- ROBOTIS Dynamixel RX-28 User's Manual

DYNAMIXEL

RX-28

Connection to UART To control the Dynamixel actuators, the main controller needs to convert its UART

signals to the RS485 type. The recommended circuit diagram for this is shown below.\

CCW

VDD

The power is supplied to the Dynamixel actuator from the main controller through Pin 1

and Pin 2 of the Molex3P connector. (The circuit shown above is presented only to

explain the use of RS485 UART. The CM-2 PLUS controller already has the above

circuitry built in, thus the Dynamixel actuators can be directly connected to it)

The direction of data signals on the TTL level TxD and RxD depends on the

DIRECTION485 level as the following.

• When the DIRECTION485 level is High: the signal TxD is output as D+, D-

• When the DIRECTION485 level is Low: the signal D+, D- is input as RxD

RS485 UART A multi-drop method of connecting multiple Dynamixel actuators to a single node is

possible by using the RS485 UART. Thus a protocol that does not allow multiple

transmissions at the same time should be maintained when controlling the Dynamixel

actuators.

Main

Controller

[Multi Drop Link]