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DX-116
User Manual
40 pgs1.57 Mb0

Robotis DX-116 User Manual

Dynamixel
DX-116
User’s Manual 2004-04-02
Closer to Real,
DYNAMIXEL
Contents
DX-116
1. Summary
1-1. Overview & Characteristics of DX-116 Page 2
1-2. Main Specification Page 4
2. Dynamixel Assembly
2-1. Mechanical Parts Assembly Page 5
2-2. Connector Assembly Page 5
2-3. Dynamixel Wiring Page 6
3. Communication Protocol
3-1. Communication Overview Page 9
3-2. Instruction Packet Page 10
3-3. Status Packet Page 10
3-4. Control Table Page 13
4. Instruction Set and Examples
4-1. WRITE _DATA Page 20
4-2. READ _DATA Page 21
4-3. REG_WRITE and ACTION Page 22
4-4. PING Page 23
4-5. RESET Page 24
5. Example Page 25
Appendix
Page 32
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DYNAMIXEL
DX-116
1. Dynamixel DX-116
1-1. Overview & Characteristics of DX-116
Dynamixel DX-116 The Dynamixel is a smart actuator which incorporates a precision servo
motor and a control unit with networking functionality, all in a single unit.
Despite its compact size, it can produce high torque and has been
manufactured using high quality materials to provide the necessary strength
and structural resilience. It can also detect and act upon internal conditions
such as temperature and over-current .
The Dynamixel has many advantages over similar products:-
Precise Control Control position and speed with fine angular resolution (1024 divisions)
Compliance Driving Control the degree of elastic force in position control.
Feedback Feedback for angular position, speed and load size.
Alarm System Not only does the Dynamixel warn of a deviation from the user defined
ranges (e.g. internal temperatures, torques, voltages etc), but it also
automatically deals with the problems as they occur.
Communication Daisy chain connection with support for communication speeds of up to
1MBPS.
High Efficiency Motor Dynamixel uses the RE–MAX Series Coreless DC Motors from Swiss Maxon
Motor which boasts high output torque and excellent acceleration.
Distributed Control The main processor requires very few resources to control multiple
Dynamixels since the movement schedule requires only a single command
packet.
High Quality Enclosure The high quality plastic body ensures structural integrity under all
operational conditions
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DYNAMIXEL
Metal Gears All the gear sets are made of metal to ensure extreme durability.
Axis Bearing A bearing is used on the final axis to ensure there is no loss of efficiency
Status LED A LED indicates error status.
DX-116
during heavily loaded conditions.
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DYNAMIXEL
DX-116
1-2. Main Specification
Holding Torque 31.5kg·cm (18V) ~ 21 kg·cm (12V)
Reduction ratio 1/140
Speed 0.084sec/60° (18V) ~ 0.125sec/60° (12V)
Resolution 0.35°
Operating Angle 300°
Voltage 12V~18V (Recommended voltage: 14~15V)
Max. Current 1200mA
Operating Temp. -5℃ ~ +85℃
Weight 66g
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (Physical) RS 485 Multi Drop (daisy chain configuration)
ID 254 ID (0~253)
Communication Speed 7343bps ~ 1 Mbps
Feedback Position, Temperature, Load, Input Voltage, etc.
Material Full Metal Gear, Engineering Plastic Body
Motor Swiss MAXON Motor RE-MAX (best level)
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DYNAMIXEL
DX-116
2. Installation of Dynamixel
2-1. Mechanical Parts Assembly
Mechanical Parts of Dynamixel are assembled as follows:
Nut(8EA)
Screw for mount(8EA
The 8 sets of Nuts & Screws are only used when a Dynamixel is mounted to
other equipment.
2-2. Connector Assembly
Assemble the connectors as shown below. Attach the wires to the terminals
using the correct crimping tool. If you do not have access to an appropriate
crimper, solder the terminals to the wires to ensure that they do not become
loose during operation.
Horn
Screw for Horn
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evel
evel
DYNAMIXEL
DX-116
2-3. Wiring of Dynamixel
Pin Assignment Pin assignments of the connectors are as follows:-
Pin 1: GND
Pin 2: +12V~18V
Pin 3: D+ (RS485 Signal)
Pin 4: D- (RS485 Signal)
Pin 1
2 3 4
Wire Link Connect the same pin numbers as shown below.
Main
Controller
1 2 3 4
Main Controller The Main Controller must support RS485 to control the Dynamixel. A proprietary
Controller may be utilised but the Cycloid-M2 board is recommended.
PC LIMK A PC can be used to control the Dynamixel via the Cycloid-M2 Board.
PC
Stand Alone The Cycloid-M2 Board can be directly mounted on the robots.
RS232
L
Cycloid-M2
RS485
L
Dynamixels
Pin 4
3 2 1
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DYNAMIXEL
Please refer to the Cycloid-M2 Board manual for more details.
Connection to UART To control the Dynamixel, the main Controller needs to convert the signals to
전원은 Main Controller의 Molex4P Connector의 Pin1,Pin2를 통하여 Dynamixel로
Signal DIRECTION485 determines the data direction as follows:-
DX-116
Cycloid-M2 Board on Robot
RS485. The recommended schematic configuration is as follows:-
공급되어진다.
If DIRECTION485 is High: the signal TxD is output as D+,D- If DIRECTION485 is Low: signal D+,D- is input as RxD
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DYNAMIXEL
RS485 A multi-dropped RS485 (IEEE485) network is established from the main
DX-116
controller. Data Packets are then issued through this single portal.
Main
Controller
[RS485 Multi Drop Link]
Please note that caution should be applied when connecting the Dynamixel units to ensure that the pin
assignments are correct. Always check the current consumption. The standby current consumption of a
Dynamixel unit should be less than 50mA.
Connection Status When power is first applied the Dynamixel LED will blink twice to confirm its
healthy status.
Inspection If the above operation was not successful, then check the connector pin
assignment and the voltage/current limit of the power supply.
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DYNAMIXEL
DX-116
3. Communication Protocol
3-1. Communication Overview
Packet The Main Controller communicates with the Dynamixel by sending and receiving
data packets. There are two types of packets, the Instruction Packet (Main
Controller to Dynamixel) and the Status Packet (Dynamixel to Main Controller)
Communication For the system connection below, if the main controller sends an instruction
packet with the ID set to N, only the Dynamixel with this ID value will return its
respective status packet and perform the required instruction.
Unique ID Communication problems will arise if multiple Dynamixel's have the same ID
value. This will cause multiple packets to be sent simultaneously resulting in
packet collisions. It is imperative that ID values are unique within each data
network.
Protocol The Asynchronous Serial Communication word consists of 8 bits, 1 Stop bit and
no parity.
Instruction Packet(ID=N)
Main
Main
Controlle
Instruction Packet
Status Packet
ID=0 ID=1 ID=N
Status Packet(ID=N)
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DYNAMIXEL
DX-116
3-2. Instruction Packet
The structure of the Instruction Packet is as follows:
Instruction Packet
The packet byte definitions are as follows:-
0XFF 0XFF Two 0XFF bytes indicate the start of an incoming packet.
ID Unique ID of a Dynamixel. The ID can range from 0X00 to 0XFD (254 IDs are
Broadcasting ID ID 0XFE is the Broadcast ID which is assigned to all of the connected
LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”
INSTRUCTION The instruction for the Dynamixel to perform.
PARAMETER0…N Used if there is additional information to be sent other than the Instruction.
CHECK SUM The calculation method for the ‘Check Sum’ is as follows:
Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )
If the calculated value is bigger than 255, the lower byte becomes the checksum.
~ represents the Not or complement operation
OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK
SUM
available)
Dynamixel’s. Status packets will not be returned with a broadcasting ID.
3-3. Status Packet
The Status Packet is the response packet from the Dynamixel to the Main
Controller after receiving an instruction packet. The structure of Status Packet
is as follows:-
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DYNAMIXEL
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N
The meaning of each byte within the packet is as follows:-
0XFF 0XFF Two 0XFF bytes indicate the start of a packet
ID ID of the Dynamixel which is returning the packet.
LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”.
ERROR Dynamixel communication error flags. The meaning of each bit is as follows:
PARAMETER0…N Used when additional information is required.
CHECK SUM Calculation method of ‘Check Sum’is as follows:
Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )
If the calculated value is bigger than 255, the lower byte becomes the checksum.
~ represents the Not or complement operation
DX-116
CHECK SUM
Bit Name De tails
Bit 7 0 -
Bit 6
Bit 5
Bit 4
Bit 3 Range Error Set to 1 if the intruc tion is out of the usage r ange
Bit 2
Bit 1
Bit 0
Ins truction
Err or
Ove rload
Error
Che cks u m
Err or
Ove rheating
Err or
Ang le Lim it
Error
Input Voltage
Err or
Set to 1 if a n undefined instr uction is given without the reg_write instruction.
Set to 1 if the spe cified torque c an't control the load.
Set to 1 if the chec ksum of the intruction packe t is incorrect
Set a s 1 if t h e in t e r n a l t e m p e r a t u r e o f Dy n a mix el is out of the oper ative range as s et in the control
Set as 1 if the Goal Position is s et o utside of the range between CW Angle Limit and CCW Angle Limit.
Set to 1 if the voltage is out of the operative range se t in the control table
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