Overview

DYNAMIXEL SDK

DYNAMIXEL SDK is a software development kit that provides DYNAMIXEL control functions using packet communication. The API of DYNAMIXEL SDK is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. You need to be familiar with C/C++ programming language for right use of the software. This e-Manual provides comprehensive information on ROBOTIS products and applications.

Supported DYNAMIXEL

The DYNAMIXEL SDK supports all DYNAMIXEL series.

DYNAMIXEL Series
AX	AX-12W	AX-12+/12A	AX-18F/18A
EX	EX-106+
DX	DX-113	DX-116	DX-117
RX	RX-10	RX-24F	RX-28	RX-64
MX	MX-12W	MX-28, MX-28(2.0)	MX-64, MX-64(2.0)	MX-106, MX-106(2.0)
XL	XL320	XL330-M288 XL330-M077	XL430-W250	2XL430-W250
XC	XC330-T288 XC330-T181 XC330-M288 XC330-M181	XC430-W150 XC430-W240 XC430-T150BB XC430-T240BB	2XC430-W250
XM	XM430-W210 XM430-W350	XM540-W150 XM540-W270
XH	XH430-W210 XH430-W350	XH430-V210 XH430-V350	XH540-W150 XH540-W270	XH540-V150 XH540-V270
XD	XD430-T350-R XD430-T210-R	XD540-T270-R XD540-T150-R
XW	XW430-T333 XW430-T200	XW540-T140 XW540-T260
PRO L	L42-10-S300-R	L54-30-S500-R	L54-30-S400-R	L54-50-S500-R	L54-50-S290-R
PRO M	M42-10-S260-R	M54-40-S250-R	M54-60-S250-R
PRO H	H42-20-S300-R	H54-100-S500-R	H54-200-S500-R
PRO M(A)	M42-10-S260-R(A)	M54-40-S250-R(A)	M54-60-S250-R(A)
PRO H(A)	H42-20-S300-R(A)	H54-100-S500-R(A)	H54-200-S500-R(A)
PM	PM54-060-S250-R	PM54-040-S250-R	PM42-010-S260-R
PH	PH42-020-S300-R	PH54-100-S500-R	PH54-200-S500-R
YM	YM070-210-M001-RH YM070-210-R051-RH YM070-210-R099-RH	YM080-230-M001-RH YM080-230-R051-RH YM080-230-R099-RH

Supported Protocols

To control DYNAMIXEL, communication should be established according to the protocol of DYNAMIXEL. There are versions 1.0 and 2.0 of the DYNAMIXEL protocol. The DYNAMIXEL SDK supports both, and the user can use both protocols simultaneously using the DYNAMIXEL SDK. Refer to the following manuals for details on the protocols.

Supported Devices

The DYNAMIXEL SDK can be used on PCs such as desktops or laptops, as well as on tablets, and also on SBCs like Raspberry Pi and UpBoards. In addition, it can be used with embedded boards that support the Arduino IDE. DYNAMIXEL uses TTL and RS485 communication. In order to use computer and DYNAMIXEL, we recommend USB2DYNAMIXEL or U2D2 as interface device.

Supported Operating Systems

The DYNAMIXEL SDK supports all three operating systems: Windows, Linux, and MacOS.

Supported Languages

The DYNAMIXEL SDK supports various programming languages: C, C++, C#, Python, Java, MATLAB and LabVIEW.
In addition, DYNAMIXEL SDK supports ROS, so it can be used as ROS library using C++ or Python modules.

C: *Dynamic library and source code of this library and examples
C#, Java, MATLAB, LabVIEW: Support based on dynamic library using C language
C++: *Dynamic library and source code of this library and examples
Python: Python module and examples
ROS: ROS library using C++ and Python modules

(* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS)