hello robo
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Hello,
I am trying to run ARCPi and EZBPi on a Raspberry Pi 3. I have tried installing them on two different versions of Raspbian, the latest release and the 11/13/18 (stretch) version, which was released closer to "DJ's 9th Live Hack" (I have been following that YouTube tutorial). When I execute ARCPi, I get the following error before ARC launches:
pi@raspberrypi:~/EZ-BuilderPi $ mono ARC.exe
Unknown heap type: #GUlD
Unknown heap type: #Blop
Unknown heap type: #GUlD
Unknown heap type: #Blop
The help viewer could not load. Maybe you don't have chmsee installed or haven't set MONO_HELP_VIEWER. The specific error message was: ApplicationName='chmsee', CommandLine='"https://synthiam.com/Software"';, CurrentDirectory='', Native error= Cannot find the specified file
X11 Error encountered:
Error: BadMatch (invalid parameter attributes)
Request: 12 (0)
Resource ID: 0x1C013B8
Serial: 48245
Hwnd: Hwnd, Mapped:True ClientWindow:0x1C013B9, WholeWindow:0x1C013B8, Zombie=False, Parent:[Hwnd, Mapped:True ClientWindow:0x1C013B7, WholeWindow:0x1C013B6, Zombie=False, Parent:[]]
Control: System.Windows.Forms.Panel, BorderStyle: None at System.Environment.get_StackTrace () [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at System.Windows.Forms.XplatUIX11.HandleError (System.IntPtr display, System.Windows.Forms.XErrorEvent& error_event) [0x00000] in :0
at System.Drawing.GDIPlus.GdipCreateFromXDrawable_linux (System.IntPtr , System.IntPtr , System.IntPtr& ) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Drawing.Graphics.FromXDrawable (System.IntPtr drawable, System.IntPtr display) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Drawing.Graphics.FromHwnd (System.IntPtr hwnd) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Windows.Forms.Control.CreateGraphics () [0x00000] in :0
at System.Windows.Forms.TextBoxBase.CreateGraphicsInternal () [0x00000] in :0
at System.Windows.Forms.Document.owner_VisibleChanged (System.Object sender, System.EventArgs e) [0x00000] in :0
at System.Windows.Forms.Control.OnVisibleChanged (System.EventArgs e) [0x00000] in :0
at System.Windows.Forms.Control.OnParentVisibleChanged (System.EventArgs e) [0x00000] in :0
Once ARC launches, if I try to open a previously saved project, a window pops up with a similar message:
Version: 2019.05.08.00
System.IO.DirectoryNotFoundException: Directory 'EZ-Builder/Examples' not found.
at System.IO.Directory.ValidateDirectoryListing (System.String path, System.String searchPattern, System.Boolean& stop) [0x00091] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetFileSystemEntries (System.String path, System.String searchPattern, System.IO.FileAttributes mask, System.IO.FileAttributes attrs) [0x00023] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetDirectories (System.String path, System.String searchPattern) [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetDirectories (System.String path) [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at EZ_Builder.FormOpenEZB.XtZsj07xQ5 () [0x0000b] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at EZ_Builder.FormOpenEZB..ctor (System.String folder) [0x0002d] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at (wrapper remoting-invoke-with-check) EZ_Builder.FormOpenEZB:.ctor (string)
at EZ_Builder.FormMain.MenuClick_Open (System.Object sender, System.EventArgs e) [0x00027] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at (wrapper delegate-invoke) :invoke_void_object_EventArgs (object,System.EventArgs)
at System.Windows.Forms.RibbonItem.OnClick (System.EventArgs e) [0x00042] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.RibbonButton.OnClick (System.EventArgs e) [0x0003f] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.RibbonMouseSensor.Control_MouseClick (System.Object sender, System.Windows.Forms.MouseEventArgs e) [0x00041] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.Control.OnMouseClick (System.Windows.Forms.MouseEventArgs e) [0x0001c] in :0
at System.Windows.Forms.Control.HandleClick (System.Int32 clicks, System.Windows.Forms.MouseEventArgs me) [0x0005d] in :0
at System.Windows.Forms.Control.WmLButtonUp (System.Windows.Forms.Message& m) [0x00071] in :0
at System.Windows.Forms.Control.WndProc (System.Windows.Forms.Message& m) [0x0016f] in :0
at System.Windows.Forms.Ribbon.WndProc (System.Windows.Forms.Message& m) [0x00191] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.Control+ControlWindowTarget.OnMessage (System.Windows.Forms.Message& m) [0x00000] in :0
at System.Windows.Forms.Control+ControlNativeWindow.WndProc (System.Windows.Forms.Message& m) [0x0000b] in :0
at System.Windows.Forms.NativeWindow.WndProc (System.IntPtr hWnd, System.Windows.Forms.Msg msg, System.IntPtr wParam, System.IntPtr lParam) [0x0008e] in :0
I searched Synthiam Community for a similar thread, so forgive me if this issue has been addressed in a previous post and I missed it. I am happy to answer any questions. Does anyone know what I could have done wrong during the installation?
Thanks Tim
Related Hardware (view all EZB hardware)
Raspberry Pi
by Pi Foundation
Run Synthiam ARC on Raspberry Pi 4+ with Windows 11 for robot control; use external EZB/Arduino for reliable I/O, SSD/USB storage recommended
Wi-Fi
Servos
✕
Camera
Audio
UART
✕
I2C
ADC
✕
Digital
✕
then the Mbps is 4.5
Item Specifications MCU ARM CORTEX-M3 (72 [MHz], 32Bit) Position Sensor Contactless absolute encoder (12Bit, 360 []) Maker : ams(www.ams.com), Part No : AS5601 Motor Cored Baud Rate 9,600 [bps] ~ 4.5 [Mbps] Control Algorithm PID control Resolution 4096 [pulse/rev] Operating Modes Velcoity Control Mode Position Control Mode (0 ~ 360 []) Extended Position Control Mode (Multi-turn) PWM Control Mode (Voltage Control Mode) Weight 57.2 [g] Dimensions (W x H x D) 28.5 x 46.5 x 34 [mm] Gear Ratio 258.5 : 1 Stall Torque 1.0 [N.m] (at 9.0 [V], 1.0 [A]) 1.4 [Nm] (at 11.1 [V], 1.3 [A]) 1.5 [Nm] (at 12.0 [V], 1.4 [A]) No Load Speed 47 [rev/min] (at 9.0 [V]) 57 [rev/min] (at 11.1 [V]) 61 [rev/min] (at 12.0 [V]) Operating Temperature -5 ~ +72 [C] Input Voltage 6.5 ~ 12.0 [V] (Recommended : 11.1 [V]) Command Signal Digital Packet Protocol Type TTL Half Duplex Asynchronous Serial Communication (8bit, 1stop, No Parity) Physical Connection TTL Multidrop Bus ID 253 ID (0 ~ 252) Feedback Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc Part Material Engineering Plastic Standby Current 52 [mA]
Here is the initial response that I received from Robotis:
Hello Tim, Sorry to hear you're having trouble with the DYNAMIXEL XL430-W250. In the e-Manual the specification table is listing the possible range for baud rate as between 9600~4.5M. You can find the default values for the control table here and the values for the baud rate here.
A few questions for you: 1)How are you connecting the DYNAMIXEL to the computer? ( the connection maybe affected by the hardware used).
2)Do you have any other device connected to the computer?
3)Have you tried doing a firmware recovery?
wel its baud 9600 and 4.5 M.and you cant change it.means other servo's or ?
According to the documentation sent by Robotis support (see the "here" links in post #74), the baud rate should be set to value 1 (57,600 bps); however, if I connect to an XL430 servo using Dynamixel Wizard 2.0 or R+ Manager, the value is set to 3 (1 Mbps). I included a screenshot of Dynamixel Wizard in post #51.
indeed you are correct.
Value Baud Rate Margin of Error 7 4.5M 0.000% 6 4M 0.000% 5 3M 0.000% 4 2M 0.000% 3 1M 0.000% 2 115,200 0.000% 1(Default) 57,600 0.000% 0 9,600 0.000%
wow this is confusing.
in you pic from the wizard.right below says value 3 .chould that not be 1? can you click on that to change? you see value hex and Mbps why is there twice Mbps setting? 3 is also 1 M.
value 1 hex 0x03 real 1 Mbps could this be possible?
Yes, it is all a bit confusing. In Dynamixel Wizard 2.0 the baud rate value is set to 3 (1 Mbps) for connected XL430 servos. I cannot change it. If for example, I select a value of 1 (57,600 bps), I receive the message from the attached image in post #51. I am emailing back and forth with Robotis Support in efforts to figure out why I cannot change the baud rate.