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2/22/2018

XM540-W150

http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w150.htm

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Drawings

X-540.pdf

X-540.dwg

dummy_X540_std.stp

dummy_X540_idle.stp

Frame Compatibility Guide(

Copyrights (c) 2010

All rights reserved.

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Содержание XM540-W150

Страница 1: ...tion Control Mode PWM Control Mode Weight 165g Dimensions W x H x D 33 5mm x 58 5mm x 44mm Gear Ratio 152 3 1 Stall Torque 6 9N m at 11 1V 4 2A 7 3N m at 12 0V 4 4A 8 9N m at 14 8V 5 5A No load speed 50rpm at 11 1V 53rpm at 12 0V 66rpm at 14 8V Operating Temperature 5 80 Input Voltage 10 14 8V Recommended 12V Command Signal Digital Packet Protocol Type XM540 W150 T Half duplex Asynchronous Serial ...

Страница 2: ...Instruction Packet Please refer to the Protocol section of e Manual for more details about Packets Note Two s complement rule is followed to find the negative value For more information please refer to the following link Two s complement link Area EEPROM RAM The Control Table is divided into 2 Areas Data in the RAM Area is reset to initial values when the Dynamixel is turned on Volatile On the oth...

Страница 3: ...tion I Gain I Gain of Position RW 0 84 2 Position P Gain P Gain of Position RW 800 88 2 Feedforward 2nd Gain 2nd Gain of Feed Forward RW 0 90 2 Feedforward 1st Gain 1st Gain of Feed Forward RW 0 98 1 Bus Watchdog Dynamixel Bus Watchdog RW 0 100 2 Goal PWM Target PWM Value RW 102 2 Goal Current Target Current Value RW 104 4 Goal Velocity Target Velocity Value RW 108 4 Profile Acceleration Accelerat...

Страница 4: ... Therefore Indirect Address 29 56 and Indirect Data 29 56 can only be accessed with Protocol 2 0 Address Description EEPROM Area Note Any Data in EEPROM Area can only be modified when the value of Torque Enable 64 is cleared to 0 Model Number 0 This address stores model number of the Dynamixel Firmware Version 6 This address stores firmware version of the Dynamixel ID 7 The ID is a unique value in...

Страница 5: ...rconnected with a Synchronization cable The Slave DYNAMIXEL is controlled by the PWM signal sent from the Master DYNAMIXEL via the synchronization cable Therefore Goal Position Goal Current Goal PWM of the Slave DYNAMIXEL will be ignored in this mode Synchronization Cable Description General Mode The Slave DYNAMIXEL is controlled by the PWM signal from the Master DYNAMIXEL Master Slave DYNAMIXELs ...

Страница 6: ...ences between Secondary ID 12 and ID 7 are as follows Secondary ID 12 is not a unique value i e a lot of Dynamixels may have the same Secondary ID value 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 The EEPROM area of the Control Table cannot be modified with Secondary ID 12 Only the RAM area can be modified If Instruction P...

Страница 7: ...n decreasing torque and velocity For more details please refer to the Gain section of each operating modes Values Description Range 0 885 885 100 output Current Limit 38 This value indicates maximum current torque output limit Goal Current 102 can t be configured with any values exceeding Current Limit 38 The Current Limit 38 is used in Torque Control Mode and Current based Position Control Mode t...

Страница 8: ...mes 0 REBOOT is the only method to reset Torque Enable 64 to 1 Torque ON after the shutdown The followings are detectable situations Shutdown Definition Description bit 7 0x80 Unused always 0 bit 6 0x40 Unused always 0 bit 5 0x20 Overload Error Default Detect persistent load that exceeds maximum output bit 4 0x10 Electrical Shock Error Default Detect electrical shock on the circuit or input power ...

Страница 9: ...nal PWM value The final PWM value is applied to the motor through an Inverter and the horn of Dynamixel is driven Results are stored at Present Position 132 Present Velocity 128 Present PWM 124 and Present Current 126 Note Ka stands for Anti windup Gain and β is a conversion coefficient of position and velocity that cannot be modified by users For more details about the PID controller please refer...

Страница 10: ...between the controller and Dynamixel communication RS485 TTL is disconnected due to an unspecified error Communication is defined as all the Instruction Packet in the Dynamixel Protocol Values Description Unit 20 ms Range 0 Deactivate Bus Watchdog Function Clear Bus Watchdog Erro 1 127 Activate Bus Watchdog 1 Bus Watchdog Error Status The Bus Watchdog function monitors the communication interval t...

Страница 11: ...nite acceleration Profile Velocity 112 The Maximum velocity of Profile can be set with this value Profile Velocity 112 can be used in all control modes except Torque Control Mode and Velocity Control Mode Profile Velocity 112 cannot exceed Velocity Limit 44 Velocity Control Mode only uses Profile Acceleration 108 instead of Profile Velocity 112 Values Description Unit 0 229 RPM All velocity relate...

Страница 12: ... Control Mode only uses Profile Acceleration 108 Step and Trapezoidal Profiles are supported Velocity Override and Jerk control are supported as well Acceleration time t1 can be calculated as below equation Goal Position 116 Target position can be set with Goal Position 116 From the front view of Dynamixels CCW is an increasing direction whereas CW is a decreasing direction The way to reaching Goa...

Страница 13: ...sition 116 Note Present Position 132 represents 4 byte continuous range 2 147 483 648 2 147 483 647 when Torque is turned off regardless of Operating Mode 11 However Present Position 132 is reset in those cases Case 1 Present Position 132 is reset with the value within 1 rev 0 4 095 when Operating Mode 11 is changed to Position Control Mode Case 2 Present Position 132 is reset with the value withi...

Страница 14: ...emote addresses in the Control Table as sequential addresses Sequential addresses increase Instruction Packet efficiency Addresses that can be defined as Indirect Address is limited to RAM area Address 64 661 If specific address is allocated to Indirect Address Indirect Address inherits features and properties of the Data from the specific Address Property includes Size Byte length value range and...

Страница 15: ...series xm540 w150 htm 15 17 Caution for Dynamixel X Series cable assembly through hollow case Organize the 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 ...

Страница 16: ...2 22 2018 XM540 W150 http support robotis com en product actuator dynamixel_x xm_series xm540 w150 htm 16 17 Combination ...

Страница 17: ...t robotis com en product actuator dynamixel_x xm_series xm540 w150 htm 17 17 Drawings X 540 pdf X 540 dwg dummy_X540_std stp dummy_X540_idle stp Frame Compatibility Guide LINK Error Report Copyrights c 2010 ROBOTIS All rights reserved ...

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