Robotis Dynamixel DX-116 Скачать руководство пользователя страница 13

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English Translation by: Tribotix Pty Ltd

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DYNAMIXEL

DX-116

3-4. Control

Table

Addre ss

Ite m

Ac c e ss

Initia l Va lue

0(0X00)

Mo de l Numbe r(L)

116(0x74)

1(0X01)

Mo de l Numbe r(H)

0(0x00)

2(0X02)

Ve rsion o f Firmwa re

3(0X03)

RD,WR

1(0x01)

4(0X04)

Ba ud Ra te

RD,WR

34(0x22)

5(0X05)

Re turn De la y Time

RD,WR

80(0x50)

6(0X06)

CW Angle Limit(L)

RD,WR

0(0x00)

7(0X07)

CW Angle Limit(H)

RD,WR

0(0x00)

8(0X08)

CCW Angle Limit(L)

RD,WR

255(0xFF)

9(0X09)

CCW Angle Limit(H)

RD,WR

3(0x03)

10(0x0A)

(Re se rve d)

0(0x00)

11(0X0B)

the Highe st Limit Te mpe ra ture

RD,WR

100(0x64)

12(0X0C)

the Lo we st Limit Vo lta ge

RD,WR

60(0X3C)

13(0X0D)

the Highe st Limit Vo lta ge

RD,WR

190(0xBE)

14(0X0E)

Ma x Torque (L)

RD,WR

255(0XFF)

15(0X0F)

Ma x Torque (H)

RD,WR

3(0x03)

16(0X10)

Sta tus Re turn Le ve l

RD,WR

2(0x02)

17(0X11)

Ala rm LED

RD,WR

4(0x04)

18(0X12)

Ala rm Shutdo wn

RD,WR

4(0x04)

19(0X13)

(Re se rve d)

RD,WR

0(0x00)

20(0X14)

Do wn Ca libra tio n(L)

21(0X15)

Do wn Ca libra tio n(H)

22(0X16)

Up Ca libra tio n(L)

23(0X17)

Up Ca libra tio n(H)

24(0X18)

To rque Ena ble

RD,WR

0(0x00)

25(0X19)

LED

RD,WR

0(0x00)

26(0X1A)

CW Co mplia nc e Ma rgin

RD,WR

0(0x00)

27(0X1B)

CCW Co mplia nc e Ma rgin

RD,WR

0(0x00)

28(0X1C)

CW Co mplia nc e Slo pe

RD,WR

32(0x20)

29(0X1D)

CCW Co mplia nc e Slo pe

RD,WR

32(0x20)

30(0X1E)

Go a l Po sitio n(L)

RD,WR

[Addr36]va lue

31(0X1F)

Go a l Po sitio n(H)

RD,WR

[Addr37]va lue

32(0X20)

Mo ving Spe e d(L)

RD,WR

33(0X21)

Mo ving Spe e d(H)

RD,WR

34(0X22)

To rque Limit(L)

RD,WR

[Addr14] va lue

35(0X23)

To rque Limit(H)

RD,WR

[Addr15] va lue

36(0X24)

Pre se nt Po sitio n(L)

37(0X25)

Pre se nt Po sitio n(H)

38(0X26)

Pre se nt Spe e d(L)

39(0X27)

Pre se nt Spe e d(H)

40(0X28)

Pre se nt Lo a d(L)

41(0X29)

Pre se nt Lo a d(H)

42(0X2A)

Pre se nt Vo lta ge

43(0X2B)

Pre se nt Te mpe ra ture

44(0X2C)

Re giste re d Instruc tio n

RD,WR

0(0x00)

45(0X2D)

(Re se rve d)

0(0x00)

46[0x2E)

Mo ving

0(0x00)

47[0x2F)

Lo c k

RD,WR

0(0x00)

48[0x30)

Punc h(L)

RD,WR

32(0x20)

49[0x31)

Punc h(H)

RD,WR

0(0x00)

RAM
Area

EEPROM
Area

Содержание Dynamixel DX-116

Страница 1: ...Closer to Real DX 116 Dynamixel User s Manual 2004 04 02...

Страница 2: ...l Parts Assembly Page 5 2 2 Connector Assembly 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...

Страница 3: ...ion 1024 divisions Compliance Driving Control the degree of elastic force in position control Feedback Feedback for angular position speed and load size Alarm System Not only does the Dynamixel warn o...

Страница 4: ...DYNAMIXEL DX 116 Metal Gears All the gear sets are made of metal to ensure extreme durability Axis Bearing A bearing is used on the final axis to ensure there is no loss of efficiency during heavily...

Страница 5: ...V 18V Recommended voltage 14 15V Max Current 1200mA Operating Temp 5 85 Weight 66g Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication 8bit 1stop No Parity Link P...

Страница 6: ...ts of Nuts Screws are only used when a Dynamixel is mounted to other equipment 2 2 Connector Assembly Assemble the connectors as shown below Attach the wires to the terminals using the correct crimpin...

Страница 7: ...ect the same pin numbers as shown below Main Controller The Main Controller must support RS485 to control the Dynamixel A proprietary Controller may be utilised but the Cycloid M2 board is recommended...

Страница 8: ...Dynamixel the main Controller needs to convert the signals to RS485 The recommended schematic configuration is as follows Main Controller Molex4P Connector Pin1 Pin2 Dynamixel Signal DIRECTION485 det...

Страница 9: ...the Dynamixel units to ensure that the pin assignments are correct Always check the current consumption The standby current consumption of a Dynamixel unit should be less than 50mA Connection Status...

Страница 10: ...nds an instruction packet with the ID set to N only the Dynamixel with this ID value will return its respective status packet and perform the required instruction Unique ID Communication problems will...

Страница 11: ...Dynamixel s Status packets will not be returned with a broadcasting ID LENGTH The length of the Status Packet The value is Parameter number N 2 INSTRUCTION The instruction for the Dynamixel to perform...

Страница 12: ...e calculated value is bigger than 255 the lower byte becomes the checksum represents the Not or complement operation Bit Name Details Bit 7 0 Bit 6 Instruction Error Set to 1 if an undefined instructi...

Страница 13: ...13 Reserved RD WR 0 0x00 20 0X14 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 WR 0 0x00 25 0X19 LED RD WR 0 0x00...

Страница 14: ...he following meanings for data assigned to each address in the control table Address 0x00 0x01 Model Number In the case of the DX 116 the value is 0X0074 116 Address 0x02 Firmware Version Address 0x03...

Страница 15: ...ent voltage Address42 is out of the specified range a Voltage Range Error bit will be set in the Status Packet and an alarm executed will be set in Address s 17 18 The values are 10 times the actual v...

Страница 16: ...8 is required to be set to 1 Address 0x14 0x17 Calibration Data used for compensating for the differences between Robotis products Users cannot change this area Bit Function Bit 7 0 Bit 6 If set to 1...

Страница 17: ...mixel controls Compliance by setting the Margin and Slope If used well Compliance will absorb the shocks The following graph demonstrates the use of Compliance values length of A B C D relative to Pos...

Страница 18: ...oad Direction 0 CCW Load Load Direction 1 CW Load Address 0x2A Present Voltage The voltage applied to the Dynamixel The value is 10 times the actual voltage For example 10V is read as 100 0x64 Address...

Страница 19: ...253 0xfd 4 0X04 Baud Rate 1 0 254 0xfe 5 0X05 Return Delay T ime 1 0 254 0xfe 6 0X06 CW Angle L imit 2 0 1023 0x3ff 8 0X08 CCW Angle L imit 2 0 1023 0x3ff 11 0X0B the Highest L imit T emperature 1 0...

Страница 20: ...Example 1 Set ID of connected Dynamixel as 1 Write 1 into the Address 3 of the Control Table The ID is transmitted using Instruction Name Function Value Number of Parameter PING No action Used to obta...

Страница 21: ...Parameter1 Starting Address of Data to Read Parameter2 length of Data to Read Example 2 Read the internal temperature of the Dynamixel with ID 1 Read 1 byte from the Address 0x2B values of the Contro...

Страница 22: ...1st Data to Write Parameter3 2nd Data to Write Parameter N 1 N th Data to Write ACTION Function Execute the WRITE instruction written by REG_WRITE Length 0X02 Instruction 0X05 Parameter NONE The ACTIO...

Страница 23: ...0 0XFC ID LENGTH ERROR CHECKSUM 4 5 RESET Function Restore the condition of the Control Table of the Dynamixel back to the Factory Default values Length 0X02 Instruction 0X06 Parameter NONE Example 4...

Страница 24: ...ixel from 1 to 0 Instruction Packet Instruction WRITE_DATA Address 0x03 DATA 0x00 Communication Dynamixel FF FF 01 04 03 03 00 F4 LEN 008 Dynamixel FF FF 01 02 00 FC LEN 006 Status Packet Result NO ER...

Страница 25: ...Reset the upper limit temperature of the Dynamixel with ID 1 to 80 Instruction Packet Instruction WRITE_DATA Address 0x0B DATA 0x50 Communication Dynamixel FF FF 00 04 03 0B 50 9D LEN 008 Dynamixel FF...

Страница 26: ...urned for the next instruction Example 14 If temperature values are higher than those defined operative temperatures set the alarm to make the Dynamixel blink and then shut down the Dynamixel Torque o...

Страница 27: ...ove example can be shown in the graph below A CCW Compliance Slope Address0x1D 0x40 Approximately 18 8 B CCW Compliance Margin Address0x1B 0x01 Approximately 0 29 C CW Compliance Margin Address0x01A 0...

Страница 28: ...ynamixel ID 1 to an angular Position of 300 Make sure both Dynamixels start at the same time If you use WRITE_DATA instruction two Dynamixel can not start at the same time therefore use REG_WRITE and...

Страница 29: ...an only be unlocked by removing power If trying to access other data areas whilst locked an error will be returned Dynamixel FF FF 00 05 03 30 40 00 87 LEN 009 Dynamixel FF FF 00 02 08 F5 LEN 006 Exam...

Страница 30: ...normally indicates the UART_STATUS and the bit definitions within the register have the following meanings TXD_BUFFER_READY_BIT Transmission DATA can be loaded into the Buffer Note that the SERIAL TX...

Страница 31: ...while TXD_SHIFT_REGISTER_EMPTY_BIT Wait till last data bit has been sent LINE 11 PORT_485_DIRECTION RX_DIRECTION 485 direction changed to RXD LINE 12 EnableInterrupt enable interrupt again Please not...

Страница 32: ...pInterruptRxBuffer 256 MEMORY_SPARE 485 RxD Data Buffer byte gbRxBufferReadPointer gbRxBufferWritePointer Pointers for access the gbpInterruptRxBuffer void static interrupt far Serial0Interrupt void v...

Страница 33: ...acketLength bPacketLength RxPacket bpRxBuffer TxDString r n Dynamixel PrintBuffer bpRxBuffer bPacketLength Move to Position 0x0100 0x300 while 1 bpParameter 0 ADDRESS_GOAL_POSITION bpParameter 1 0x00...

Страница 34: ...pTxBuffer 2 bID bpTxBuffer 3 bParameterLength 2 Length Paramter Instruction Checksum bpTxBuffer 4 bInstruction for bCount 0 bCount bParameterLength bCount bpTxBuffer bCount 5 bpParameter bCount bCheck...

Страница 35: ...on by Tribotix Pty Ltd www tribotix com DYNAMIXEL DX 116 TxD8Hex bpPrintBuffer bCount TxD8 Result 0xFE is BROADCAST_ID so Dynamixel does not return status packet First 2 Instruction Packet Set ID to 3...

Страница 36: ...4 Model Number 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 molex com or www molex co jp for more detail information Female C...

Страница 37: ...36 English Translation by Tribotix Pty Ltd www tribotix com DYNAMIXEL DX 116 Dimension Motor Curve No reduction gear state...

Страница 38: ...37 English Translation by Tribotix Pty Ltd www tribotix com DYNAMIXEL DX 116 Optional Frame Application Example OF116H OF116S OF116B Body to Body Mount...

Страница 39: ...n frame Cycloid M2 Board The Custom Built Controller for Dynamixel Optional Part Blue tooth module RS232 UART and 6 button blue tooth remocon Can be adapted multi axis robot directly 23Axis frame full...

Страница 40: ...39 English Translation by Tribotix Pty Ltd www tribotix com DYNAMIXEL DX 116 Application Example CYCLOID...

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