Robotis Dynamixel RX-64 Скачать руководство пользователя страница 43

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RX-64

Sets the minimum output Torque (Punch) as 0x40.

Hint

Instruction = WRITE_DATA, Address = 0x30,

DATA

0x40,

0x00

Communication

Instruction Packet : FF FF 01 05 03 30 40 00 87

Status Packet

: FF FF 01 02 00 FD

Status Packet Result

ERROR

Example 19

Sets Compliance Margin=1 and Compliance Slope=0x40.

Hint

The suggested condition can be depicted in a graph as below.

Goal Position

CCW

0x01(CW)

0x01(CCW)

0x41(CW)

0x41(CCW)

Angle
(Position Error)

A: CCW Compliance Slope (Address 29 (0x1D)) = 0x40 (about 18.8°)

B: CCW Compliance Margin (Address 27 (0x1B)) = 0x01 (about 0.3°)

C: CW Compliance Margin (Address 26 (0x1A)) = 0x01 (about 0.3°)

D: CW Compliance Slope

(Address 28 (0x1C)) = 0x40 (about 18.8°)

Instruction = WRITE_DATA, Address = 0x1A,

DATA

0x01,

0x40,

0x40

Communication

Instruction Packet: FF FF 01 07 03 1A 01 01 40 40 59

Status Packet : FF FF 01 02 00 FD

Status Packet Result

ERROR

Example 18

Содержание Dynamixel RX-64

Страница 1: ...Closer to Real Dynamixel RX 64 v1 10 ROBOTIS CO LTD www robotis com User s Manual...

Страница 2: ...4 6 2 Installation 7 2 1 How to Assemble Frames 8 2 2 Assembling Connector 10 2 3 Wiring 11 2 4 Connection of Main Controller 12 3 Communication with RX 64 14 3 1 Overview of Communication 15 3 2 Inst...

Страница 3: ...RX 64 1 Introduction What is Dynaimxel Strong Points of Dynamixel Specifications of RX 64 2...

Страница 4: ...with a new concept integrating speed reducer controller driver network function etc into one module Dynamixel Reduction Gear Controller Driver Network LINE UP We have Line up of several kinds of Dynam...

Страница 5: ...s You can design a robot easily as if assembling a block toy by using option frame for Dynamixel Convenient Wiring Dynamixel is connected with Daisy Chain and it is easy to wire one another Network Dy...

Страница 6: ...he main processor can set speed position compliance torque etc simultaneously with a single command packet it can control several Dynamixels with a little resource Physical Intensity The main body is...

Страница 7: ...ree 300 Endless Turn Voltage 12V 21V Recommended voltage 18V Max Current 1200mA Running Temperature 5 85 Command Signal Digital Packet Protocol RS485 Asynchronous Serial Communication 8bit 1stop No Pa...

Страница 8: ...RX 64 2 Installation 1 How to Assemble Fames 2 Assembling Connectors 3 Wiring 4 Connection of Main Controller 7...

Страница 9: ...RX 64 2 1 How to Assemble Frames Optional Frames Rx 64 has the following optional frames optional frames OF 64B OF 64S2 OF 64H OF 64S 8...

Страница 10: ...RX 64 has the following kinds of Horns Device Combination The below picture shows examples of combinations by using optional frames and horns Horn 64I Horn 64T Horn 64N Basic Supply Ball Bearing Trust...

Страница 11: ...on the terminal like the left picture Press the cable and terminal by using Wire Former Combine the terminal to the cable tightly like the left picture Solder the terminal and cable after Forming to g...

Страница 12: ...ted Pin2Pin internally Wiring Wiring should be done Pin2Pin as shown below By connecting as such several RX 64s can be controlled on a BUS PIN1 GND PIN2 VDD 12V 21V PIN3 D PIN4 D PIN1 GND PIN2 VDD 12V...

Страница 13: ...onnection with PC If you want to control RX 64 with PC you may control it via the Dynamixel only controller or using the USB2Dynmixel For further information refer to the Dynamixel only controller man...

Страница 14: ...d D In case of DIRECTION485 Level Low The signal of D and D is output to RxD Confirmation of The LED of RX 64 flickers once if the power is supplied to RX 64 properly via wiring Connection Checking If...

Страница 15: ...RX 64 3 Communication with RX 64 1 Overview of Communication 2 Instruction Packet 3 Status Packet 4 Control Table 5 How to Use Packet 14...

Страница 16: ...s two kinds Instruction Packet which Main Controller sends to control RX 64 and Status Packet which RX 64 responses to Main Controller Role of ID ID is a specific number for distinction of each RX 64...

Страница 17: ...e length of the packet The length is calculated as the number of Parameters N 2 INSTRUCTION This command gives an instruction to RX 64 and has the following types Value Name Function No of Parameters...

Страница 18: ...e is the Not Bit operator When the calculation result of the parenthesis in the above formula is larger than 255 0xFF use only lower bytes For example when you want to use Instruction Packet like the...

Страница 19: ...the below table Bit Name Contents Bit 7 0 Bit 6 Instruction Error In case of sending an undefined instruction or delivering the action command without the reg_write command it is set as 1 Bit 5 Overlo...

Страница 20: ...1 In order words Overload and Overheating Errors have occurred PARAMETER0 N It returns data except ERROR For the usage of parameters refer to 3 5 How to Use Packet CHECK SUM It is used to check if pac...

Страница 21: ...W 2 0X02 17 0X11 Alarm LED LED for Alarm RW 36 0X24 18 0X12 Alarm Shutdown Shutdown for Alarm RW 36 0X24 24 0X18 Torque Enable Torque On Off RW 0 0X00 25 0X19 LED LED On Off RW 0 0X00 26 0X1A CW Compl...

Страница 22: ...ta which is used for driving Initial Value In case of data in the EEPROM Area the initial values on the right side of the above Control Table are the factory default settings In case of data in the RA...

Страница 23: ...x05 It is the delay time that takes from the transmission of Instruction Packet until the return of Status Packet 0 to 254 0xFE can be used and the delay time per data value 1 is 2 usec That is to say...

Страница 24: ...0x96 can be used If Present Voltage Address42 is out of the range Voltage Range Error Bit Bit0 of Status Packet is returned as 1 and Alarm is triggered as set in the addresses 17 and 18 Data value is...

Страница 25: ...Note When Instruction Packet is Broadcast ID Status Packet is not returned regardless of Status Return Level When Instruction Packet is Ping Status Packet is returned regardless of Status Return Level...

Страница 26: ...e off when the Data bit is set as 1 and the applicable error occurs The function of each Bit runs the logic of OR in the same way as Alarm LED However unlike Alarm LED the Torque OFF state is maintain...

Страница 27: ...sorption smooth motion etc The length of A B C and D in the below graph Position vs Torque curve is the value of Compliance Compliance Margin is available from 0 to 254 0xFE while Compliance Slope is...

Страница 28: ...0x08 3 12 0x0C 23 0x17 16 0x10 4 24 0x18 47 0x2F 32 0x20 5 48 0x30 95 0x5F 64 0x40 6 96 0x60 191 0xBF 128 0x80 7 192 0xC0 254 0xFE 254 0xFE For example if the current position is set as 200 0X0C8 Goal...

Страница 29: ...ress 38 39 0x26 0x27 It is the current moving speed of RX 64 0 to 1023 0X3FF can be measured Moving Speed and Present Speed can be converted into RPM when data value is multiplied by 0 111 For example...

Страница 30: ...described in Max Torque Present Position Address 36 37 0x24 0x25 It is the current position of RX 64 The unit is the same as that of Goal Position Present Load Address 40 41 0x28 0x29 It is the size...

Страница 31: ...ature is 85 Registered Instruction Address 44 0x2C It is set as 1 when a command is registered by the REG_WRITE command of Instruction Packet Then it changes into 0 after executing a registered comman...

Страница 32: ...es 32 and 33 0X20 and 0X21 The meaning of Moving Speed Address is as shown in the below picture Data value in the table represents the ratio of output torque For example Data 1023 0x3FF means that 100...

Страница 33: ...nction This command is to read data in the Control Table inside of RX 64 Length 0X04 Instruction 0X02 Parameter1 Start Address of data to be read Parameter2 Length of Data to be read Reads the current...

Страница 34: ...write data Parameter2 First data to write Parameter3 Second data to write Parameter N 1 Nth Data to write Sets the ID of RX 64 as 1 Writes 1 to the Address 3 in the Control Table Sends ID as Broadcas...

Страница 35: ...uction 0X04 Parameter1 Start Address to write Data Parameter2 First data to write Parameter N 1 Nth data to write 3 5 4 ACTION Function This command is to execute the Write action registered by REG_WR...

Страница 36: ...yte from the value of Address 43 0x2B in the Control Table Instruction Packet 0XFF 0XFF 0X01 0X02 0X01 0XFB ID LENGTH INSTRUCTION CHECKSUM Status Packet returned is as follows Status Packet 0XFF 0XFF...

Страница 37: ...4 whose ID is 0 Example 4 Instruction Packet 0XFF 0XFF 0X00 0X02 0X06 0XF7 ID LENGTH INSTRUCTION CHECKSUM Status Packet returned is as follows Status Packet 0XFF 0XFF 0X00 0X02 0X00 0XFD ID LENGTH ERR...

Страница 38: ...First ID of RX 64 Data regarding the first RX 64 Parameter4 First data of the first RX 64 Parameter5 Second data of the first RX 64 Parameter L 3 Lth Data of the first RX 64 Data regarding the second...

Страница 39: ...08 7D Status Packet Result Model Number 64 0x40 Firmware Version 0x08 Changes the ID of RX 64 from 1 to 0 Example 7 Hint Instruction WRITE_DATA Address 0x03 DATA 0x00 Communication Instruction Packet...

Страница 40: ...f Main Controller Note Restricts the movement angle from 0 to 150 Example 10 Hint Since CCW Angle Limit 0x3FF means 300 150 corresponds to 0x200 Instruction WRITE_DATA Address 0x08 DATA 0x00 0x02 Comm...

Страница 41: ...M area as 0x1FF which is 50 of the maximum value 0x3FF Instruction WRITE_DATA Address 0x0E DATA 0xff 0x01 Communication Instruction Packet FF FF 01 05 03 0E FF 01 E9 Status Packet FF FF 01 02 00 FD St...

Страница 42: ...TA 0x01 0x01 Communication Instruction Packet FF FF 01 05 03 18 01 01 DD Status Packet FF FF 01 02 00 FD Status Packet Result NO ERROR You can check the Torque Enable state by touching the axis of Dyn...

Страница 43: ...depicted in a graph as below Goal Position CCW CW CCW CW 0x01 CW 0x01 CCW 0x41 CW 0x41 CCW Angle Position Error A CCW Compliance Slope Address 29 0x1D 0x40 about 18 8 B CCW Compliance Margin Address 2...

Страница 44: ...Position 0 and RX 64 with ID 1 at Position 300 Start only two RX 64s at the same point Hint When the WRITE_DATA command is used two RX 64s cannot be started at the same point Thus REG_WRITE and ACTION...

Страница 45: ...est Limit Temperature 1 10 0x10 99 0x63 12 0X0C the Lowest Limit Voltage 1 50 0x32 250 0xfa 13 0X0D the Highest Limit Voltage 1 50 0x32 250 0xfa 14 0X0E Max Torque 2 0 1023 0x3ff 16 0X10 Status Return...

Страница 46: ...by changing the data of Control Table Address 5 Main Controller should convert Direction Port into the input state within the Return Delay Time frame after sending Instruction Packet Tx Rx Direction...

Страница 47: ...Wait till last data bit has been sent LINE 11 DIRECTION_PORT RX_DIRECTION Direction change to RXD LINE 12 EnableInterrupt enable interrupt again You should be careful of LINEs 8 to 12 As for LINE 8 it...

Страница 48: ...Contact Insertion Force max 14 7N 3 30 lb Contact Retention Force min 14 7N 3 30 lb For further information please visit the website www molex com or www molex co jp Female Connector Male Connector Mo...

Страница 49: ...4 18 45 3 22 34 6 40 2 22 8 M2 5T AP TH R U 3 M3TAP DP 8 34 41 42 5 29 47 6 5 34 6 40 2 22 29 22 61 1 18 4 42 5 45 3 22 29 22 40 2 34 6 45 3 42 5 18 61 1 4 8 M2 5T AP TH R U 34 41 41 34 3 8 M2 5T AP...

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