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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 XL430-W250 2XL430-W250    
XC XC430-W150
XC430-W240
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
 
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    

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.

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