Robotis U2D2 User Manual

12/18/2017 U2D2

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U2D2

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[U2D2]

Product Usage

U2D2 is a small size USB communication converter that enables to control and operate DYNAMIXEL with PC.

PC to DYNAMIXEL

U2D2 can be connected to the USB port of the PC with the enclosed USB cable. It supports both 3Pin TTL connector and 4Pin RS-485 connector to

link up with various DYNAMIXELs. U2D2 does not supply power to DYNAMIXEL, therefore, an external power supply should provide power to

DYNAMIXEL.
Be careful as recommended voltage for each DYNAMIXEL could be vary by model.

Please refer to e-Manual for recommended supply voltage and power connection with various power supplies.

PC to UART

U2D2 is able to connect ROBOTIS controllers that support 4Pin UART communication such as OpenCM9.04, CM-150 and CM-200 to the PC with

the enclosed USB cable.

In case of unstable communication with U2D2, check if there is a reference voltage difference in the communication.

Please check PC and other devices are grounded properly.

Failing to do so might cause damages on the U2D2.

ROBOTIS e-Manual v1.29.00

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12/18/2017 U2D2

Specifications

Dimensions : 48mm x 18mm x 14.6mm

Weight : 9g

Available Ports

- 3Pin TTL Level : TTL Communication supported DYNAMIXEL

- 4Pin RS-485 : RS-485 Communication supported DYNAMIXEL

- 4Pin UART : Controllers that support 4Pin UART(such as CM-150 and CM-200)

Baud Rate : Maximum 6Mbps

Layout

Ports Description

4Pin UART Convert USB and UART

3Pin TTL Level Connect to the DYNAMIXEL with 3Pin TTL Level Communication.

4Pin RS-485 Connect to the DYNAMIXEL with 4Pin RS-485 Communication.

Status LED Display status of Power supply, TxD(Data write) and RxD(Data Read).

Micro-B USB Connect to the PC with USB cable

Communication Error

Reference BPS Actual BPS Error(%)

9,600 9,600 0.00

57,600 57,588.4823 -0.02

115,200 115,246.0984 0.04

1,000,000 1,000,000 0.00

2,000,000 2,000,000 0.00

3,000,000 3,000,000 0.00

4,000,000 4,000,000 0.00

4,500,000 4,571,428.571 1.56

6,000,000 6,000,000 0.00

Less than 3% of the baud rate error will not affect to the UART communication.

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