Darwin motor replacement guide - NUbots/robocup GitHub Wiki

How to replace a DARwIn-OP motor

Assuming replacement motor taken from robot with same firmware version (i.e. not out-of-box)

  1. Note the physical ID (on sticker) of the motor to be replaced, and that with which it will be replaced.
  2. Physically replace motor, ensuring that the configuration of three points etched on motor horn remain consistent relative to the attached frame
  3. Install Robotis “RoboPlus” utility from CD
  4. Run (any) code on robot, to ensure motors are powered (ignore segmentation faults or any other error)
  5. Terminate the code
  6. If old and new motors have different IDs, ensure that the motor on the robot with ID equal to that of the new motor is physically disconnected from TTL chain (duplicate IDs cause issues)
  7. Connect any TTL port (on the chain to which the new motor is still connected) to the laptop/ computer via USB2Dynamixel adapter
  8. Open RoboPlus > Expert > Dynamixel Wizard
  9. Connect to COM3
  10. Conduct “basic search” (Baud rates 1 and 34)
  11. All connected motors should appear under ACTUATOR
  12. Select the new motor
  13. Change the value in ID field to match that of the old (replaced motor)
  14. Connect remaining motors and repeat search – all 20 motors should appear (may need to repeat steps 4-5)
  15. Ensure that all other settings match those of the previously connected motors (the common offender is the joint limits, which, at the time of writing, should be set to approximately [0 4096]
  16. If settings are inconsistent, edit the field entry. Some fields (such as joint limits) misbehave in this utility, and must be configured using the dxl_monitor
  17. SSH onto the robot (ssh darwin@IPADDRESS)
  18. cd /darwin/Linux/projects/dxl_monitor/
  19. ./dxl_monitor
  20. Select the new motor – id <ID> – and set the appropriate values (HELP for help)