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NOTE

 : In multi-turn mode, Present position depends on resolution divider and multi-turn offset For

more information turn to the section on Multi Turn offset and Resolution Divider.

2. 4. 21. Present Speed (38)

Is the current moving speed.
0 ~ 2,047 (0x000 ~ 0x7FF) can be used.
If a value is in the rage of 0 ~ 1,023 then the motor rotates to the CCW direction.
If a value is in the rage of 1,024 ~ 2,047 then the motor rotates to the CW direction.
The 10th bit becomes the direction bit to control the direction; 0 and 1,024 are equal.
The value unit is about 0.11rpm.
For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about
34.33rpm.

2. 4. 22. Present Load (40)

It means currently applied load. The range of the value is 0~2047, and the unit is about 0.1%. If
the value is 0~1,023, it means the load works to the CCW direction. If the value is 1,024~2,047,
it means the load works to the CW direction. That is, the 10th bit becomes the direction bit to
control the direction, and 1,024 is equal to 0. For example, the value is 512, it means the load
is detected in the direction of CCW about 50% of the maximum torque.

Bit

15 ~ 11

10

9 ~ 0

Value

0

Load Direction Data (Load Ratio)

NOTE

 : CCW Load : Load Direction = 0, CW Load : Load Direction = 1

NOTE

 : Present load is an inferred value based on the internal output value; not a measured value

using torque sensor, etc. Therefore, it may be inaccurate for measuring weight or torque. It is
recommended to use it for predicting the direction and size of the force being applied to the joint.

2. 4. 23. 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 returned as ‘1’ and
Alarm is triggered and set the address 17 and set 1 to the Bit 0 of the address 18.

2. 4. 24. Present Temperature (43)

It is the internal temperature of DYNAMIXEL in Celsius.
Data value is identical to the actual temperature in Celsius. For example, if the data value is 85
(0x55), the current internal temperature is 85°C.

2. 4. 25. Registered Instruction (44)

Value Description

Содержание MX-64AR

Страница 1: ...rder to use Protocol 2 0 please update the firmware to V39 or above Update firmware using R Manager 2 0 WARNING For MX 64 2 0 Protocol please refer to the MX 64 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 R...

Страница 2: ... 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 Temper...

Страница 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...

Страница 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...

Страница 5: ... 250 6 2 CW Angle Limit Clockwise Angle Limit RW 0 8 2 CCW Angle Limit Counter Clockwise Angle Limit RW 4 095 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 240 14 2 Max Torque Maximun Torque RW 1023 16 1 Status Return Level Select Types of Status Return RW 2 17 1 Alarm L...

Страница 6: ...l 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 identify each DYNAMIXEL with an Instruction Packet 0 252 0xFC values can be used as an ID and 254 0xFE...

Страница 7: ...0 252 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 after 20 μsec when the Instruction Packet is received Unit Value Range Description 2 μsec 0 254 Default value 250 500 μsec Maximum 508 μsec 2 4 6 CW...

Страница 8: ...Voltage Limit 12 13 It is the operation range of voltage Unit Value Range Description About 0 1V 50 160 5 0 16 0V For example if the value is 80 the voltage is 8V If Present Voltage 42 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 2 4 9 Max Torque 14 It is the torque value of maximum output 0 to 1 023 0x3...

Страница 9: ...se errors are detected Torque Enable 24 is cleared to 0 and the motor output becomes 0 REBOOT is the only method to reset Torque Enable 24 to 1 Torque ON after the shutdown The followings are detectable situations Bit Item Description Bit 7 0 Bit 6 Instruction Error When undefined Instruction is transmitted or the Action command is delivered without the reg_write command Bit 5 Overload Error When ...

Страница 10: ...to 28 turns in each direction For example a Real Position of 2048 with a Resolution Divider set as 2 will yield a Present Position value of 1024 2048 2 1024 A DYNAMIXEL with Resolution Divider set as 2 will have a resolution 2048 for a single revolution The Present Position can be obtained while Multi turn Offset and Resolution Divider are taken into account For example a DYNAMIXEL with a Real Pos...

Страница 11: ...LED indicates present status of the device Status LED Representation Booting LED flickers once Factory Reset LED flickers 4 times Alarm LED flickers Boot Mode LED On 2 4 16 PID Gains 26 27 28 MX series will use the PID controller as a main control method P gain value of proportional band I gain value of integral action D Gain value of derivative action Gains values are in between 0 254 Kp P Gain 8...

Страница 12: ...YI 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 17 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 Shutdo...

Страница 13: ...ection NOTE Wheel mode allows to check max rpm Any values higher than max rpm will not take effect 2 4 19 Torque Limit 34 It is the value of the maximum torque limit 0 1 023 0x3FF is available and the unit is about 0 1 For example if the value is 512 it is about 50 that means only 50 of the maximum torque will be used If the power is turned on the value of Max Torque 14 is used as the initial valu...

Страница 14: ...4 is equal to 0 For example the value is 512 it means the load is detected in the direction of CCW about 50 of the maximum torque Bit 15 11 10 9 0 Value 0 Load Direction Data Load Ratio NOTE CCW Load Load Direction 0 CW Load Load Direction 1 NOTE Present load is an inferred value based on the internal output value not a measured value using torque sensor etc Therefore it may be inaccurate for meas...

Страница 15: ...nge into 0 2 4 28 Punch 48 Minimum current to drive motor This value ranges from 0x20 to 0x3FF 2 4 29 Realtime Tick 50 This value indicates DYNAMIXEL s time Unit Value Range Description 1 ms 0 32 767 The value resets to 0 when it exceeds 32 767 NOTE This feature is available from Firmware v40 2 4 30 Current 68 At an idle state without current flow this value is 2 048 0x800 When positive current fl...

Страница 16: ...irectly proportional to the current value If you use a value between 0 1 023 torque is 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...

Страница 17: ...3 How to Assemble 3 1 Optional Frames FR05 B101 FR05 F101 and FR05 X101 FR05 H101 FR05 S101 3 2 Horns HN05 I102 HN05 N101 ...

Страница 18: ...ation Structures 4 Maintenance 4 1 Horn and Bearing Replacement The horn is installed on the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back 4 1 1 Installing the Horn ...

Страница 19: ...tating freely therefore alignment is not required when assembling to DYNAMIXEL 5 Reference NOTE Compatibility Guide Harness Compatibility 5 1 Certifications Please inquire 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 t...

Страница 20: ...manufacturer could void the user s authority to operate the equipment 5 2 Connector Information Item TTL RS 485 Pinout 1 GND 2 VDD 3 DATA 1 GND 2 VDD 3 DATA 4 DATA Diagram Housing MOLEX 50 37 5033 MOLEX 50 37 5043 PCB Header MOLEX 22 03 5035 MOLEX 22 03 5045 Crimp Terminal MOLEX 08 70 1039 MOLEX 08 70 1039 Wire Gauge 21 AWG 21 AWG WARNING Check the pinout The pinout of DYNAMIXEL can differ from th...

Страница 21: ...load MX 64R IGES Please also checkout ROBOTIS Download Center for software applications 3D 2D CAD and other useful resources 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 FA...

Страница 22: ...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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