Niryo One Gripper Tools2018-11-14T19:21:35+00:00

Forums Niryo One Troubleshooting Niryo One Gripper Tools

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  • wodcleaner
    Participant
    Post count: 17

    Hi There ,
    i have a question about the Niryo One Tools.
    I have printed Gripper 2 and 3 and placed a Dynamixel XL 320 after Assembly.
    But Niryo Studio will Not recognize them, whats the Problem?
    Does it have to do with the ID?
    Is there a Manual for it?
    Thank you ,
    Christopher

    BManCan
    Participant
    Post count: 22

    If you purchased new XL320 servos they will have the default ID value of 1. You will need to change the ID for gripper 2 to a value of 12, and the ID for gripper 3 to a value of 13.

    The helpful folks at Niryo have recently added scripts to be able to scan, debug and change Dynamixel servo IDs. See this forum post for info.

     

    wodcleaner
    Participant
    Post count: 17

    I tried to change the ID via Terminal.

    But it didn’t work , what is the exact command for change motor ID 1 to ID 12.

    thank you

    BManCan
    Participant
    Post count: 22

    Did you follow the instructions for downloading and compiling the latest software updates for github?

    Assuming you have the latest software, these are the command that I used to change the gripper2 ID from the default of 1 to the required value of 12.

    1. stop the niryo one service

    sudo systemctl stop niryo_one_ros.service

    2. change directory to the debug tools folder

    cd ~/catkin_ws/devel/lib/niryo_one_debug

    3. scan the dxl bus for connected IDs (it should show IDs 2, 3, 6, and 1 on a version 2 hardware)

    Note: two hyphens before scan

    ./dxl_debug_tools –scan

    4. change the ID of the motor from 1 to 12

    Note: two hyphens before set-register

    ./dxl_debug_tools -i1 –set-register 3 12 1

    5. change directory back to root

    cd ~/

    6. restart the niryo one service

    sudo systemctl start niryo_one_ros.service

    Hopefully this help you. I know it took me some time to figure out the correct format for entering the commands.

    Brian

     

    • This reply was modified 3 weeks ago by  BManCan.
    • This reply was modified 2 weeks, 6 days ago by  BManCan.
    • This reply was modified 2 weeks, 6 days ago by  BManCan.
    Edouard Renard
    Keymaster
    Post count: 122

    Thanks @bmancan for this explanation!

    Also, note that after we release 2.1.0 software version we’ll add a tutorial on the docs section of this website (I agree with you that it can take some time to figure out how to use it without much information :), however you did it!)

    @wodcleaner let us know about your progress

    wodcleaner
    Participant
    Post count: 17

    Thanks @bmancan your description was very helpful , the programming worked an the two additional Grippers are ready to use ^^

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