6.0 - 2013.04.11

New Additions
- Webots controller can be compiled into DARwin-OP.
- DARWIN-OP can be controller from Webots GUI.
- MX28.cpp, Camera.cpp added to ensure compatibility with Webots.
Modifications
- CM730, Image, Imgprocess, LinuxCamera, JointData, Action, Kinematics added Webots functionality
- MX28.h values now reside in MX28.cpp
- Camera.h values now reside in Camera.cpp

Ver 1.5.0 - 2012.03.19

New Additions
- FSR firmware has been added.
- FSR tutorial has been adde
Modifications
- LinuxMotionTimer has been changed to use clock_nanosleep function.

Ver 1.4.0 - 2012.01.16

Modifications
- MX-28 firmware updated.
- Stand-up motion changed.
- Cannot change the camera gain/exposure value from a web page bug fixed.
- offset tuner 'set' command bug fixed.

Ver 1.3.0 - 2011.09.20

New Additions
- offset_tuner added.
- web-based walk_tuner added.
Modifications
- CM-730 firmware updated.
- roboplus support 4096 resolution(MX-28 firmware ver 27 or higher).
- dxl_monitor : can change baudrate (control table addr 4)
- Get-up motion changed.
- read_write tutorial : left arm P gain value changed. (1 -> 8)

Ver 1.2.0 - 2011.06.01

New Additions
- BulkRead instruction added.
- Support for FSR sensor.
Modifications
- Actuator Model name changed (RX-28M -> MX-28)
- MX-28 firmware updated.
- dxl_monitor : can change ID (control table addr 3)
- Get-up motion changed.
- Sensor calibration routine changed. (use standard deviation)
- demo & walk_tuner share the config.ini file. (/darwin/Data/config.ini)
- action_editor : command line bug fixed. (can't input space or number)
  linux terminal backspace bug fixed.
- walk_tuner : linux terminal backspace bug fixed.
- read_write : at the start, torque off the right arm.
- firmware installer : seperate firmware of the controller and actuator

Ver 1.1.0 - 2011.04.08

New Additions
- firmware_installer : CM-730 & RX-28M firmware installer
Modifications
- CM-730 firmware updated. (ver 0x11)
- RX-28M firmware updated (ver 0x1B)
- Action class : type casting bug fixed.
- dxl_monitor : CM-730 control table dump bug fixed.
- action_editor : command line first char backspace bug fixed. / save command bug fixed.
- walk_tuner : command line first char backspace bug fixed.
- some minor bug fixed.

Ver 1.0.1 - 2011.03.28

Modifications
- LinuxCM730 class : move semaphore initial code to constructor
- action_script : stand-up motion page number changed from 16 to 1
- demo : at the start of soccer mode, reset the gyro sensor calibration
- Some walking parameters changed.
- action_editor : page 255 access problem fixed.
- Walking class : Y move amplitude bug fixed.

Ver 1.0.0 - 2011.02.01

First Release

CM-730 Firmware Release Note

CM-730 Firmware source code download : SourceForge CM730 Firmware

Ver 19 (0x13) - 2011.08.26

New Additions
- Reset Instruction added.
Modifications
- Baudrate bug fixed.
- Increase TX/RX LED turn on time.
- Mic. Control table address changed. (67 -> 53)
- Battery alarm bug fixed.
- Read / Bulk Read Instruction process routine optimized.

Ver 18 (0x12) - 2011.04.26

New Additions
- BulkRead instruction added.
Modifications
- LED bug fixed.

Ver 17 (0x11) - 2011.04.08

New Additions
- Low battery alarm added.
Modifications
- USB recognition method changed (interrupt -> polling)

Ver 16 (0x10) - 2011.02.28

First Release

MX-28 Firmware Release Note

DYNAMIXEL firmware is NOT an open source software.

Ver 30 (0x1E) - 2012.01.05

New Additions
- The new hardware was applied.
- added self-calibration algorithms.
- added calibration data protection algorithms.
Modifications
- CPU main clock was updated to 72MHz.
- fixed EEPROM bug.

Ver 29 (0x1D) - 2011.05.18

Modifications
- Wheel mode bug fixed.

Ver 28 (0x1C) - 2011.05.02

Modifications
- PID Resolution 4 times increase.
- P gain default value changed. (8 -> 32)

Ver 27 (0x1B) - 2011.04.11

New Additions
- PID Control
Modifications
- Resolution changed from 1024 to 4096.

Ver 26 (0x1A) - 2011.02.28

First Release

FSR Firmware Release Note

FSR firmware is NOT an open source software.

Ver 17 (0x11) - 2012.03.08

First Release

Links

Download DARWIN-OP Logo Images

Sites

ROBOTIS(http://www.robotis.com)
SourceForge(http://www.sourceforge.net/projects/darwinop)
Collaborating Partners
- Robotics and Mechanics Laboratory, RoMeLa(http://www.romela.org/)
- University of Pennsylvania: GRASP Laboratories(http://www.grasp.upenn.edu/)
- Webots simulator for DARWIN-OP by Cyberbotics(http://www.cyberbotics.com/overview)

Recommended Tools

PC
- Remote Desktop: Real VNC(http://www.realvnc.com/)
- SSH Slient: PuTTY(http://www.putty.org/), ZOC(http://www.emtec.com/zoc)
MAC
- Remote Desktop: Chicken of the VNC(http://www.macupdate.com/app/mac/9517/chicken-of-the-vnc)
- SSH client: RBrowser(http://www.rbrowser.com/)
iOS
- There are many remote desktop and SSh client apps for iOS devices. The listed ones below are free of charge.
- Remote Desktop: Mocha VNC Lite(http://itunes.apple.com/us/app/mocha-vnc-lite/id284984448?mt=8)
- SSH client: SSH Mobile Free(http://itunes.apple.com/us/app/ssh-mobile-free/id481718124?mt=8)
Android
- There are several free of charge apps for the Android platform
- Remote Desktop: http://slodive.com/freebies/android-remote-desktop-apps/
- SSH client: http://www.androidzoom.com/android_applications/ssh+client+free
Blackberry
- SSH client: BBSSH(http://www.bbssh.org/)

Text Editor Tutorials

VI
- A convenient tool for screen-based editing. Extremely useful to write code. VI comes installed with DARWIN-OP, as well as, incorporated onto the restore USB thumbdrive.
- Tutorials: http://www.gentoo.org/doc/en/vi-guide.xml
Emacs
- VI may seem very complicated to a lot of users. Emacs is an alternative to VI while being extremely useful as well for writing code. Emacs does not come pre-installed with DARWIN-OP but it can easily be installed and its memory footprint is negligible.
- Installation
- Ensure DARWIN-OP'c PC has internet access. On a command line type
- sudo apt-get install emacs
- Tutorials : http://www.gnu.org/s/emacs/tour/
gedit
- GUI-based (either connected via remote desktop or directly via HDMI/DVI display).
- Just like VI; gedit is incorporated with DARWIN-OP. gedit is useful for users that want a GUI-based text editor and is just as useful for writing code.
- Tutorials: http://live.gnome.org/Gedit

Videos

DARWIN-OP Webots simulator

Cyberbotics Webots

IEEE-RAS Humanoids Conference 2010 (Individual Presentations and Workshop)

Presentation by Dr. Dennis Hong.

Presentation by ROBOTIS' CEO.

Presentation by JK Han.

Presentation by ROBOTIS' VP.

Presentation by Dr. Daniel Lee.

UPenn workshop.

IEEE-RAS Humanoids Conference 2010 (Third Party clips)

Dr. Dennis Hong Interview while DARWIN-OP performs Interactive Mode at the conference.

At IEEE RAS Humanoids DARWIN-OP:

InnoRobo 2011 Lyon, France

Recorded by a visitor

RoboCup 2011 (Istanbul, Turkey)

Team DARwin defeats the defending world champion (semifinal).

Team DARwin becomes world champion (final).

Other Third Party Clips

From Virginia Tech's RoMeLa

Chasing and Kicking the ball

From a fan

DARWIN-OP in Japan

An independent opinion

Back on it feet

DAREIN-OP's software

DARWIN-OP with gripper demo

Certifications

Please inquire us for information regarding unlisted certifications.

FCC

{% include en/dxl/fcc_class_a.md %}

Files

references.md

Latest commit

History

references.md

File metadata and controls

Core Component Specifications

Sub Controller

How to convert TTL to RS485

Features

Control Table

EEPROM and RAM

Address

Access

Initial Value

Highest/Lowest Byte

EEPROM Area

RAM Area

Address Function Help

Model Number

Firmware Version

ID

Baud Rate

Return Delay Time

Status Return Level

DYNAMIXEL Power

LED Pannel

LED5 / LED6

BUTTON STATUS

GYRO / ACC

GYRO_X, GYRO_Y, GYRO_Z

ACC_X, ACC_Y, ACC_Z

PRESENT VOLTAGE

MIC 1 , MIC 2

ADC 2 ~ ADC15

FSR(Force Sensing Resister)

Control Table

EEPROM and RAM

Address

Access

Initial Value

Highest/Lowest Byte

EEPROM Area

RAM Area

Address Function Help

Model Number

Firmware Version

ID

Baud Rate

Return Delay Time

Status Return Level

LED

FSR1,FSR2,FSR3,FSR4

FSR_Central_X, FSR_Central_Y

Present Voltage

Registered Instruction

Lock

Actuator ID Map

Camera (Logitech C905)

Dimensions

Dynamics

Kinematics

Main Controller

Recovery Software

Source Code

Sub Controller(CM-730)

Ver 1.6.0 - 2013.04.11

Ver 1.5.0 - 2012.03.19

Ver 1.4.0 - 2012.01.16

Ver 1.3.0 - 2011.09.20

Ver 1.2.0 - 2011.06.01

Ver 1.1.0 - 2011.04.08

Ver 1.0.1 - 2011.03.28

Ver 1.0.0 - 2011.02.01

Ver 19 (0x13) - 2011.08.26

Ver 18 (0x12) - 2011.04.26

Ver 17 (0x11) - 2011.04.08

Ver 16 (0x10) - 2011.02.28

Ver 30 (0x1E) - 2012.01.05

Ver 29 (0x1D) - 2011.05.18