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Introduction

What is OP2?

Open Platform Humanoid Project

ROBOTIS OP2 (as known as “DARWIN 2” or DARWIN-OP2”) has been upgraded with greater computational performance compare to ROBOTIS OP (as known as “DARwIn-OP”).
Despite the change in name the robot may be colloquially still be called “Darwin”. The only major change comes from the upgrade in computational power.
When ROBOTIS OP was first released it was stated that it supported Windows OS.
This claim is, and remains, technically true. However, in practice installing Windows is impossible due to the 4GB cap of the embedded SSD from ROBOTIS OP’s PC.
The scant 4GB made difficult installing the later releases of Ubuntu and significant workaround was required to be able to install the later Linux releases.
ROBOTIS OP2 upgrade is aimed at eliminating the difficulties relating to computing from the previous generation.
You can now focus your efforts more into developing the robot and less on devoting resources for computing.

  DARWIN OP ROBOTIS OP2
CPU Intel Atom Z530
@1.6GHz single core
Intel Atom N2600
@1.6GHz dual core
RAM 1GB DDR2
(fi xed capacity)
up to 4GB DDR3
204-pin SO-DIMM module
(user-replaceable)
Storage 4GB NAND flash IDE100
(fixed capacity)
half-size mSATA module (32GB)
(user-replaceable)
LAN speed 100 Mbps 1 Gbps
Installable OS Linux only (32-bit) any Linux release (32-bit)
any Windows release (32-bit)
wi-fi 802.11g 802.11n (2.4GHz-only)

ROBOTIS OP2 is an affordable, miniature-humanoid-robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion ability to enable many exciting research and education activities.

Safety Information

Caution ROBOTIS will not be responsible for any loss or damage whatsoever caused resulting from user’s negligence or misuse of the product.

Package Contents

Check your ROBOTIS OP2 package for the following items.

Note Korean version offers a different type of charger.

Layout

Charging Battery

Please charge the battery pack according to the following procedure.

Battery Hot Swap

One distinguishing feature of ROBOTIS OP2 is its ability to change the battery without the need of shutting down.
To replace the battery during operation, please follow the procedures below.

Quick Start

Power On

Execute Demo Program

Running Demonstration Programs

Demonstration Ready Mode

Autonomous Mode

Interactive Motion Mode

Vision Processing Mode

Camera Calibration

Power Off

Programming Guide

Connect to OP2

Development Environment

Source Code

You may find the source code directory at /robotis from ROBOTIS OP2’s PC.

The pre-installed source code may be updated without prior notice. Please check for updates periodically. You may obtain updated source code at the following website https://sourceforge.net/projects/darwinop/files/

We strongly suggest you to practice the included tutorial programs installed at ‘/robotis/Linux/project/tutorial’ in ROBOTIS OP2’s PC.

Framework

Software Utilities

Recovery Software

The supplied USB thumb drive contains the same software that comes preinstalled with ROBOTIS OP2.
You may obtain updates softwares at the link below.
http://support.robotis.com

Software updates may be performed without prior notice. Please check the site periodically for update information.

Useful Information

You may download other ROBOTIS OP2-related items at:
https://sourceforge.net/projects/darwinop/files/

Miscellaneous

System Block Diagram

ID Map

Warranty

ROBOTIS OP2 includes the following warranty:

A. 90 days warranty against manufacture defects (RMA required) *

B. Local Maintenance Service (by local partner) : 1 years **

C. Core System Maintenance Service (by ROBOTIS) : 1 years

D. Parts replacement for malfunctions during normal operation for 1 years.

* Please download RMA (Return Material Authorization)(http://en.robotis.com/index/service_04.php?tab=4)
No return shipping will be accepted without a RMA number issued by ROBOTIS.

** Customers who require extended warranty period may purchase another “1 year warranty” from ROBOTIS before their standard warranty period is over.

Important Notice:

  1. Product registration is required for all customers. http://support.robotis.com

  2. Parts replacement can only be done through RMA(Return Material Authorization) application.

  3. After the initial 90 days, shipping fee is not covered under warranty.

  4. Warranty does NOT cover ordinary wear/tear, any accident or damage caused by followings.
    • Physical damage equivalent to dropping the robot from 20cm or higher
    • Disabling system safety function (DYNAMIXEL Overload Shutdown)
    • Dangerous movement (jump, roll, fi ght) or excessive operation without rest
    • Any liquid or unauthorized chemical material to the robot
    • Unauthorized power or electric shock applied to the robot
    • Improvising core system programming area.
  5. Direct check-up service
    Evaluation, maintenance and quality assurance of assembled robot can be provided by ROBOTIS only.
    RMA is required and additional fee may apply. Service will not be rendered for seriously customized hardware.

Sub Controller(CM-740)

You can also get information about the gyroscope and accelerometer.

Feature Specifications
CPU STMicroelectronics 32F103RE ARM Cortex 32-bit CPU (clocked @ 72MHz)
(512KB Flash, 64KB SRAM )
Interface 1x LED , 1 x Buzzer
External ports 3 x ADC /I/O Ports
Sensor 3-axis gyroscope , 3-axis accelerometer, supply voltage sensor
Communication USB Port, Serial Port , 5x TTL Ports (for Dynamixel)
Audio & Mic Amp Audio amp gain : 20, mic amp gain : 2027
ETC Dynamixel Power Control Unit, Head board port, Interface board port.
External supply voltage 8V ~ 14.8v
Current consumption Maximum 200mA , Standby 130mA
Dimensions 80.0mm x 43.0mm x 20.0mm
Operation temperature -65°C to +80°C
Weight 26g

Control Table

Control Table consists of data regarding the current status and operation of CM-740. The user can control CM-740 by changing data of Control Table via Instruction packet.

EEPROM and RAM

Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

Access

CM-740 has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16-bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet simutaneously.

EEPROM Area

Address Name Description Access Init Value
0 (0X00) Model Number(L) model number low byte R 0(0X00)
1 (0X01) Model Number(H) model number high byte R 116 (0X74)
2 (0X02) Version of Firmware firmware version R -
3 (0X03) ID Dynamixel ID RW 200 (0XC8)
4 (0X04) Baud Rate Dynamixel baud rate RW 1 (0X01)
5 (0X05) Return Delay Time Return Delay Time RW 0 (0X0)
16 (0X10) Status Return Level Status Return Level RW 2 (0X02)

RAM Area

Address Name Description Access Init Value
24 (0X18) Dynamixel Power Dynamixel On/Off RW 0 (0X00)
25 (0X19) LED Pannel LED Pannel On/Off RW 0 (0X00)
26 (0X1A) LED 5 (L) LED 5 low byte RW 0 (0X00)
27 (0X1B) LED 5 (H) LED 5 high byte RW 0 (0X01)
28 (0X1C) LED 6 (L) LED 6 low byte RW 0 (0X00)
29 (0X1D) LED 6 (H) LED 6 high byte RW 0 (0X01)
30 (0X1E) Button Button status R -
38 (0X26) Gyro_Z(L) Gyroscope Z-axis low byte R -
39 (0X27) Gyro_Z(H) Gyroscope Z-axis high byte R -
40 (0X28) Gyro_Y(L) Gyroscope Y-axis low byte R -
41 (0X29) Gyro_Y(H) Gyroscope Y-axis high byte R -
42 (0X2A) Gyro_X(L) Gyroscope X-axis low byte R -
43 (0X2B) Gyro_X(H) Gyroscope X-axis high byte R -
44 (0X2C) ACC_X(L) Accelerometer X-axis low byte R -
45 (0X2D) ACC_X(H) Accelerometer X-axis high byte R -
46 (0X2E) ACC_Y(L) Accelerometer Y-axis low byte R -
47 (0X2F) ACC_Y(H) Accelerometer Y-axis high byte R -
48 (0X30) ACC_Z(L) Accelerometer Z-axis low byte R -
49 (0x31) ACC_Z(H) Accelerometer Z-axis high byte R -
50 (0X32) Present Voltage Current Voltage R -
51 (0X33) MIC 1 (L) Mic 1 low byte R -
52(0x34) MIC 1 (H) Mic 1 high byte R -
53(0x35) ADC 2(L) ADC channel 2 low byte R -
54(0x36) ADC 2(H) ADC channel 2 high byte R -
55(0x37) ADC 3(L) ADC channel 3 low byte R -
56(0x38) ADC 3(H) ADC channel 3 high vyte R -
57(0x39) ADC 4(L) ADC channel 4 low byte R -
58(0x3A) ADC 4(H) ADC channel 4 high byte R -
59(0x3B) ADC 5(L) ADC channel 5 low byte R -
60(0x3C) ADC 5(H) ADC channel 5 high byte R -
61(0x3D) ADC 6(L) ADC channel 6 low byte R -
62(0x3E) ADC 6(H) ADC channel 6 high byte R -
63(0x3F) ADC 7(L) ADC channel 7 low byte R -
64(0x40) ADC 7(H) ADC channel 7 high byte R -
65(0x41) ADC 8(L) ADC channel 8 low byte R -
66(0x42) ADC 8(H) ADC channel 8 high byte R -
67(0x43) MIC 2 (L) Mic 2 low byte R -
68(0x44) MIC 2 (H) Mic 2 high byte R -
69(0x45) ADC 10(L) ADC channel 10 low byte R -
70(0x46) ADC 10(H) ADC channel 10 high byte R -
71(0x47) ADC 11(L) ADC channel 11 low byte R -
72(0x48) ADC 11(H) ADC channel 11 high byte R -
73(0x49) ADC 12(L) ADC channel 12 low byte R -
74(0x4A) ADC 12(H) ADC channel 12 high byte R -
75(0x4B) ADC 13(L) ADC channel 13 low byte R -
76(0x4C) ADC 13(H) ADC channel 13 high byte R -
77(0x4D) ADC 14(L) ADC channel 14 low byte R -
78(0x4E) ADC 14(H) ADC channel 14 high byte R -
79(0x4F) ADC 15(L) ADC channel 15 low byte R -
80(0x50) ADC 15(H) ADC channel 15 high byte R -

Address Function Help

Model Number

Represents the Model Number.

Firmware Version

Represents the firmware version.

ID

Is a unique number to identify Dynamixel.
Values range from 0 (0x00) to 253 (0xFD), Value 254 (0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, then it can command to all Dynamixels.

Note Please be careful not to duplicate the ID of connected Dynamixels.

Baud Rate

Represents the communication speed. 0 (0x00) to 254 (0xFE) can be used for it. This speed is calculated by using the below formula.
Speed(BPS) = 2000000/(Data+1)

Data Set BPS Target BPS Tolerance
1 1000000.0 1000000.0 0.000 %
3 500000.0 500000.0 0.000 %
4 400000.0 400000.0 0.000 %
7 250000.0 250000.0 0.000 %
9 200000.0 200000.0 0.000 %
16 117647.1 115200.0 -2.124 %
34 57142.9 57600.0 0.794 %
103 19230.8 19200.0 -0.160 %
207 9615.4 9600.0 -0.160 %

Note Maximum Baud Rate error of 3% is within the tolerance of UART communication.

Return Delay Time

Is the delay time per data value that takes from the transmission of Instruction packet until the return of Status packet.
0 (0x00) to 254 (0xFE) can be used. The delay time per data value is 2 microseconds (usec).
If the data value is delayed by 10, 20 usec the initial value is 250 (0xFA) (i.e., 0.5 msec).

Status Return Level

Decides how to return Status packet. There are three possibilities:

Value Return of Status Packet
0 No return against all commands (Except PING Command)
1 Return only for the READ command
2 Return for all commands

Note When Instruction packet is Broadcast ID, Status packet is not returned regardless of Status return level.

Dynamixel Power

Value Meaning
0 Turn off the power of all Dynamixels connected to CM-740.
1 Turn on the power of all Dynamixels connected to CM-740.

LED Pannel

BIT 7 ~ 3 2 1 0
Value X LED4 LED3 LED2

If each bit is SET, applicable LED lights up.
If each bit is RESET, applicable LED goes off.
EX) When the LED Panel = 3 (00000101), the LED4 and LED2 light up.

LED5 / LED6

BIT 15 14 ~ 10 9 ~ 5 4 ~ 0
Value X the value of blue light the value of green light the value of red light

LED HEAD/ LED EYE is 3 color LED. It can represent the value of 32 steps by colors.
It can be represent by controling the value of light by colors.

BUTTON STATUS

BIT 7 ~ 2 1 0
Value X the state value of START button the state value of MODE button

It is the value which represents the state of buttons.
If the bit is SET, it represents that the button is pressed.
If the bit is RESET, it represents that the button isn’t pressed.

GYRO / ACC

The following picture is the direction of axis at CM-740.
The Gyroscope and Accelerometer is 10mm distant respectively from the central axis of Dawin.

The positions of central axis and sensor at Dawin

Gyroscope

Accelerometer

The Gyroscope axis in the ROBOTIS-OP2 The Accelerometer axis in ROBOTIS-OP2

GYRO_X, GYRO_Y, GYRO_Z

They represent the angular velocity values of X-axis, Y-axis, Z-axis respectively.
The observable maximum velocity is -500DPS ~ 500DPS.
The following graph shows the process that angular velocity represents to value in reality.

ACC_X, ACC_Y, ACC_Z

They represent the acceleration values of X-axis, Y-axis, Z-axis respectively.
The observable maximum velocity is -4g ~ +4g.
The following graph shows the process that acceleration represents to value in reality.

PRESENT VOLTAGE

Present (input) voltage.
This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

MIC 1 , MIC 2

They are the wave values of MIC on the ears at HEAD PCB.
It is the value of ADC, and its range is 0~1023.

ADC 2 ~ ADC15

They are ADC values of ADC channel connected external port(J8).
CM-740 has ADC of 10BIT RESOLUTION.
Its range is 0 ~ 1,023