[TxRxResult] Incorrect status packet!

[YulsXDP]

Hi i tryed to use the motors of dynamixel Ax 12A whit the controler CM 530, i watched many tutorials and instructions using the following links from Robotis https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/python_linux/ https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/ https://emanual.robotis.com/docs/en/software/rplustask3/ https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/matlab_windows/

the only thing that works was R+ Task 3.0 for moving the motor, i'm new using the motors, i tryed change the plataform (matlab to python) but the error is constant "[TxRxResult] Incorrect status packet!"

I'm use

• Dynamixel AX-12A

• ID 15

• 1000000 or 57600

• Protocol Version 1.0

3. the commands i used for python dowload SDK controler of Dynamixel and AX12A Controler of the user @aakieu whit this tutorial https://www.youtube.com/watch?v=SqKS_cFuPh0&t=50s changed the com por and baud rate

from Ax12 import Ax12

# e.g 'COM3' windows or '/dev/ttyUSB0' for Linux
Ax12.DEVICENAME = 'COM3'

Ax12.BAUDRATE = 57_600

# sets baudrate and opens com port
Ax12.connect()

# create AX12 instance with ID 10 
motor_id = 15
my_dxl = Ax12(motor_id)  
my_dxl.set_moving_speed(200)


def user_input():
  """Check to see if user wants to continue"""
  ans = input('Continue? : y/n ')
  if ans == 'n':
      return False
  else:
      return True


def main(motor_object):
  """ sets goal position based on user input """
  bool_test = True
  while bool_test:

      print("\nPosition of dxl ID: %d is %d " %
            (motor_object.id, motor_object.get_present_position()))
      # desired angle input
      input_pos = int(input("goal pos: "))
      motor_object.set_goal_position(input_pos)
      print("Position of dxl ID: %d is now: %d " %
            (motor_object.id, motor_object.get_present_position()))
      bool_test = user_input()

# pass in AX12 object
main(my_dxl)


# disconnect
my_dxl.set_torque_enable(0)
Ax12.disconnect()

4. the error message on terminal

Succeeded to open the port Succeeded to change the baudrate [TxRxResult] There is no status packet! [TxRxResult] Incorrect status packet! Moving speed of dxl ID: 15 set to 0 [TxRxResult] Incorrect status packet!

Position of dxl ID: 15 is 0 goal pos:

SUMMARY
========

PARAMETERS
 * /baud_rate: 57600
 * /device_name: COM3
 * /ping_id: 15
 * /python versoin: 9.9.54

[ROBOTIS-Will]

Hi @YulsXDP

The CM530 is an embedded controller that does not support DYNAMIXEL SDK. Since the R+Task 3.0 works with the built in CM530 firmware, it would be the easiest way to operate the AX-12A.

If you want to use the CM530 as a customized controller, please see Embedded C section of the eManual https://emanual.robotis.com/docs/en/software/embedded_sdk/embedded_c_cm530/

If you are new to DYNAMIXEL, I would recommend starting with the DYNAMIXEL Starter Set so that you can try operating various DYNAMIXEL using DYNAMIXEL Wizard 2.0 or DYNAMIXEL SDK.

[shiba-8ro]

@YulsXDP If you want to do full-scale development using Dynamixel SDK, I recommend OpenRB-150 instead of CM-530. https://www.youtube.com/watch?v=QHyzqY2iRWA

[DDGC16]

@ROBOTIS-Will Hi, so does that mean it wont work on the CM-5 controller as well?

[shiba-8ro]

@DDGC16 Hi, CM-5, and CM-510 are older boards than CM-530. Above all, CM-5 cannot be developed with Arduino IDE. Boards newer than CM-530 and compatible with the Dynamixel SDK are OpenCM904, OpenCR1.0, and OpenRB-150. OpenCM904 is a discon. OpenCR1.0 has high performance but is expensive. I once again recommend the use of OpenRB-150.