DYNAMIXEL servos - Revision history

Studio Director at 02:22, 7 March 2026

2026-03-07T02:22:09Z

← Older revision		Revision as of 02:22, 7 March 2026
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	A raw position value corresponds to the internal encoder value of the motor, while '''UNIT_DEGREE''' allows the position to be set using degrees.		A raw position value corresponds to the internal encoder value of the motor, while '''UNIT_DEGREE''' allows the position to be set using degrees.

			== Useful commands in Dynamixel2Arduino library ==

			https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/#dynamixel2arduino-class

			* '''setOperatingMode''': Set whether you control the position, velocity or other parameters.
			* '''setGoalPosition''': Set the end position using angles.
			* '''setGoalVelocity''': Set the velocity of the motor.



	== Source code ==		== Source code ==

Ida Allander: /* Troubleshooting */

2026-03-06T11:31:20Z

Troubleshooting

← Older revision		Revision as of 11:31, 6 March 2026
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	* The motor does not respond → check that the correct '''baudrate''' is used.		* The motor does not respond → check that the correct '''baudrate''' is used.
	* The motor is not detected → verify the '''motor ID''' using the ~~scan~~ script.		* The motor is not detected → verify the '''motor ID''' using the script above.
	* No movement → make sure '''torque''' is enabled.		* No movement → make sure '''torque''' is enabled.
	* Communication problems → confirm that the shield switch is set to '''TTL'''.		* Communication problems → confirm that the shield switch is set to '''TTL'''.
	* Motor not powered → check the external power supply connected to the shield.		* Motor not powered → check the external power supply connected to the shield.

Ida Allander at 11:30, 6 March 2026

2026-03-06T11:30:17Z

@@ Line 5: / Line 5: @@
 == Dependencies ==
 * Install the library DynamixelShield in the Arduino IDE
 ** GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield
@@ Line 12: / Line 13: @@
 This script is based on the example code provided with the DynamixelShield Arduino library.
-Some modifications were required to make it work with the MKR Zero board, MKR sheild and the Dynamixel motor used in this setup.
+Some modifications were required to make it work with the MKR Zero board, the MKR shield, and the Dynamixel motor used in this setup.
 The main changes are:
 * The shield communicates through '''Serial1''' on the MKR Zero.
-* The port baudrate had to be set to '''1,000,000''' for the motor to respond correctly.
+* The port baudrate had to be set to '''1,000,000''' because the motor did not respond when using the default baudrate in the original example.
 * Debug output is sent to the Arduino Serial Monitor.
@@ Line 25: / Line 26: @@
 In the loop the motor is commanded to move to different positions.
 The position is set once using a raw value and once using degrees, and the current motor position is printed to the Serial Monitor.
 == Source code ==
@@ Line 87: / Line 90: @@
+}
 </pre>

Ida Allander at 10:50, 6 March 2026

2026-03-06T10:50:46Z

← Older revision		Revision as of 10:50, 6 March 2026
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	= Dynamixel motor control (MKR Zero) =		= Dynamixel motor control (MKR Zero) =

	* Product: https://~~emanual~~.~~robotis~~.~~com~~/~~docs~~/en/~~parts~~/~~interface~~/~~mkr_shield~~/		* Product DYNAMIXEL Shield for Arduino MKR Series: https://store.arduino.cc/products/dynamixel-shield-for-arduino-mkr-series?srsltid=AfmBOoq7ptPLfwzykpUecfmQo3vii_8N3padSzJVAQ7RiUqJHuECxUOW
			* Product Dynamixel XL-320 Servo: https://store.arduino.cc/products/dynamixel-xl-320

	== Dependencies ==		== Dependencies ==
Line 11:		Line 12:

	This script is based on the example code provided with the DynamixelShield Arduino library.		This script is based on the example code provided with the DynamixelShield Arduino library.
	Some ~~small~~ modifications were required to make it work with the MKR Zero board and the Dynamixel motor used in this setup.		Some modifications were required to make it work with the MKR Zero board, MKR sheild and the Dynamixel motor used in this setup.

	The main changes are:		The main changes are:

Ida Allander at 10:47, 6 March 2026

2026-03-06T10:47:21Z

← Older revision		Revision as of 10:47, 6 March 2026
Line 6:		Line 6:
	* Install the library DynamixelShield in the Arduino IDE		* Install the library DynamixelShield in the Arduino IDE
	** GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield		** GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield
	** Documentation: https://emanual.robotis.com/docs/en/parts/interface/~~dynamixel_shield~~/		** Documentation: https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/

	== Description ==		== Description ==

Ida Allander: Created page with "= Dynamixel motor control (MKR Zero) = * Product: https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/ == Dependencies == * Install the library DynamixelShield in the Arduino IDE GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield Documentation: https://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/ == Description == This script is based on the example code provided with the DynamixelShield Arduino library. Some small modification..."

2026-03-06T10:37:15Z

Created page with "= Dynamixel motor control (MKR Zero) = * Product: https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/ == Dependencies == * Install the library DynamixelShield in the Arduino IDE ** GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield ** Documentation: https://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/ == Description == This script is based on the example code provided with the DynamixelShield Arduino library. Some small modification..."

New page

= Dynamixel motor control (MKR Zero) =

* Product: https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/

== Dependencies ==
* Install the library DynamixelShield in the Arduino IDE
** GitHub: https://github.com/ROBOTIS-GIT/DynamixelShield
** Documentation: https://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/

== Description ==

This script is based on the example code provided with the DynamixelShield Arduino library.
Some small modifications were required to make it work with the MKR Zero board and the Dynamixel motor used in this setup.

The main changes are:

* The shield communicates through '''Serial1''' on the MKR Zero.
* The port baudrate had to be set to '''1,000,000''' for the motor to respond correctly.
* Debug output is sent to the Arduino Serial Monitor.

The script first checks if the motor is connected using '''ping()'''.
If the motor responds, torque is enabled and the operating mode is set to '''position control'''.

In the loop the motor is commanded to move to different positions.
The position is set once using a raw value and once using degrees, and the current motor position is printed to the Serial Monitor.

== Source code ==

<pre>
/*******************************************************************************
* ROBOTIS Example - Fixed for MKR Zero
*******************************************************************************/

#include <DynamixelShield.h>

#define DXL_SERIAL Serial1
#define DEBUG_SERIAL Serial

const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;

DynamixelShield dxl(DXL_SERIAL);

//This namespace is required to use Control table item names
using namespace ControlTableItem;

void setup() {

DEBUG_SERIAL.begin(115200);
while(!DEBUG_SERIAL);

// Set Port baudrate (motor responded at 1,000,000)
dxl.begin(1000000);

dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);

DEBUG_SERIAL.println("Pinging motor...");

if(dxl.ping(DXL_ID))
DEBUG_SERIAL.println("Motor connected!");
else
DEBUG_SERIAL.println("Motor NOT detected!");

dxl.torqueOff(DXL_ID);
dxl.setOperatingMode(DXL_ID, OP_POSITION);
dxl.torqueOn(DXL_ID);
}

void loop() {

dxl.setGoalPosition(DXL_ID, 512);
delay(1000);

DEBUG_SERIAL.print("Present Position(raw) : ");
DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID));

delay(1000);

dxl.setGoalPosition(DXL_ID, 90, UNIT_DEGREE);
delay(1000);

DEBUG_SERIAL.print("Present Position(degree) : ");
DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID, UNIT_DEGREE));

delay(2000);
}
</pre>