Possible bug when connecting AX with MX

[dbersan]

1. How to setup? (ex, U2D2, OpenCR,...)

I'm using the standard usb interface and connecting an MX-64 to a AX-12, both powered to 12V, and controlled via ROS on Ubuntu 18.04, using the package dynamixel_workbench_controllers.

Following is the YAML

ax12:
    ID: 4
    Return_Delay_Time: 250

mx64:
    ID: 2
    Return_Delay_Time: 250
    P_gain: 32
    I_gain: 0
    D_gain: 0

2. Which Dynamixel have you used? and how many?

• Model Name: MX-64 and AX-12

• ID: ?

• Baud Rate of Dynamixels: 1M

• Protocol Version: 1.0

My issue

I want to use both AX-12 and MX-64 on the same setup, sharing the same cascading network architecture. I had to downgrade the MX to protocol version 1.0, since I wasn't able to use both on the same connection with different protocols (got some errors using protocol 1.0 for AX and 2.0 for MX on the same network), AND at the time of this writing, AX-12 doesn't support protocol 2.0.

When I use them separately it works fine, but when they are both connected and I send some angle near 3 or -3 rads, they behave weird:

Notice how I sent the command to go from -3 to 3, but the MX keeps "flickering" back and fourth (for ever), without ever converging and stopping. To be clear, this does not happen when the AX-12 is not connected to the MX-64.

[ROBOTIS-Will]

@dhiegomaga I'm sorry for the delayed response. While we are looking into this issue, please try with Protocol 2.0 of MX-64AT. You can actually set MX-64T with Protocol 2.0 to use Protocol 1.0. Please see below control table where allows you to select a specific Protocol version to communicate. http://emanual.robotis.com/docs/en/dxl/mx/mx-64-2/#protocol-type13 Thank you.