Robotis Dynamixel RX-28 User Manual Download Page 4

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DYNAMIXEL

RX-28

1-2. Main Specifications

RX-28

Weight (g)

Gear Reduction Ratio

1/193

Input Voltage (V)

at 12V

at 16V

Final Max Holding Torque(kgf.cm)

28.3

37.7

Sec/60degree 0.167

0.126

Resolution 0.3°

Operating Angle

300°, Endless Turn

Voltage

12V~16V (Recommended voltage: 14.4V)

Max. Current

1200mA

Operate Temperature

-5

~ +85

℃

Command Signal

Digital Packet

Protocol Type

RS485 Asynchronous Serial Communication (8bit,1stop,No Parity)

Link (Physical)

RS485 Multi Drop Bus

254 ID (0~253)

Communication Speed 7343bps ~ 1 Mbps

Feedback Position,

Temperature,

Load, Input Voltage, etc.

Material

Full Metal Gear, Engineering Plastic

Motor Maxon

RE-MAX

Summary of Contents for Dynamixel RX-28

Page 1: ...User s Manual 2007 03 27 R Dynamixel X 28 Closer to Real...

Page 2: ...embly Page 5 2 3 Dynamixel Wiring Page 6 3 Communication Protocol 3 1 Communication Overview Page 9 3 2 Instruction Packet Page 10 3 3 Status Packet Page 10 3 4 Control Table Page 12 4 Instruction Set...

Page 3: ...cified in controlling position Feedback Feedback for angular position angular velocity and load torque are available Alarm System The Dynamixel series robot actuator can alert the user when parameters...

Page 4: ...300 Endless Turn Voltage 12V 16V Recommended voltage 14 4V Max Current 1200mA Operate Temperature 5 85 Command Signal Digital Packet Protocol Type RS485 Asynchronous Serial Communication 8bit 1stop No...

Page 5: ...DYNAMIXEL RX 28 2 Dynamixel Operation 2 1 Mechanical Assembly Option Frames OF 28B OF 28S RXOF 28H Horn 28T 4...

Page 6: ...2 Connector Assembly Assemble the connectors as shown below Attach the wires to the terminals using the correct crimping tool If you do not have access to a crimping tool solder the terminals to the w...

Page 7: ...tor s edge cut side is PIN1 PIN1 GND PIN2 VDD 12V 21V PIN4 D PIN3 D PIN4 D PIN3 D PIN2 VDD 12V 21V PIN1 GND Wiring Connect the RX 28 actuators pin to pin as shown below Many RX 28 actuators can be con...

Page 8: ...y has the above circuitry built in thus the Dynamixel actuators can be directly connected to it The direction of data signals on the TTL level TxD and RxD depends on the DIRECTION485 level as the foll...

Page 9: ...rent consumption of a single Dynamixel actuator unit in standby mode should be no larger than 50mA Connection Status Verification When power is applied to the Dynamixel actuator the LED blinks twice t...

Page 10: ...an instruction packet with the ID set to N only the Dynamixel unit with this ID value will return its respective status packet and perform the required instruction Unique ID If multiple Dynamixel unit...

Page 11: ...n the network Thus packets sent with a broadcasting ID will not return any status packets LENGTH The length of the packet where its value is Number of parameters N 2 INSTRUCTION The instruction for th...

Page 12: ...t 4 Checksum Error Set to 1 if the checksum of the instruction packet is incorrect Bit 3 Range Error Set to 1 if the instruction sent is out of the defined range Bit 2 Overheating Error Set to 1 if th...

Page 13: ...Down Calibration L RD 21 0X15 Down Calibration H RD 22 0X16 Up Calibration L RD 23 0X17 Up Calibration H RD 24 0X18 Torque Enable RD W R 0 0x00 25 0X19 LED RD W R 0 0x00 26 0X1A CW Compliance Margin...

Page 14: ...of data stored in each of the addresses in the control table Address 0x00 0x01 Model Number For RX 28 this value is 0X001C 28 Address 0x02 Firmware Version Address 0x03 ID The unique ID number assign...

Page 15: ...operating voltage If the present voltage Address 42 is out of the specified range a Voltage Range Error Bit Bit 0 of the Status Packet will return the value 1 and an alarm will be set by Address 17 1...

Page 16: ...returning to a normal condition from an error state the LED stops blinking after 2 seconds Address 0X12 Alarm Shutdown If the corresponding Bit is set to a 1 the Dynamixel actuator s torque will be tu...

Page 17: ...cks at the output shaft The following graph shows how each compliance value length of A B C D is defined by the Position Error and applied torque X axis Position Error CCW Y axis Output Torque CCW CW...

Page 18: ...ad Address 0x2A Present Voltage The voltage currently applied to the Dynamixel actuator The value is 10 times the actual voltage For example 10V is represented as 100 0x64 Address 0x2B Present Tempera...

Page 19: ...06 CW Angle Limit 2 0 1023 0x3ff 8 0X08 CCW Angle Limit 2 0 1023 0x3ff 11 0X0B the Highest Limit Temperature 1 0 150 0x96 12 0X0C the Lowest Limit Voltage 1 50 0x32 250 0xfa 13 0X0D the Highest Limit...

Page 20: ...T Changes the control table values of the Dynamixel actuator to the Factory Default Value settings 0x06 0 SYNC W RITE Used for controlling many Dynamixel actuators at the same time 0x83 4 4 1 WRITE_DA...

Page 21: ...re the data is to be read Parameter2 Length of the data to be read Example 2 Reading the internal temperature of the Dynamixel actuator with an ID of 1 Read 1 byte from address 0x2B of the control tab...

Page 22: ...ress of the location where the data is to be written Parameter2 1st data to be written Parameter3 2nd data to be written Parameter N 1 Nth data to be written 4 3 2 ACTION Function Triggers the action...

Page 23: ...UM The returned Status Packet is as the following Status Packet 0XFF 0XFF 0X01 0X02 0X00 0XFC ID LENGTH ERROR CHECKSUM Regardless of whether the Broadcasting ID is used or the Status Return Level Addr...

Page 24: ...xel actuators Instruction 0X83 Parameter1 Starting address of the location where the data is to be written Parameter2 The length of the data to be written L Parameter3 The ID of the 1st Dynamixel actu...

Page 25: ...xel actuator with an ID of 0 to position 0X220 with a speed of 0X380 Instruction Packet 0XFF 0XFF 0XFE 0X18 0X83 0X1E 0X04 0X00 0X10 0X00 0X50 0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X...

Page 26: ...irmware Version 0x08 Example 7 Changing the ID to 0 for a Dynamixel actuator with an ID of 1 Instruction Packet Instruction WRITE_DATA Address 0x03 DATA 0x00 Communication Dynamixel FF FF 01 04 03 03...

Page 27: ...Communication Dynamixel FF FF 00 05 03 08 FF 01 EF LEN 009 Dynamixel FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Example 11 Resetting the upper limit for the operating temperature to 80 C...

Page 28: ...to never return a Status Packet Instruction Packet Instruction WRITE_DATA Address 0x10 DATA 0x00 Communication Dynamixel FF FF 00 04 03 10 00 E8 LEN 008 Dynamixel FF FF 00 02 00 FD LEN 006 Status Pack...

Page 29: ...e Output can be represented with the following graph CCW X Angle Error CW Goal Position CW CCW Even if the position deviates a little from the goal position in the CW direction a large amount of torqu...

Page 30: ...Dynamixel FF FF 00 07 03 1E 00 02 00 02 D3 LEN 011 Dynamixel FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Example 19 Position the output of a Dynamixel actuator with an ID of 0 to 0 and Pos...

Page 31: ...tatus Packet Result NO ERROR Once locked the only way to unlock it is to remove the power If an attempt is made to access any locked data an error is returned Dynamixel FF FF 00 05 03 30 40 00 87 LEN...

Page 32: ...and can be changed via the Control Table at Address 5 The Main Controller needs to change the Direction Port to input mode during the Return Delay Time after sending an instruction packet Tx Rx Direc...

Page 33: ...LINE 11 DIRECTION_PORT RX_DIRECTION Direction change to RXD LINE 12 EnableInterrupt enable interrupt again Please note the important lines between LINE 8 and LINE 12 Line 8 is necessary since an inter...

Page 34: ...CK 47 define P_PUNCH_L 48 define P_PUNCH_H 49 Instruction define INST_PING 0x01 define INST_READ 0x02 define INST_WRITE 0x03 define INST_REG_WRITE 0x04 define INST_ACTION 0x05 define INST_RESET 0x06 d...

Page 35: ...ength RxPacket DEFAULT_RETURN_PACKET_SIZE TxDString r n TxD PrintBuffer gbpTxBuffer bTxPacketLength TxDString r n RxD PrintBuffer gbpRxBuffer bRxPacketLength TxDString r n n Example 5 Read Control Tab...

Page 36: ...bCount while CHECK_TXD0_FINISH Wait until TXD Shift register empty RS485_RXD return bPacketLength RxPacket read data from buffer RxPacket need a Parameter Total length of Return Packet RxPacket return...

Page 37: ...tialize byte bPort byte bBaudrate byte bInterrupt else if bPrinted TxD8 byte lTmp 0 if bPort SERIAL_PORT0 lLong long lTmp lDigit lDigit lDigit 10 UBRR0H 0 UBRR0L bBaudrate UCSR0A 0x02 UCSR0B 0x18 lTmp...

Page 38: ...x Part Number Old Part Number Male 22 03 5045 5267 04 Female 50 37 5043 5264 04 Temperature range 40 C to 105 C Contact Insertion Force max 14 7N 3 30 lb Contact Retention Force min 14 7N 3 30 lb www...

Page 39: ...DYNAMIXEL RX 28 Dimension 38...

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