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Getting Started

Safety Information

DANGER

Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

  • Keep away from the robot while its moving.
  • Do not touch with the robot with wet hands.
  • Turn off power of the robot whenever robot is problematic.

WARNING

Information appearing in a WARNING concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

  • Setup robot in an environment low on dust and humidity.
  • The robot must always be attached to the based when powered on.
  • The robot wiring must be checked prior to powering on.
  • The robot connection to power supplly must be check prior to powering on.
  • Do not change wiring on Robotis Manipulator while powered on.

CAUTION

Information appearing in a CAUTION concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

  • Keep robot’s workspace clear of object.
  • Ensure wiring is not tangled up on every joint.
  • Make sure U2D2 and PC does not interfere with the robot’s moving

Package Contents

Item Quantity
OpenMANIPULATOR-PRO RM-P60-RNH 1
Manipulator Case 1
U2D2 1
Extra cable set(4P, 2P) 1
4P Ext Hub 2
Screw set (WB M2.5 and others) 1

Optional Parts

Item Quantity
Gripper 1
Base Plate Frame 1

Setup

Wiring

Power Supply

The OpenMANIPULATOR-PRO requires 24V for operations. Ensure the power supply is capable of supplying 24V and 15A or higher.

Connector Information

The 4P Cable connects the OpenMANIPULATOR-PRO and U2D2.
The power cable supplies power to the OpenMANIPULATOR-PRO.

Item RS-485 Power External Port
Pinout 1 GND
2 VDD
3 DATA+
4 DATA-
1 GND
2 VDD
1 GND
2 VDD
3 PORT 1
4 PORT 2
5 PORT 3
6 PORT 4
Diagram
Housing
JST EHR-4

MOLEX 39-01-2020

MOLEX 51021-0600
PCB Header
JST B4B-EH-A

MOLEX 39-28-1023
MOLEX 87427-0242

MOLEX 53047-0610
Crimp Terminal JST SEH-001T MOLEX 39-00-0038 MOLEX 50079-8100
Wire Gauge 21 AWG 20 AWG 26 AWG

WARNING: Check the pinout! The pinout of Dynamixel can differ from the pinout of connector manufacturer.

WARNING: Before operating PRO and PRO+, please supply power through 24V power port.

U2D2

U2D2 is a small size USB communication converter that enables to control and operate DYNAMIXEL with PC. Connect the U2D2 to the PC via USB hub.

Goal Position Values with Respect to Rotation

Model Name Relationship between angle(deg) and position value
H54P-200-S500-R
H54P-100-S500-R
-180 ~ 180 (deg) → -501923 ~ 501923

H42P-020-S300-R -180 ~ 180 (deg) → -303750 ~ 303750