The ROBOTIS 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. It assumes that you are familiar with C/C++ programming. This e-Manual provides comprehensive information about ROBOTIS products and applications.
The Dynamixel SDK supports all Dynamixel series developed by ROBOTIS. For example, all series such as AX, RX, EX, MX, XL, XC, XM, XH, PRO-L, PRO-M, PRO-H and PRO+ are supported by packet communication. For information on each Dynamixel model, please refer to the Dynamixel section of the following manual.
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.
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.
The Dynamixel SDK supports all three operating systems: Windows, Linux, and MacOS.
The Dynamixel SDK supports various programming languages like 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)