Hello! I am looking for help working with the XM540-W270-R actuator. I am trying to control it via a NUCLEO-H743ZI2 development board. I have 2 basic objectives: 1) be able to write various position 2) be able to read the data off of the servo. I have gone through many of the Robotis references and believe I have constructed the required packets to be sent to the servo correctly over UART but when transmitted and received I get nothing. I am unsure where my error is whether it be physical or software and am very novice to this so please bear with me. I am using CubeIDE on the development board and have wired a UART Rx and Tx line to the rs485 socket on the dynamixel starter kit. I am unable to just use the SDK directly as the development board does not have a windows, Linux, or Apple based operating system. If I have left out any key details please call me out and I’ll be happy to provide what I can. Thank you!
Edit: Ok so here are some pictures to clarify more on what the setup and code (written in C) look like:
Figure 1: This is an example of how I’ve constructed the packets. What’s shown is just the enable and part of the disable torque commands but I also have a status packet, temperature read packet, and goal position packet. I’ve initialized them as int arrays and used the hex format.
Figure 2: this is my procedure and how I am transmitting over the UART lines. I have used an oscilloscope to see that these lines are transmitting and they are but I cannot say definitively that it is correct. Same goes for the actual sequence of events.
Figure 3: This is CubeMX where I have initialized the tx and rx line with rs485 hardware flow control. If there is anything not in the picture that you need me to expand on I’m happy to do so.
Figure 4: This is my wiring setup.
PD5 (Brown Wire) UART TX-> pin 4 Starter kit
PD6 (Yellow Wire) UART RX-> pin 3 Starter kit
Dynamixel → RS485 Socket on Starter kit
Please let me know if any of this is not clear or expanded on enough and I’ll get right on it.