Calliope5P servo ids
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(Redirected from Calliope servo ids)
| Cable | ID | Model | Servo Name |
| head 3-wire | 1 | AX-12 | NECK:pan |
| 2 | AX-12 | NECK:tilt | |
| 100 | AX-S1 | none (sensor module) | |
| arm 4-wire | 3 | RX-24F | ARM:base |
| 4 | RX-28 | ARM:shoulder | |
| 5 | RX-28 | ARM:elbow | |
| 6 | RX-28 | ARM:wrist | |
| arm 3-wire | 7 | AX-18F | ARM:wristrotate |
| 8 | AX-12 | ARM:lfinger | |
| 9 | AX-12 | ARM:rfinger |
Servo Programming
The RX servos come from the factory with a speed setting of 57600 baud. To set this to 1 million baud, do:
dynamixel_util Baud=57600 Path=/dev/ttyUSB2 baud rate 1000000
Servos initially have their id set to 1. To program the ids above, disconnect servos from the chain so that only one servo at a time has id 1. Then use the command below to set the id. Note that the correct Path setting (/dev/ttyUSB2 in this example) will depend on which USB-to-serial devices are currently plugged in to the computer.
dynamixel_util Path=/dev/ttyUSB2 set 1 new_id
