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Robotis MX-106R, Manual

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Robotis MX-106R Manual Download Page 14

difference in terms of motion.

Explanation for PID required.

For the brief explanation about general PID, please refer to the website(link) below.

http://en.wikipedia.org/wiki/PID_controller

FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic
theory that can be applied to all kinds of control.

2. 4. 18. Goal Position (30)

It is a position value of destination.
0 to 4,095 (0xFFF) is available. The unit is 0.088 [°].
If Goal Position is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is returned as
‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.

The picture above is the front view of DYNAMIXEL

In multi-turn mode DYNAMIXEL has a range from -28,672 to 28,672 (can turn up to 7
revolutions in either CW or CCW direction).
When resolution divider is set to a different value revolutions can increase.

NOTE

 : If it is set to Wheel Mode, Goal Position value is not used.

2. 4. 19. Moving Speed (32)

Join Mode, Multi-Turn mode It is a moving speed to Goal Position.
0 ~ 1,023 (0x3FF) can be used, and the unit is about 0.114rpm.
If it is set to 0, it means the maximum rpm of the motor is used without controlling the
speed.
If it is 1023, it is about 116.62rpm.
For example, if it is set to 300, it is about 34.2 rpm.
However, the rpm will not exceed the No Load Speed.
Wheel Mode It is a moving speed to Goal direction.
0 ~ 2,047 (0x7FF) can be used, and the unit is about 0.114rpm.
If a value in the range of 0 ~ 1,023 is used, it is stopped by setting to 0 while rotating to
CCW direction.
If a value in the range of 1,024 ~ 2,047 is used, it is stopped by setting to 1024 while

Summary of Contents for MX-106R

Page 1: ...der to use Protocol 2 0 please update the firmware to V39 or above Update firmware using R Manager 2 0 WARNING For MX 106 2 0 Protocol please refer to the MX 106 2 0 Control Table as they are different 1 Specifications Item Specifications MCU ARM CORTEX M3 72 MHz 32Bit Position Sensor Contactless absolute encoder 12Bit 360 Maker ams www ams com Part No AS5045 Dynamixel MX Series Protocol v2 0 F W ...

Page 2: ...l Load 1 40 N 10 mm away from the horn Axial Load 1 20 N Operating Temperature 5 80 C Input Voltage 10 0 14 8 V Recommended 12 0 V Command Signal Digital Packet Protocol Type TTL Half Duplex Asynchronous Serial Communication with 8bit 1stop No Parity RS485 Asynchronous Serial Communication with 8bit 1stop No Parity Physcial Connection RS485 TTL Multidrop Bus ID 254 ID 0 253 Feedback Position Tempe...

Page 3: ... not insert sharp blades nor pins during product operation ATTENTION May cause injury or damage to product Do not disassemble or modify product Do not drop or apply strong shock to product 1 1 Performance Graph NOTE The Max Torque and the Stall Torque of Performance Graph are different in measurement methods Stall torque is a measured value of the momentary torque that it can reach This is general...

Page 4: ...h Instruction Packets In order to read or write data users must designate a specific Address in the Instruction Packet Please refer to Protocol 1 0 for more details about Instruction Packets NOTE Two s complement is applied for the negative value For more information please refer to Two s complement from Wikipedia 2 1 1 Area EEPROM RAM The Control Table is divided into 2 Areas Data in the RAM Area...

Page 5: ... 250 6 2 CW Angle Limit Clockwise Angle Limit RW 0 8 2 CCW Angle Limit Counter Clockwise Angle Limit RW 4 095 10 1 Drive Mode Dual Mode Setting RW 0 11 1 Temperature Limit Maximum Internal Temperature Limit RW 80 12 1 Min Voltage Limit Minimum Input Voltage Limit RW 60 13 1 Max Voltage Limit Maximum Input Voltage Limit RW 160 14 2 Max Torque Maximun Torque RW 1023 16 1 Status Return Level Select T...

Page 6: ...2 Current Consuming Current RW 0 70 1 Torque Ctrl Mode Enable Torque Control Mode On Off RW 0 71 2 Goal Torque Goal Torque RW 0 73 1 Goal Acceleration Goal Acceleration RW 0 2 4 Control Table Description 2 4 1 Model Number 0 This address stores model number of DYNAMIXEL 2 4 2 Firmware Version 2 This address stores firmware version of DYNAMIXEL 2 4 3 ID 3 The ID is a unique value in the network to ...

Page 7: ... USB Latency value to the lower USB Latency Setting For BPS over 250 values Value Baud Rate Margin of Error 250 2 250 000 0 000 251 2 500 000 0 000 252 3 000 000 0 000 2 4 5 Return Delay Time 5 After the DYNAMIXEL receives an Instruction Packet it delays transmitting the Status Packet for Return Delay Time 5 For instance if the Return Delay Time 5 is set to 10 the Status Packet will be returned af...

Page 8: ...nused always 0 Bit 3 0x08 Unused always 0 Bit 2 0x04 Unused always 0 Bit 1 0x02 Master Slave Mode Dual Joint 0 Master Mode Operate as a Master DYNAMIXEL 1 Slave Mode Operate as Slave DYNAMIXEL Bit 0 0x01 Normal Reverse Mode 0 Normal Mode CCW Positive CW Negative 1 Reverse Mode CCW Negative CW Positive NOTE If the value of Bit 0 Normal Reverse Mode of the Drive Mode 10 is set to 1 rotational direct...

Page 9: ...AMIXEL to the opposite direction of the Master DYNAMIXEL while regular sync cable actuate to the same direction Sync Cable Description Regular Sync Cable Slave DYNAMIXEL is controlled by the PWM Signal from the Master DYNAMIXEL Master and Slave DYNAMIXEL rotate in the same direction Twisted Sync Cable Slave DYNAMIXEL is controlled by the Inverted PWM Signal from the Master DYNAMIXEL Master and Sla...

Page 10: ...Data 512 0x200 means that DYNAMIXEL will use 50 of the maximum torque When the power is turned on Torque Limit 34 uses the value as the initial value 2 4 11 Status Return Level 16 This value decides how to return Status Packet when DYNAMIXEL receives an Instruction Packet Value Responding Instructions Description 0 PING Instruction Status Packet will not be returned for all Instructions 1 PING Ins...

Page 11: ...sum of the transmitted Instruction Packet is invalid Bit 3 Range Error When the command is given beyond the range of usage Bit 2 OverHeating Error When the internal temperature is out of the range of operating temperature set in the Control Table Bit 1 Angle Limit Error When Goal Position is written with the value that is not between CW Angle Limit and CCW Angle Limit Bit 0 Input Voltage Error Whe...

Page 12: ...n can be obtained while Multi turn Offset and Resolution Divider are taken into account For example a DYNAMIXEL with a Real Position of 2048 with a Resolution Divider set as 4 and Multi turn Offset as 1024 will yield a Present Position of 1535 2048 4 1024 1535 NOTE This feature is only applied in multi turn mode and will be ignored in other modes 2 4 15 Torque Enable 24 Value Description 0 Default...

Page 13: ...portional band I gain value of integral action D Gain value of derivative action Gains values are in between 0 254 Kp P Gain 8 Ki I Gain 1 000 2 048 Kd D Gain 4 1 000 The relationship between Compliance Slop and PID Slope P Gain 8 128 16 64 32 32 64 16 128 8 The less the P gain The larger the back lash and the weaker the amount of output near goal position At some extent it is like a combined conc...

Page 14: ...672 to 28 672 can turn up to 7 revolutions in either CW or CCW direction When resolution divider is set to a different value revolutions can increase NOTE If it is set to Wheel Mode Goal Position value is not used 2 4 19 Moving Speed 32 Join Mode Multi Turn mode It is a moving speed to Goal Position 0 1 023 0x3FF can be used and the unit is about 0 114rpm If it is set to 0 it means the maximum rpm...

Page 15: ...e other than 0 the motor can be operated again 2 4 21 Present Position 36 It is the present position value of DYNAMIXEL The range of the value is 0 4095 0xFFF and the unit is 0 088 The picture above is the front view of DYNAMIXEL In multi turn mode the range is from 28 672 to 28 672 with unit values dependent on Resolution Divider 0 088 Resolution Divider NOTE In multi turn mode Present position d...

Page 16: ...t or torque It is recommended to use it for predicting the direction and size of the force being applied to the joint 2 4 24 Present Voltage 42 It is the size of the present voltage supplied This value is 10 times larger than the actual voltage For example when 10V is supplied the data value is 100 0x64 If Present Voltage 42 value is out of range Voltage Range Error Bit Bit0 of Status Packet is re...

Page 17: ...value resets to 0 when it exceeds 32 767 NOTE This feature is available from Firmware v40 2 4 31 Current 68 At an idle state without current flow this value is 2 048 0x800 When positive current flows this value becomes larger than 2 048 0x800 while negative current flow returns a value smaller than 2 048 0x800 The following is current flow calculation formula I 4 5mA CURRENT 2048 in amps unit A Fo...

Page 18: ...s applied to the CCW direction and setting it to 0 will stops If you use a value between 1 024 2 047 torque is applied to the CW direction and setting it to 1 024 will stops That means 10th bit becomes the CW CCW direction bit which controls rotational direction Goal Torque cannot be bigger than Torque Limit 34 35 2 4 34 Goal Acceleration 73 This is Goal Acceleration value It can be used from 0 25...

Page 19: ...FR08 B101 FR08 H101 FR08 H110 and FR08 D101 3 2 Horns HN05 N102 HN05 I101 3 3 Combination Structures ...

Page 20: ...the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back 4 1 1 Installing the Horn Place the thrust horn washer into the actuator before inserting the horn You must carefully align the horn to the wheel gear serration by aligning dots ...

Page 21: ...nquire us for information regarding unlisted certifications 5 1 1 FCC Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate...

Page 22: ...D 2 VDD 3 DATA 1 GND 2 VDD 3 DATA 4 DATA 1 PWM1 2 PWM2 3 ENABLE Diagram Housing MOLEX 50 37 5033 MOLEX 50 37 5043 MOLEX 51021 0300 PCB Header MOLEX 22 03 5035 MOLEX 22 03 5045 MOLEX 53398 0371 Crimp Terminal MOLEX 08 70 1039 MOLEX 08 70 1039 MOLEX 50058 8000 Wire Gauge 21 AWG 21 AWG 26 AWG WARNING Check the pinout The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer 5 3 Vid...

Page 23: ...ad MX 106R STEP Download MX 106R IGES 5 5 Communication Circuit To control the DYNAMIXEL actuators the main controller needs to convert its UART signals to the half duplex type The recommended circuit diagram for this is shown below 5 5 1 TTL Communication ROBOTIS FAQ DXL Gear Replacement MX 64 MX 106 ROBOTIS FAQ DXL Gear Replacement MX 64 MX 106 ...

Page 24: ...d RxD in the TTL Level is determined according to the level of DIRECTION 485 as follows In case of DIRECTION485 Level High The signal of TxD is output to D and D In case of DIRECTION485 Level Low The signal of D and D is output to RxD WARNING Check the pinout The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer 2020 ROBOTIS Powered by Jekyll Minimal Mistakes www pishrobot c...

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