When you want to assemble a Poppy, the first thing to do is to ensure yourself you assembled correctly the horn on the Dynamixel motors. This is both the first step and maybe the more critical. An error in the configuration or assembly here is really boring to change once Poppy assembled.
###Warning! This step is critical!
Dynamixel motors are sold unassembled, you have to add manually the horn HN07-N101 (for MX-28) and HN05-N101 (for MX-64).
The critical point is to put it correctly for the zero position. To do that, you have to correctly align the awl mark on the Dynamixel shaft and the snick on the horn:
When assembled, the horn is really difficult to remove and you will probably damage the motor, so check twice or thrice !
Also, it is pretty hard to push the horn on the shaft, you will probably have to use the screw (M2.5x8mm) and tighten it to correctly assemble the two elements.
When you take out the motor out of its box, its internal id is 1. So before plug it on the communication bus you have to configure it. Otherwise you will have problem such as experimented in this topic:
You have 3 parameters to tune:
- the id must match our convention
- the baudrate have to be set to 1 000 000bps instead of 57142bps
- the return delay time have to be set to 0 ms instead of 0.5 ms
If you are using USB2AX dongles under windows, you will need to install it manually using the USB2AX.inf (2 KB) file.
For more info about the installation procedure, please consult the QuickStart guide.
At this step, you should have 25 motors (21 MX-28, 2 MX-64 and 2 AX-12) correctly assembled and parameterized
(in this picture there is more AX-12 because it was from a previous Poppy version)