Futaba RS302CD User Manual
RS301CR/RS302CD
Command Type Servo for Robot
User’s Manual Ver.1.0
Instruction Manual
Caution
Read this instruction manual before use.
Keep this manual handy for immediate reference.
For models
CONTENTS
１．FOR SAFETY
● WARNING SYMBOLS ............................................................................................. 4
● CAUTIONS FOR USE ............................................................................................. 4
● WARNINGS IN HANDLING BATTERIES ............................................................. 5
● Cautions for Storage ................................................................................................. 5
２．INTRODUCTION
● Features .................................................................................................................... 6
● Part Names / Handling Instructions ........................................................................ 7
３．CONNECTION
● System Configuration ............................................................................................... 8
● Pin Assignment ...................................................................................................... 8
● Cautions when connecting ....................................................................................... 9
４．CONTROL METHOD
● Abstract ................................................................................................................... 10
● Packet Format ......................................................................................................... 11
Short Packet ............................................................................................... 11
Long Packet ................................................................................................ 14
Return Packet ............................................................................................. 15
● Memory Map ........................................................................................................... 17
● Invariable ROM area .............................................................................................. 17
No.0 /No.1 Model Number ............................................................. 17
No.2 Firmware Version ................................................................. 17
● Variable ROM area ................................................................................................. 18
No.4 Servo ID ................................................................................ 19
No.5 Servo Reverse ........................................................................ 19
No.6 Baud Rate .............................................................................. 19
No.7 Return Delay ...................................................................... 20
No.8 /No.9 /No.10 /No.11 Angle Limit ........................................... 20
No.14 /No.15 Temperature Limit .................................................. 20
No.24 /No.25 Compliance Margin ................................................. 21
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No.26 /No.27 Compliance Slope .................................................... 21
No.28 /No.29 Punch ....................................................................... 21
● Variable RAM Area ................................................................................................. 23
No.30 /No.31 Goal Position ............................................................ 24
No.32 /No.33 Goal Time ................................................................. 24
No.35 Maximum Torque ................................................................ 24
No.36 Torque Enable ..................................................................... 25
No.42 /No.43 Present Position ....................................................... 25
No.44 /No.45 Present Time ............................................................ 26
No.46 /No.47 Present Speed .......................................................... 26
No.48 /No.49 Present Load ........................................................... 27
No.50 /No.51 Present Temperature .............................................. 28
No.52 /No.53 Present Voltage ....................................................... 29
５．REFERENCE
● SPECIFICATIONS ................................................................................................. 30
● DIMENSIONS ........................................................................................................ 31
● TROUBLESHOOTING ........................................................................................... 32
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1.FOR SAFETY
To use this product safely, please pay your full attention to the followings. Be sure to
read this instruction manual prior to using this product.
Warning Symbols
The warning symbols used in this text are defined as follows:
Indication
Indicates a hazard that will cause severe personal injury, death, or
Danger
Warning
Caution
Symbols: ; Prohibited ; Mandatory
substantial property damage if the warning is ignored.
Indicates a hazard that can cause severe personal injury, death, or
substantial property damage if the warning is ignored.
Indicates a hazard that will or can cause minor personal injury, or
property damage if the warning is ignored.
Cautions for Use
Caution
Do not disassemble or alter the servo.
Otherwise, it may cause breakage in the gear box, fire on the servo or explosion of
the battery.
Do not use any battery as a power supply other than the specified battery.
The product is designed to be operated by Futaba’s 9.6V Ni-MH battery only. Do not
use any other batteries.
Do not touch the servo case during or some time after operating the servo.
Otherwise, you may get burned on the finger as the motor or electronic circuit in the
servo gets very hot.
Do not let the servo get covered with sandy dust or water.
Otherwise, the servo may stop moving or have a short circuit. The servo is not
designed to be waterproof or dust-proof.
Do not use this product for any application other than indoor hobby-robots.
Futaba is cleared of all responsibility to the results caused by the usage of this
product for any application other than indoor hobby-robots.
Meaning
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Do not turn the servo horn forcibly.
Otherwise, the servo will be damaged.
Do not leave the servo locked.
If the servo continues to be locked due to a strong external force, it may cause smoke,
fire or damage.
Warnings in Handling Batteries
Warning
Do not use any battery charger other than the specified charger.
Otherwise, the battery may be get damaged, fire, smoke or liquid leakage. Be sure to
use batteries recommended by Futaba.
Do not use battery packs connected in parallel.
Connecting battery packs in parallel may cause abnormal heat generation or
explosion due to the differences between charging voltages.
Do not disassemble or alter battery packs.
Otherwise, it may cause fire, explosion or liquid leakage. And please be aware that
such battery packs will be no longer guaranteed even if their warranties are not
expired.
Do not use batteries if any abnormal symptoms are seen.
If you find any abnormal symptoms such as cracks in coating film, abnormal heat
generation from batteries or deformation of batteries, never use the battery because
it may cause serious consequences.
Cautions for Storage
Caution
Do not store the servos in the following conditions.
Places where the temperature is over 60℃ or below －20℃.
Places where the Sun directly shines over the servos.
Places where it is very high in humidity.
Places where there is a strong vibration.
Places where there is a lot of dust.
Places where static electricity tends to be induced.
Places where infants can reach.
◆ Storing the servos in the places shown above may cause deformation and failure of the servos,
or hazard.
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2.INTRODUCTION
Features
RS301CR/RS302CD servo is especially designed for robotic applications, having the
following features.
● Small and Lightweight
RS301CR and RS302CD are small and
lightweight servos specially designed for
robots, which are 28g and 21g
respectively.
● Interactive high speed
RS485 communication
RS485 half duplex communication
carries out bidirectional high-speed
communication up to 460kbps. RS485 is
used for the communication between the
robot’s processor unit and servos at very
high speed.
● Command type control
The servo can be controlled by commands
sent from the robot’s processor unit
through RS485. And a single command can
convey multiple data, including a period of
time to move and a target position. This
relieves the robot’s processor unit from load
significantly.
● Data Feedback
Various kinds of information about the
servo such as angular position, load,
temperature, current and alarm can be
obtained via RS485.
● Compliance control
With this feature, the movement of the
trembling its arms and legs and to absorb
turbulence from external force.
● Calibration
Angular position of every
RS301CR/RS302CD servo is calibrated by
our standard gauge before their shipment.
Even if another RS301CR/RS302CD servo
is employed, it does not require any
bothersome work for adjusting its angular
position.
● 12bit-A/D converter
for precise positioning
Angular feedback using the 12bit-A/D
converters makes it possible to position the servo
angle precisely.
● Wiring from the output shaft
Wires pass through the backside of the
output shaft to avoid getting wires
entwined in operation.
● Horn with a mark for reference position
凹 marks are placed on the
circumference of the servo horn in order
to make sure the reference position even
after being built in. （ one 凹 for 0°
position, two for 90°, three for 180°
and four for 270°）.
RS301CR/RS302CD is controlled in
accordance with the distance between the
present and target positions. This enables
the robot to move very smoothly without
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Output-axis
Part Names / Handling Instructions
Screws for fixing
the servo to a case
※ Do not remove
these screws.
Connecter
Fig.2.1 Part names
Caution
Removing the screws for fixing the servo with a case may damage the servo.
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3.CONNECTION
)
System Configuration
The following figure shows a robotic system using RS301CR/RS302CD servos, RPU-10
processor unit and etc.
RS301CR
RS302CD
Battery (PR-4S780P
Motion editor
Control softwar
Processing Unit (RPU-10 etc.）
RSC-U485
Fig. 3.1 Robotic system configuration
Pin Assignment
Pin assignment of the RS301CR/RS302CD servo is shown below.
②④
①③
① Gray ：RS485(D-)
② Black ：RS485(D+)
③ Gray ：VCC(7.4V)
④ Black ：GND
Fig. 3.2 Pin assignment
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Cautions when Connecting
Please refer to the figure below for connecting RS301CR/RS302CD and RPU-10.
Please prepare it by your self
PC
RPU-10
RS232C
PR-4S780P
Allowable current for relay connectors is 2A and for servo harness is 3A each for continues use.
RS301CR/RS302CD
Fig. 3.3 Operating with RPU-100
Relay box
Set your PC’s communication parameters as follows;
Baud rate ：115.2 bps
（adjustable between 9.6kbps and 460kbps, Refer to Table 4.6 Baud rate in p.19）
Data bit length ：8 bits
Parity ：none
Stop bit ：1 bit
Flow control ：none
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4.CONTROL METHOD
Abstract
● Communication Protocol
The communication protocol of the RS301CR/RS302CD servo is based on RS485
(IEEE485) half duplex communication. Data transmission and reception are carried out
alternatively on the same signal line.
Normally, the RS301CR/RS302CD servo stands by in reception mode. But, when it
receives from RPU-10 a command to send the servo’s data and status, it switches to
transmission mode, sends them out and finally returns to reception mode.
● Memory Map
The RS301CR/RS302C servo has its own memory area to store data necessary for its
movement. This memory area is called “Memory Map”.
This memory map is divided into two groups. One is “RAM area” in which data will be
erased when the power is turned off. The other one is “ROM area” in which data is held
even after the power is turned off.
● Servo ID
You can set ID numbers to RS301CR/RS302C servos individually.
These ID numbers are used to identify servos during communication. The default
number of every servo is set to “1”. When you use multiple servos in a single
communication network, give them different ID numbers.
● Packet
A packet is a block that is used for sending a command to or receiving data from
RS301CR/RS302C servos. Packets are divided into the following three groups, having
different formats.
(1) Short Packet(→p.11)
Short packets are used for sending the data in the memory map toward a single servo.
(2) Long Packet(→p.14)
Long packets are used for sending the data in the memory map toward multiple servos
simultaneously.
(3) Return Packet(→p.16)
This is a packet that is sent from a servo when a return packet is requested.
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