Is there a way to connect a raspberry pi and camera to the cm530 similar to :
“Theoretically” your application needs are achievable, but I have not personally created such a solution yet. I recently published a book for interfacing an RPi4B to a CM-550 (not a CM-530) (https://www.amazon.com/Projects-Guide-ROBOTIS-ENGINEER-2/dp/0999391860). These two videos should give you a good idea of what can be done with a CM-550:
For your case, on the CM-530 you can stay with TASK and MOTION programming, on the RPi4B you can use either Python or C/C++. For hardware connection between the RPi4B and the CM-530, you can use an LN-101 on the RPi4B side and connect its 4-pin cable to the UART port on the CM-530 - if your RPi and CM-530 are physically close to one another. If they are “further away” from each other, you should be able to use a BT-410 USB dongle on the RPi4B side and a BT-410 receiver on the CM-530 side. Software-wise, you should have all your Machine Vision work done on the RPi and just send simple Remocon packets representing various commands to the CM-530 for it to activate its servos and sensors. The Remocon packet protocol is documented here
On the RPi4B: if you use Python, you can use the PySerial library to send/receive these Remocon packets; or if you use C/C++ on the RPi you can use the ROBOTIS ZigBee/Zig2Serial SDK (ZIGBEE SDk).
If you can share more details about your project and your experiences in using ROBOTIS hardware and software, I can offer more precise information appropriate to your situation.
Thanks for the comprehensive guide.
In the following link it connects rp zero to cm-550:
It’s not clear though how the connection is done (is it through Bluetooth or serial)? Is it possible to do the same with cm-530?
The RPi0W included in the ENGINEER Kit 2 is specially configured by ROBOTIS and so it is proprietary to them, i.e. you should treat it like another Dynamixel with ID=201. This RPi0W is using USB cable connection to the CM-550 (micro USB to micro USB).
It sounds like that you are wanting to use the RPi0W with your CM-530? From my experiences, the RPi0W does not have enough computing power to do Machine Vision work, I had to use the regular RPi4B. What RPi model do you plan to use with your project?
I am currently working on a project to see how I can use an RPi4B with CM-530, using either USB or BT-410 connection, so I don’t have a firm answer either way yet. Maybe another week or so.
I would prefer the rpi0, for size reasons.
Unfortunately, I do not have an RPi0W that I can work on. So I won’t be able to help specifically that way. So I can only help with a “proof-of-concept” via the RPi4B with 64 Bit OS, and probably via Python + PySerial interface.
Good news! Communications programming between an RPi4B and a CM-530 worked fine using Remocon Packet: see details in this video
Cool, that’s awesome. Thanks a lot for your feedback.
This is awesome! The coding is beyond my skill set at the moment, but I am hoping that once I go through your book that I will be able to extend the concepts to my Bioloid Premium equipment.
For Python, the detailed concepts are described in Section 2.3 of Vol.1 (of my ENGINEER book series) for the Windows PC environment, then they are “re-applied” for the RPi4B environment in Section 4.3 for Vol. 2 (practically unchanged). When you compare the relevant codes, you will see that only the COM Port definition had changed (because eLinux names COM ports differently than Windows OS - ). These Remocon concepts work “across-the-board” from the CM-5 through CM-550 (including OpenCM-904 and probably any future CM controllers) as long as you use TASK codes on the robot side (and MicroPython if you use CM-550).