overview

DYNAMIXEL SDK

The DYNAMIXEL SDK provides a set of functions for creating and processing DYNAMIXEL Protocol packets to manage DYNAMIXEL servos. The SDK provides libraries for a wide variety of programming languages including Java, C, and Python.

Supported DYNAMIXEL

The DYNAMIXEL SDK supports all DYNAMIXEL series.

DYNAMIXEL Series
AX	AX-12W	AX-12+/12A	AX-18F/18A
EX	EX-106+
DX	DX-113	DX-116	DX-117
RX	RX-10	RX-24F	RX-28	RX-64
MX	MX-12W	MX-28, MX-28(2.0)	MX-64, MX-64(2.0)	MX-106, MX-106(2.0)
XL	XL320	XL330-M288 XL330-M077	XL430-W250	2XL430-W250
XC	XC330-T288 XC330-T181 XC330-M288 XC330-M181	XC430-W150 XC430-W240 XC430-T150BB XC430-T240BB	2XC430-W250
XM	XM430-W210 XM430-W350	XM540-W150 XM540-W270
XH	XH430-W210 XH430-W350	XH430-V210 XH430-V350	XH540-W150 XH540-W270	XH540-V150 XH540-V270
XD	XD430-T350-R XD430-T210-R	XD540-T270-R XD540-T150-R
XW	XW430-T333 XW430-T200	XW540-T140 XW540-T260
PRO L	L42-10-S300-R	L54-30-S500-R	L54-30-S400-R	L54-50-S500-R	L54-50-S290-R
PRO M	M42-10-S260-R	M54-40-S250-R	M54-60-S250-R
PRO H	H42-20-S300-R	H54-100-S500-R	H54-200-S500-R
PRO M(A)	M42-10-S260-R(A)	M54-40-S250-R(A)	M54-60-S250-R(A)
PRO H(A)	H42-20-S300-R(A)	H54-100-S500-R(A)	H54-200-S500-R(A)
PM	PM54-060-S250-R	PM54-040-S250-R	PM42-010-S260-R
PH	PH42-020-S300-R	PH54-100-S500-R	PH54-200-S500-R
YM	YM070-210-M001-RH YM070-210-R051-RH YM070-210-R099-RH	YM080-230-M001-RH YM080-230-R051-RH YM080-230-R099-RH

Supported Protocols

DYNAMIXEL servos use digital serial communications to send and receive instructions. There are versions 1.0 and 2.0 of the DYNAMIXEL protocol, and some models of DYNAMIXEL only support one protocol version. The DYNAMIXEL SDK provides support for both, and the user can even use both protocols simultaneously using the DYNAMIXEL SDK. Refer to the following manuals for details on the protocol structure.

• DYNAMIXEL Protocol 1.0
• DYNAMIXEL Protocol 2.0 (Recommended protocoltype)

Supported Devices

The DYNAMIXEL SDK is available for use on PCs (desktops or laptops), and also on SBCs like Raspberry Pi and UpBoards. In addition, it has support for embedded boards through the Arduino IDE and C/C++ libraries. DYNAMIXEL servos use half-duplex TTL or RS485 communication, in order to connect your computer and DYNAMIXEL, ROBOTIS recommends the U2D2 USB to Serial interface.

Supported Operating Systems

The DYNAMIXEL SDK supports all three major operating systems: Windows, Linux, and MacOS.

Supported Languages

The DYNAMIXEL SDK supports a variety of programming languages:

• C: *Dynamic library and source code for this library and examples
• C#, Java, MATLAB, LabVIEW: Support based on dynamic library for the C language
• C++: *Dynamic library and source code for this library and examples
• Python: Python module and examples
• ROS/ROS2: ROS library using C++ and Python modules

warning

*Dynamic library (.dll, .so, and .dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS