XL430-W250T issue: [TxRxResult] There is no status packet!

[Areebu1]

ISSUE TEMPLATE ver. 1.0.0

Before you open issue, please refer to ROBOTIS e-Manual

1. How to setup? (ex, U2D2, OpenCR,...)
   U2D2 - Matlab version 2024a

2. Which Dynamixel have you used? and how many? (Please describe below format to all connected Dynamixels)

   • Model Name : XL430-W250T

   • ID : 1

   • Baud Rate of Dynamixels: 57600

   • Protocol Version: 2.0

3. Write down the commands you used in order
   %{
   Copyright 2017 ROBOTIS CO., LTD.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

 http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
%}

% Author: Ryu Woon Jung (Leon)

%{
********* Read and Write Example ******************

• Required Environment to run this example :

  • Protocol 2.0 supported DYNAMIXEL(X, P, PRO/PRO(A), MX 2.0 series)
  • DYNAMIXEL Starter Set (U2D2, U2D2 PHB, 12V SMPS)

• How to use the example :

  • Use proper DYNAMIXEL Model definition from line merge for sync kinetic-devel and master branch #44
  • Build and Run from proper architecture subdirectory.
  • For ARM based SBCs such as Raspberry Pi, use linux_sbc subdirectory to build and run.
  • https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/

• Author: Ryu Woon Jung (Leon)

• Maintainer : Zerom, Will Son

---

%}

clc;
clear;

lib_name = '';

if strcmp(computer, 'PCWIN')
lib_name = 'dxl_x86_c';
elseif strcmp(computer, 'PCWIN64')
lib_name = 'dxl_x64_c';
elseif strcmp(computer, 'GLNX86')
lib_name = 'libdxl_x86_c';
elseif strcmp(computer, 'GLNXA64')
lib_name = 'libdxl_x64_c';
elseif strcmp(computer, 'MACI64')
lib_name = 'libdxl_mac_c';
end

% Load Libraries
if ~libisloaded(lib_name)
[notfound, warnings] = loadlibrary(lib_name, 'dynamixel_sdk.h', 'addheader', 'port_handler.h', 'addheader', 'packet_handler.h');
end

%{
********* DYNAMIXEL Model *********
***** (Use only one definition at a time) *****
%}

My_DXL = 'X_SERIES'; % X330, X430, X540, 2X430
% My_DXL = 'PRO_SERIES'; % H54, H42, M54, M42, L54, L42
% My_DXL = 'PRO_A_SERIES'; % PRO series with (A) firmware update.
% My_DXL = 'P_SERIES'; % PH54, PH42, PM54
% My_DXL = 'XL320'; % [WARNING] Operating Voltage : 7.4V
% My_DXL = 'MX_SERIES'; % MX series with 2.0 firmware update.

% Control table address and data to Read/Write for my DYNAMIXEL, My_DXL, in use.
switch (My_DXL)

case {'X_SERIES','MX_SERIES'}
    ADDR_TORQUE_ENABLE          = 64;
    ADDR_GOAL_POSITION          = 116;
    ADDR_PRESENT_POSITION       = 132;
    DXL_MINIMUM_POSITION_VALUE  = 0; % Dynamixel will rotate between this value
    DXL_MAXIMUM_POSITION_VALUE  = 4095; % and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
    BAUDRATE                    = 57600;

% case ('PRO_SERIES')
%     ADDR_TORQUE_ENABLE          = 562;  % Control table address is different in DYNAMIXEL model
%     ADDR_GOAL_POSITION          = 596;
%     ADDR_PRESENT_POSITION       = 611;
%     DXL_MINIMUM_POSITION_VALUE  = -150000;  % Refer to the Minimum Position Limit of product eManual
%     DXL_MAXIMUM_POSITION_VALUE  = 150000;  % Refer to the Maximum Position Limit of product eManual
%     BAUDRATE                    = 57600;
% 
% case {'P_SERIES','PRO_A_SERIES'}
%     ADDR_TORQUE_ENABLE          = 512;  % Control table address is different in DYNAMIXEL model
%     ADDR_GOAL_POSITION          = 564;
%     ADDR_PRESENT_POSITION       = 580;
%     DXL_MINIMUM_POSITION_VALUE  = -150000;  % Refer to the Minimum Position Limit of product eManual
%     DXL_MAXIMUM_POSITION_VALUE  = 150000;  % Refer to the Maximum Position Limit of product eManual
%     BAUDRATE                    = 57600;
% case ('XL320')
%     ADDR_TORQUE_ENABLE          = 24;
%     ADDR_GOAL_POSITION          = 30;
%     ADDR_PRESENT_POSITION       = 37;
%     DXL_MINIMUM_POSITION_VALUE  = 0;  % Refer to the CW Angle Limit of product eManual
%     DXL_MAXIMUM_POSITION_VALUE  = 1023;  % Refer to the CCW Angle Limit of product eManual
%     BAUDRATE                    = 1000000;  % Default Baudrate of XL-320 is 1Mbps

end

% DYNAMIXEL Protocol Version (1.0 / 2.0)
% https://emanual.robotis.com/docs/en/dxl/protocol2/
PROTOCOL_VERSION = 2.0;

% Factory default ID of all DYNAMIXEL is 1
DXL_ID = 1;

% Use the actual port assigned to the U2D2.
% ex) Windows: 'COM*', Linux: '/dev/ttyUSB*', Mac: '/dev/tty.usbserial-*'
DEVICENAME = 'COM5';

% Common Control Table Address and Data
ADDR_OPERATING_MODE = 11;
OPERATING_MODE = 3; % value for operating mode for position control
TORQUE_ENABLE = 1; % Value for enabling the torque
TORQUE_DISABLE = 0; % Value for disabling the torque
DXL_MOVING_STATUS_THRESHOLD = 10; % Dynamixel moving status threshold

ESC_CHARACTER = 'e'; % Key for escaping loop

COMM_SUCCESS = 0; % Communication Success result value
COMM_TX_FAIL = -1001; % Communication Tx Failed

% Initialize PortHandler Structs
% Set the port path
% Get methods and members of PortHandlerLinux or PortHandlerWindows
port_num = portHandler(DEVICENAME);

% Initialize PacketHandler Structs
packetHandler();

index = 1;
dxl_comm_result = COMM_TX_FAIL; % Communication result
dxl_goal_position = [DXL_MINIMUM_POSITION_VALUE DXL_MAXIMUM_POSITION_VALUE]; % Goal position

dxl_error = 0; % Dynamixel error
dxl_present_position = 0; % Present position

% Open port
if (openPort(port_num))
fprintf('Succeeded to open the port!\n');
else
unloadlibrary(lib_name);
fprintf('Failed to open the port!\n');
input('Press any key to terminate...\n');
return;
end

% Set port baudrate
if (setBaudRate(port_num, BAUDRATE))
fprintf('Succeeded to change the baudrate!\n');
else
unloadlibrary(lib_name);
fprintf('Failed to change the baudrate!\n');
input('Press any key to terminate...\n');
return;
end

% Enable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_ENABLE);
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
if dxl_comm_result ~= COMM_SUCCESS
fprintf('%s\n', getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
elseif dxl_error ~= 0
fprintf('%s\n', getRxPacketError(PROTOCOL_VERSION, dxl_error));
else
fprintf('Dynamixel has been successfully connected \n');
end

while 1
if input('Press any key to continue! (or input e to quit!)\n', 's') == ESC_CHARACTER
break;
end

% Write goal position
write4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_GOAL_POSITION, typecast(int32(dxl_goal_position(index)), 'uint32'));
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
if dxl_comm_result ~= COMM_SUCCESS
    fprintf('%s\n', getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
elseif dxl_error ~= 0
    fprintf('%s\n', getRxPacketError(PROTOCOL_VERSION, dxl_error));
end

while 1
    % Read present position
    dxl_present_position = read4ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRESENT_POSITION);
    dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
    dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
    if dxl_comm_result ~= COMM_SUCCESS
        fprintf('%s\n', getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
    elseif dxl_error ~= 0
        fprintf('%s\n', getRxPacketError(PROTOCOL_VERSION, dxl_error));
    end

    fprintf('[ID:%03d] GoalPos:%03d  PresPos:%03d\n', DXL_ID, dxl_goal_position(index), typecast(uint32(dxl_present_position), 'int32'));

    if ~(abs(dxl_goal_position(index) - typecast(uint32(dxl_present_position), 'int32')) > DXL_MOVING_STATUS_THRESHOLD)
        break;
    end
end

% Change goal position
if index == 1
    index = 2;
elseif index == 2
    index = 1;
end

end

% Disable Dynamixel Torque
write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_TORQUE_ENABLE, TORQUE_DISABLE);
dxl_comm_result = getLastTxRxResult(port_num, PROTOCOL_VERSION);
dxl_error = getLastRxPacketError(port_num, PROTOCOL_VERSION);
if dxl_comm_result ~= COMM_SUCCESS
fprintf('%s\n', getTxRxResult(PROTOCOL_VERSION, dxl_comm_result));
elseif dxl_error ~= 0
fprintf('%s\n', getRxPacketError(PROTOCOL_VERSION, dxl_error));
end

% Close port
closePort(port_num);

% Unload Library
unloadlibrary(lib_name);

close all;
clear;

4. Copy and Paste your error message on terminal
   Succeeded to open the port!
   Succeeded to change the baudrate!
   [TxRxResult] There is no status packet!
   Press any key to continue! (or input e to quit!)

[ID:001] GoalPos:4095 PresPos:000
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4095 PresPos:000
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4095 PresPos:000

6. Please, describe detailedly what difficulty you are in

   • Hello, I am using an U2D2 with a XL430-W250T motor. I am trying to use matlab 2024a version. I have 2 outstanding issues. Firstly, the code is constantly giving the error, there is no status packet. The second issue is that the code is unable to update and properly show the current position of the motor, which is preventing the motor from moving and the code begins to loop without breaking. All the values for the control table addresses, the baud-rate, ID and com port are correct. I have verified them all using the Dynamixel Wizard. I can control the motor using the wizard as normal. But am encountering the issues mentioned above when trying to do the same in Matlab. Additionally I do not believe it to be a physical wire connection issue.