Biorobotics lab
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Biorobotics Lab. 3Mixel Smart Stand-alone Controller G.F. Liqui Lung, Bsc. Biorobotics Lab. Robotis Dynamixel 3mE 3Mixel. Biorobotics Lab. USB2.0 HS to connect to host Size PCB = 60 * 150 mm RS485 bus speed up to 10Mbaud 2 DC motors with incremental encoders

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Biorobotics Lab

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Biorobotics lab

Biorobotics Lab

3Mixel

Smart Stand-alone Controller

G.F. Liqui Lung, Bsc


Biorobotics lab

Biorobotics Lab

Robotis Dynamixel 3mE 3Mixel .


Biorobotics lab1

Biorobotics Lab .

  • USB2.0 HS to connect to host

  • Size PCB = 60 * 150 mm

  • RS485 bus speed up to 10Mbaud

  • 2 DC motors with incremental encoders

  • 2 H bridges, 60V-40A

  • dsPIC33FJ128MC804 @80MHz/40MIPS

  • PID control modes :

    • Position (1 kHz)

    • Velocity (1 kHz)

    • Motor current ( 4 kHz)

    • Series Elastic (1 kHz)


Biorobotics lab

Biorobotics Lab

Instruction Packet :

is used to send commands to the slave.


Biorobotics lab

Biorobotics Lab

Status Packet :

is used to send relpies to the main controller


Biorobotics lab

Biorobotics Lab


Biorobotics lab

Biorobotics Lab

Dynamixel control table : 49 entries3Mxel control table : 160 entries3Mxel has special init functions :

Index InitExternal sensor initZero speed initManual initSEA init


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