Robotis Dynamixel X Series Скачать руководство пользователя страница 9 | Manualshive

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Bit

Item

Description

Bit 2(0x04)

Profile Configuration

[0]

Velocity-based Profile: Create a Profile based on Velocity

[1]

Time-based Profile: Create Profile based on time

※

Please refer to

Profile Velocity(112)

Bit 1(0x02)

-

Unused, always ‘0’

Bit 0(0x01) Normal/Reverse Mode

[0]

Normal Mode: CCW(Positive), CW(Negative)

[1]

Reverse Mode: CCW(Negative), CW(Positive)

NOTE

: Time-based Profile is available from

firmware V42

.

NOTE

: If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to

1

, rotational

direction is inverted.
Thus,

Goal Position

,

Present Position

will have a inverted direction.

This feature can be very useful when configuring symmetrical joint or wheel system.

2. 4. 7. Operating Mode(11)

Value

Operating

Mode

Description

1

Velocity Control

Mode

(0° ~ 360°)

This mode controls velocity and ideal for wheel operation.
This mode is identical to the Wheel Mode(endless) from existing DYNAMIXEL.

3(Default)

Position Control

Mode

This mode controls position and identical to the Joint Mode.
Operating position range is limited by Max Position Limit(48) and Min Position
Limit(52).
This mode is ideal for articulated robots that each joint rotates less than 360°.

4

Extended

Position Control

Mode

(Multi-turn)

This mode controls position and identical to Multi-turn Mode.
512 turns are supported(-256[rev] ~ 256[rev]) and ideal for multi-turn wrists or
conveyer systems or a system that requires an additional reduction gear.

16

PWM Control

Mode

(Voltage Control

Mode)

This mode directly controls PWM output (Voltage Control Mode)

NOTE

: Switching Operating Mode will reset gains(PID, Feedfoward) properly to the selected

Operating Mode. The profile generator and limits will also be reset.

1.

Profile Velocity(112)

Profile Acceleration(108)

: Reset to ‘0’

2.

NOTE

: PWM is the abbreviation for Pulse Width Modulation that modulates PWM Duty to control

motors.
It changes pulse width to control average supply voltage to the motor and this technique is widely
used in the motor control field.

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Содержание Dynamixel X Series

Страница 1: ...ess absolute encoder 12Bit 360 Maker ams www ams com Part No AS5601 Motor Cored Baud Rate 9 600 bps 4 5 Mbps Control Algorithm PID control Resolution 4096 pulse rev Operating Modes Velcoity Control Mode Position Control Mode 0 360 Extended Position Control Mode Multi turn PWM Control Mode Voltage Control Mode Weight 57 2 g Dimensions W x H x D 28 5 x 46 5 x 34 mm Gear Ratio 258 5 1 ...

Страница 2: ...Voltage etc Part Material Engineering Plastic Standby Current 52 mA DANGER May cause serious injury or death Never place items containing water flammables and solvents near product Never place fingers arms toes and other body parts near product during operation Cut power off if product emits strange odors or smoke Keep product out of reach of children Check the power polarity before wiring CAUTION...

Страница 3: ...IS controller or SMPS2DYNAMIXEL Do not connect or disconnect DYNAMIXEL when power is being supplied 2 Control Table The Control Table is a structure of data implemented in the device Users can read a specific Data to get status of the device with Read Instruction Packets and modify Data as well to control the device with WRITE Instruction Packets 2 1 Control Table Data Address The Control Table is...

Страница 4: ... Access The Control Table has two different access properties RW property stands for read and write access permission while R stands for read only access permission Data with the read only property cannot be changed by the WRITE Instruction Read only property R is generally used for measuring and monitoring purpose and read write property RW is used for controlling device 2 1 4 Initial Value Each ...

Страница 5: ... 023 0 229 rev min 48 4 Max Position Limit RW 4 095 0 4 095 1 pulse 52 4 Min Position Limit RW 0 0 4 095 1 pulse 63 1 Shutdown RW 52 2 3 Control Table of RAM Area Address Size Byte Data Name Access Default Value Range Unit 64 1 Torque Enable RW 0 0 1 65 1 LED RW 0 0 1 68 1 Status Return Level RW 2 0 2 69 1 Registered Instruction R 0 0 1 70 1 Hardware Error Status R 0 76 2 Velocity I Gain RW 1 000 ...

Страница 6: ...sent PWM R 126 2 Present Load R 1 000 1 000 0 1 128 4 Present Velocity R 0 229 rev min 132 4 Present Position R 1 pulse 136 4 Velocity Trajectory R 0 229 rev min 140 4 Position Trajectory R 1 pulse 144 2 Present Input Voltage R 0 1 V 146 1 Present Temperature R 1 C 168 2 Indirect Address 1 RW 224 64 661 170 2 Indirect Address 2 RW 225 64 661 172 2 Indirect Address 3 RW 226 64 661 218 2 Indirect Ad...

Страница 7: ... 0 0 255 CAUTION Protocol 1 0 does not support addresses greater than 256 Therefore Indirect Address 29 56 and Indirect Data 29 56 can only be accessed with Protocol 2 0 2 4 Control Table Description CAUTION Data in the EEPROM Area can only be written when the value of Torque Enable 64 is cleared to 0 2 4 1 Model Number 0 This address stores model number of DYNAMIXEL 2 4 2 Firmware Version 6 This ...

Страница 8: ...e stable communication with higher Baudrate configure USB Latency value to the lower USB Latency Setting 2 4 5 Return Delay Time 9 After the DYNAMIXEL receives an Instruction Packet it delays transmitting the Status Packet for Return Delay Time 9 For instance if the Return Delay Time 9 is set to 10 the Status Packet will be returned after 20 μsec when the Instruction Packet is received Unit Value ...

Страница 9: ...lt Position Control Mode This mode controls position and identical to the Joint Mode Operating position range is limited by Max Position Limit 48 and Min Position Limit 52 This mode is ideal for articulated robots that each joint rotates less than 360 4 Extended Position Control Mode Multi turn This mode controls position and identical to Multi turn Mode 512 turns are supported 256 rev 256 rev and...

Страница 10: ...ry ID 12 is not a unique value Therefore DYNAMIXEL with the same Secondary ID value form a group The differences between Secondary ID 12 and ID 7 are as follows 1 Secondary ID 12 is not a unique value i e a lot of DYNAMIXEL may have the same Secondary ID value 2 ID 7 has a higher priority than Secondary ID 12 i e if Secondary ID 12 and ID 7 are the same ID 7 will be applied first 3 The EEPROM area...

Страница 11: ...manual complies with protocol 2 0 Please refer to the Protocol 1 0 and Protocol 2 0 of e Manual for more details about the protocol NOTE Please refer to the Protocol Compatibility table for product 2 4 10 Homing Offset 20 Users can adjust the Home position by setting Home Offset 20 The Homing Offset value is added to the Present Position 132 Present Position 132 Actual Position Homing Offset 20 Un...

Страница 12: ...ax Voltage Limit 32 34 These values are maximum and minimum operating voltages When current input voltage acquired from Present Input Voltage 144 exceeds the range of Max Voltage Limit 32 and Min Voltage Limit 34 Voltage Range Error Bit 0x01 and Hardware Error Bit 0x80 in the Hardware Error Status 70 are set If Input Voltage Error Bit 0x10 is configured in the Shutdown 63 Torque Enable 64 is clear...

Страница 13: ...herefore multiple options can be generated For instance when 0x05 binary 00000101 is defined in Shutdown 63 DYNAMIXEL can detect both Input Voltage Error binary 00000001 and Overheating Error binary 00000100 If those errors are detected Torque Enable 64 is cleared to 0 and the motor output becomes 0 REBOOT is the only method to reset Torque Enable 64 to 1 Torque ON after the shutdown Check Hardwar...

Страница 14: ...ess will turn on the Torque and all Data in the EEPROM area will be protected Value Description 0 Default Turn off the torque 1 Turn on the torque and lock EEPROM area NOTE Present Position 132 can be reset when Operating Mode 11 and Torque Enable 64 are updated For more details please refer to the Homing Offset 20 and Present Position 132 2 4 19 LED 65 Turn on or turn off the LED on DYNAMIXEL Bit...

Страница 15: ...4 22 Hardware Error Status 70 This value indicates hardware error status The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during the operation Each Bit is inclusively processed with the OR logic therefore multiple options can be generated For instance when 0x05 binary 00000101 is defined in Shutdown 63 DYNAMIXEL can detect both Input Voltage Error binary 00000001...

Страница 16: ... that of the Control Table is abbreviated to KVP TBL Controller Gain Conversion Equations Range Description Velocity I Gain 76 KVI KVI KVI TBL 65 536 0 16 383 I Gain Velocity P Gain 78 KVP KVP KVP TBL 128 0 16 383 P Gain Below figure is a block diagram describing the velocity controller in Velocity Control Mode When the instruction transmitted from the user is received by DYNAMIXEL it takes follow...

Страница 17: ...PD KPD TBL 16 0 16 383 D Gain Position I Gain 82 KPI KPI KPI TBL 65 536 0 16 383 I Gain Position P Gain 84 KPP KPP KPP TBL 128 0 16 383 P Gain Feedforward 2nd Gain 88 KFF2nd KFF2nd TBL 4 0 16 383 Feedforward Acceleration Gain Feedforward 1st Gain 90 KFF1st KFF1st TBL 4 0 16 383 Feedforward Velocity Gain Below figure is a block diagram describing the position controller in Position Control Mode and...

Страница 18: ...ID controller and Feedforward controller please refer to the PID Controller and Feed Forward 2 4 25 Bus Watchdog 98 Bus Watchdog 98 is available from firmware v38 It is a safety device Fail safe that stops the DYNAMIXEL if the communication between the controller and DYNAMIXEL communication RS485 TTL is disconnected due to an unspecified error Communication is defined as all the Instruction Packet...

Страница 19: ...8 is changed to 0 Bus Watchdog Error will be cleared 8 If 150 is written in the Goal Velocity 104 the DYNAMIXEL will rotate in CCW direction 2 4 26 Goal PWM 100 In case of PWM Control Mode both PID controller and Feedforward controller are deactivated while Goal PWM 100 value is directly controlling the motor through an Inverter In other control modes this value is used to limit PWM value This val...

Страница 20: ...ity based Profile is selected for Drive Mode 10 Profile Velocity 112 sets the maximum velocity of the Profile If Time based Profile is selected for Drive Mode 10 Profile Velocity 112 sets the time span for the Profile Profile Velocity 112 is applied only in Position Control Mode and Extended Position Control Mode NOTE Velocity Control Mode only uses Profile Acceleration 108 without Profile Velocit...

Страница 21: ...rocesses Goal Position 116 instruction in Position Control mode Extended Position Control Mode 1 An Instruction from the user is transmitted via DYNAMIXEL bus then registered to Goal Position 116 If Velocity based Profile is selected 2 Acceleration time t1 is calculated from Profile Velocity 112 and Profile Acceleration 108 3 Types of Profile is decided based on Profile Velocity 112 Profile Accele...

Страница 22: ...e is selected Profile Velocity 112 is used to set the time span of the Profile t3 while Profile Acceleration 108 sets accelerating time t1 in millisecond ms Profile Acceleration 108 will not exceed 50 of Profile Velocity 112 value 2 4 30 Goal Position 116 Desired position can be set with Goal Position 116 From the front view of DYNAMIXEL CCW is an increasing direction whereas CW is a decreasing di...

Страница 23: ...ition value of single turn NOTE Present Position 132 represents 4 byte continuous range from 2 147 483 648 to 2 147 483 647 when Torque is turned off regardless of Operating Mode 11 However Present Position 132 will be reset to an absolute position value of one full rotation in those cases 1 When Operating Mode 11 is changed to Position Control Mode Present Position 132 will be reset to an absolut...

Страница 24: ...de Bit Value Information Description Bit 7 X Reserved Bit 6 X Reserved Bit 5 4 11 10 01 00 Velocity Profile 11 Trapezoidal Profile 10 Triangular Profile 01 Rectangular Profile 00 Profile not used Step Bit 3 0 or 1 Following Error DYNAMIXEL is following the desired position trajectory 0 Following 1 Not following Bit 2 X Reserved Bit 1 0 or 1 Profile Ongoing Profile is in progress with Goal Position...

Страница 25: ...ng Mode 11 is changed to Position Control Mode Present Position 132 will be reset to an absolute position value of a full rotation 2 When torque is turned on in Position Control Mode Present Position 132 will be reset to an absolute position value of one full rotation 3 When turning off the power supply on Extended Position Control Mode Present Position 132 will be reset to an absolute position va...

Страница 26: ...a 1 224 1 Indirect Address 1 168 change the value to 65 which is the address of LED 2 Set Indirect Data 1 224 to 1 LED 65 also becomes 1 and LED is turned on 3 Set Indirect Data 1 224 to 0 LED 65 also becomes 0 and LED is turned off Example 2 Allocating Size 4 byte Goal Position 116 to Indirect Data 2 225 4 sequential bytes have to be allocated 1 Indirect Address 2 170 change the value to 116 whic...

Страница 27: ...3 1 Wiring through Back Case New XL430 W250 Released on 2018 3rd quarter ...

Страница 28: ...Old XL430 W250 This type has been discontinued ...

Страница 29: ... entangled cable before assembling the back case Do not assemble the back case with entangled cable The entangled cable can be squashed by the case and cause communication error Do not assemble both cables through the hollow case 3 2 Option Frame Assembly 3 2 1 New XL430 W250 ...

Страница 30: ......

Страница 31: ...3 2 2 Old XL430 W250 ...

Страница 32: ...ference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one more of the following measures Reorient or relocate the receiving an...

Страница 33: ...e DYNAMIXEL SDK or DYNAMIXEL Workbench 4 3 Connector Information Item TTL Pinout 1 GND 2 VDD 3 DATA Diagram Housing JST EHR 03 PCB Header JST B3B EH A Crimp Terminal JST SEH 001T P0 6 Wire Gauge 21 AWG WARNING Check the pinout The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer 4 4 Communication Circuit To control the DYNAMIXEL actuators the main controller needs to conver...

Страница 34: ...ffer from the pinout of connector manufacturer 4 5 Drawings 4 5 1 New XL430 W250 Download XL430_new pdf pdf Download XL430_new dwg dwg Download XL430_new stp stp 4 5 2 Old XL430 W250 Download XL430 pdf Download XL430 dwg Download XL430 stp www pishrobot com ...

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