2/22/2018
XM540-W150
http://support.robotis.com/en/product/actuator/dynamixel_x/xm_series/xm540-w150.htm
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Note : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control Mode with a single turn.
External Port Mode 1, 2, 3 (56, 57, 58)
External ports that can be used for various purposes are provided.
The property of each port is configured by the External Port Mode and data of external port is controlled by the External Port Data(152~157).
For more details, please refer to External Port Data(152~157).
External Port
Mode
Mode
Description
0
AI
Analogue Input
Converts External Port signal to 12[bit] digital value
1
DO_PP
Digital Output Push-Pull
Use External Port as a digital output port(3.3V level)
2
DI_PU
Digital Input Pull-Up
Use External Port as a digital input port
Floating connection will be considered as '1'
3 (default)
DI_PD
Digital Input Pull-Down
Use External Port as a digital input port
Floating connection will be considered as '0'
Shutdown (63)
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 as Shutdown(63), Dynamixel can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100).
The controller can confirm present status of DYNAMIXEL by checking if the Hardware Error Bit(0x80) is set in the Error field of the Status Packet or by directly reading the Hardware
Error Status(70).
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.
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 is insufficient to operate the motor
bit 3
0x08
Motor Encoder Error
Detect malfunction of the motor encoder
bit 2
0x04
Overheating Error(Default)
Detect internal temperature exceeds the configured operating temperature
bit 1
0x02
-
Unused, always ‘0’
bit 0
0x01
Input Voltage Error
Detect input voltage exceeds the configured operating voltage
Note : If Shutdown occurs, use below method to REBOOT Dynamixels.
①
H/W REBOOT : Turn off the power and turn on again
②
S/W REBOOT : Transmit REBOOT Instruction (For more details, please refer to the
.)
If Shutdown occurs, LED will flicker every second.(Firmware v41 or above)
RAM Area
Torque Enable (64)
Controls Torque ON/OFF. Writing ‘1’ to this address will turn on the Torque and all Data in the EEPROM area will be protected.
Values
Description
0(Default)
Torque OFF(Free-run) and the motor does not generate torque.
1
Torque ON and all Data in the EEPROM area will be locked.
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).
LED (65)
Turn on or turn off the LED. Dynamixel LED can only be controlled by LED(65).
Values Description
Values
Description
0(Default)
Turn off the LED.
1
Turn on the LED.
Status Return Level (68)
This value decides how to return Status Packet when Dynamixel receives an Instruction Packet.
Values
When to return
Status Packet
Description
