{"id":209,"date":"2018-11-28T16:15:08","date_gmt":"2018-11-28T16:15:08","guid":{"rendered":"https:\/\/projects-old.etc.cmu.edu\/miracle-workshop-2\/?page_id=209"},"modified":"2018-12-12T15:19:18","modified_gmt":"2018-12-12T15:19:18","slug":"replacing-servos","status":"publish","type":"page","link":"https:\/\/projects-old.etc.cmu.edu\/miracle-workshop-2\/index.php\/support\/videos-tutorials\/replacing-servos\/","title":{"rendered":"Replacing Servos"},"content":{"rendered":"

Replacing Servo Video<\/strong><\/p>\n

Before you begin:<\/b><\/p>\n

    \n
  1. Take out the servo<\/span><\/li>\n
  2. Note down the ID on the failed Dynamixel.\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><\/li>\n<\/ol>\n

    Programming a servo:<\/b><\/p>\n

    Before we can replace the dynamixel servo on Tom, we will need to program the new servo.<\/span><\/p>\n

      \n
    1. You will need the Roboplus software. You can find the software here: <\/span>http:\/\/en.robotis.com\/service\/download.php?no=14<\/a><\/span><\/li>\n
    2. You will also need U2D2. You can order one here: <\/span>http:\/\/www.robotis.us\/u2d2\/<\/a><\/span>\"\"<\/li>\n<\/ol>\n

      Steps:<\/b><\/p>\n

        \n
      1. Connect the U2D2 to the PC through a micro USB cable.<\/span><\/li>\n
      2. Take a 4 wire pin connector and connect one end to the U2D2 and other to the new Dynamixel.<\/span>\"\"<\/li>\n
      3. Connect the Dynamixel Power Supply(also provided) to one end of the Dynamixel through the connector.<\/span>\"\"\"\"<\/li>\n
      4. Start the Roboplus software on the Computer and click on Expert.<\/span><\/li>\n
      5. Click on Dynamixel Wizard.<\/span><\/li>\n
      6. Click on Open Port button.<\/span><\/li>\n
      7. Click on Start searching.<\/span><\/li>\n
      8. If the Dynamixel doesn\u2019t appear on the left pane of the window, change the COM port and search again.<\/span><\/li>\n
      9. You should get all the attached Dynamixels on the left pane of the window. Click on ID:00[number].<\/span><\/li>\n
      10. We need to modify only the following three properties:<\/span>\n
          \n
        1. ID<\/span><\/li>\n
        2. CW Angle Limit<\/span><\/li>\n
        3. CCW Angle Limit.<\/span><\/li>\n<\/ol>\n<\/li>\n
        4. IT IS VERY IMPORTANT THAT YOU DO NOT MODIFY ANY OTHER SETTING.<\/b><\/li>\n
        5. Double check that the Mode in [3: ID] field is set to Joint. It should be Joint by default. <\/span><\/li>\n
        6. Now, once you have the Dynamixel info, change the ID to that of the damaged Dynamixel. <\/span><\/li>\n
        7. Similarly, change the CW Angle and CCW Angle limits based on their ID<\/span><\/li>\n
        8. Click on Apply.<\/b><\/li>\n
        9. Remove the stickers from the old one and paste it on the new one at the same place. Make sure that the new one has the same ID.<\/span><\/li>\n
        10. Click on Close port and close the Wizard.<\/span><\/li>\n
        11. Congratulations. You have successfully configured the servo.<\/span><\/li>\n<\/ol>\n\n\n\n\n\n\n
          ID<\/b><\/td>\nCW Angle<\/b><\/td>\nCCW Angle<\/b><\/td>\nFunction<\/b><\/td>\n<\/tr>\n
          1<\/span><\/td>\n1650<\/span><\/td>\n2047<\/span><\/td>\nMouth<\/span><\/td>\n<\/tr>\n
          2<\/span><\/td>\n1750<\/span><\/td>\n2950<\/span><\/td>\nHead Tilt<\/span><\/td>\n<\/tr>\n
          3<\/span><\/td>\n1250<\/span><\/td>\n2600<\/span><\/td>\nHead Turn<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

           <\/p>\n