Reparar Servo Dynamixel Ax-12+

Existen varias formas de reparar un servo Dynamixel Ax-12+, si no recuerdas que ID y Baud Rate tiene configurado tu servo la solución es muy sencilla ya que el servo se puede reiniciar con el USB2Dynamixel y el Dynamixel Configurator, también se puede hacer esto mismo con un pequeño programa que he hecho con el Arduino, este programa regresa el servo o los servos conectados a un Baud Rate de 1Mbps y ID 1 y al terminar de ser reiniciado el servo se mueve en posiciones aleatorias con lo cual el servo ha sido reiniciado correctamente y esta listo para ser usado.
El programa requiere tener instalada la Biblioteca Dynamixel que he publicado anteriormente.

Descargar Biblioteca Dynamixel


La siguiente forma de reiniciar un servo es un poco más difícil. El primer paso será abrir el servomotor hasta llegar al chip, no es necesario abrir la parte de los engranes, basta con abrir la tapa de atrás que da acceso a este.


El siguiente paso será soldar cables a los pines VCC, GND, RESET, SCK, MISO y MOSI que son los pines de programación de este chip (AVR ATmega8 - 16MHz), los puedes soldar directamente al circuito como yo lo he hecho o al puerto que se encuentra en el extremo derecho, no olvides alimentar el servo al programar y que vcc es 5v no los 10v con los que se alimenta el servo.            

Ya soldados los cables solo hay que conectarlos a nuestro programador de AVR (AVRISP, DRAGON, etc. ) y grabar los archivos Dynamixel_Flash.hex, Dynamixel_EEPROM.hex y Dynamixel_elf.elf, los fuses son: High: 0xC8 Low: 0x1F y  LockBits: 0xEC. 



Yo he utilizado el AVR Studio 4 para hacer esto pero puedes usar cualquier otra interfaz como AVRDUDE etc.


Espero tus comentarios. :P

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