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User’s Manual 2007-03-27

R

Dynamixel

X-28

Closer to Real,

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Содержание Dynamixel RX-28

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

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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