Robotis DX-117 User Manual
DX-113, DX-116, DX-117
User’s Manual 2005-11-16 (2ndEdition)
Closer to Real,
Dynamixel
DYNAMIXEL
Contents
DX-Series
1. Summary
1-1. Overview and Characteristics of DX-113, 116, and 117 Page 2
1-2. Main Specifications Page 3
2. Dynamixel Operation
2-1. Mechanical Assembly Page 4
2-2. Connector Assembly Page 4
2-3. Dynamixel Wiring Page 5
3. Communication Protocol
3-1. Communication Overview Page 8
3-2. Instruction Packet Page 9
3-3. Status Packet Page 9
3-4. Control Table Page 11
4. Instruction Set and Examples
4-1. WRITE DATA Page 18
4-2. READ DATA Page 19
4-3. REG WRITE and ACTION Page 19
4-4. PING Page 20
4-5. RESET Page 21
5. Examples Page 22
Appendix Page 28
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DYNAMIXEL
DX-Series
1. Dynamixel DX-Series
1-1. Overview and Characteristics of the DX-Series
Dynamixel DX-Series The Dynamixel robot actuator is a smart, modular actuator that incorporates a gear
reducer and a control circuitry with networking functionality, all in a single package.
Despite its compact size, it can produce large torque and is made with special
materials to provide the necessary strength and structural resilience to withstand
large external forces. It also has the ability to detect and act upon internal
conditions such as changes in internal temperature or supply voltage. There are
three models (DX-113, DX-116, and DX-117) in the DX series of the Dynamixel
robot actuator family and they have many advantages over similar products.
Precision Control Position and speed can be controlled with a resolution of 1024 steps.
Compliance Driving The degree of compliance can be adjusted and specified in controlling position.
Feedback Feedback for angular position, angular velocity, and load torque are available.
Alarm System The Dynamixel series robot actuator can alert the user when parameters deviate
from user defined ranges (e.g. internal temperature, torque, voltage, etc) and can
also appropriately handle the problems by itself.
Communication Wiring is easy with daisy chain connection, and it support communication speeds
up to 1M BPS.
High-performance Motors Models DX-116 and DX-117 use the RE-MAX Series Coreless DC Motors, which
are the top of the line Swiss Maxon motors, allowing them to produce large output
torques and high accelerations.
Distributed Control The actuation schedule can be set with a single command packet, thus enabling
the main processor to control many Dynamixel units even with very few resources.
Engineering Plastic The main body of the unit is made with high quality engineering plastic which
enables it to handle high torque loads.
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DYNAMIXEL
Metal Gear All gears are made with metal to ensure durability.
Axis Bearing A bearing is used at the final axis to ensure no efficiency degradation with high
Status LED The LED can indicate the error status to the user.
DX-Series
external loads on the output shaft.
1-2. Main Specifications
DX-116 DX-117 DX-113
Weight(g) 66 66 58
Gear Reduction Ratio 142.5 192.6 192.6
Input Voltage 12 16 12 16 12
Final Max Holding Torque(kgf.cm) 21.38 28.50 28.89 38.52 10.20
Sec/60degree 0.127 0.095 0.172 0.129 0.150
Resolution 0.35°
Operating Angle 300°
Voltage DX116,117 : 12V~16V(Recommended voltage: 14.4V)
DX113 : 12V
Max. Current 1200mA
Operating Temp. -5 ~ +85℃℃
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (Physical) RS 485 Multi Drop(daisy chain type Connector)
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 (DX-116, DX-117). DX-113 uses a cored motor
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DYNAMIXEL
DX-Series
2. Dynamixel Operation
2-1. Mechanical Assembly
Follow the figure below for the mechanical assembly of the Dynamixel actuator.
Nut(8EA)
The 8 sets of screws and nuts are only used for attaching the Dynamixel actuator to
other parts.
Horn
Screw for Horn
Screw for mount(8EA)
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 a crimping tool, solder the terminals
to the wires to ensure that they do not become loose during operation.
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DYNAMIXEL
DX-Series
2-3. Dynamixel Wiring
Pin Assignment
Pin 1 : GND
Pin 2 : +12V~18V
Pin 3 : D+ (RS485 Signal)
Pin 4 : D- (RS485 Signal)
Wire Link
Main Controller To operate the Dynamixel actuators, the main controller must support RS485. You can
PC LINK A PC can be used to control the Dynamixel actuator via the CM-2 controller.
The connector pin assignments are as the following. The two connectors
on the Dynamixel actuator are internally connected to each other.
Pin 1
2
3
4
Pin 4
3
4
1
Connect the pins to pins that have the same number as shown below.
Main
1 2 3 4
Controller
design and build your own controller, but the use of the CM-2 Dynamixel controller board is
recommended.
RS485
Level
Dynamixels
PC
RS232
Level
CM-2
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DYNAMIXEL
Stand Alone The CM-2 board can be directly mounted on a robot that is built with Dynamixel
DX-Series
actuators.
For usage details, please refer to the CM-2 manual.
Connection to UART To control the Dynamixel actuators, the main controller needs to convert its UART
signals from TTL level to RS485 level. The recommended circuit diagram for this is
shown below.
전원은 Main Controller의 Molex4P Connector의 Pin1,Pin2를 통하여 Dynamixel로
공급되어진다.
CM-2 Board on Robot
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DYNAMIXEL
RS485 The communication protocol used by the Dynamixel actuator, RS485 (IEEE485), uses
DX-Series
The direction of data signals on the TTL level TxD and RxD depends on the
DIRECTION485 level as the following.
• When the DIRECTION485 level is High: the TxD signal is outputted as D+, D-
• When the DIRECTION485 level is Low: the D+, D- signal is inputted to RxD
the multi-drop method of connecting multiple terminals on a single node. Thus a protocol
that does not allow multiple transmissions at the same time should be maintained on a
RS485 network.
Note Please ensure that the pin assignments are correct when connecting the Dynamixel
actuators. Check the current consumption after the wiring is completed. The current
consumption of a single Dynamixel actuator unit in standby mode should be no larger
than 50mA.
Connection Status Verification
When power is applied to the Dynamixel actuator, the LED blinks twice to confirm its
connection.
Inspection If the above operation was not successful, check the connector pin assignment and the
voltage/current limit of the power supply.
Main
Controller
[RS485 Multi Drop Link]
7
r
r
DYNAMIXEL
DX-Series
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
Controlle
Main
Controlle
Instruction Packet
Status Packet
ID=0 ID=1 ID=N
Status Packet(ID=N)
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DYNAMIXEL
DX-Series
3-2. Instruction Packet
The structure of the Instruction Packet is as follows:
Instruction Packet OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK
SUM
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 available)
Broadcasting ID ID ID 0XFE is the Broadcast ID which is assigned to all of the connected Dynamixel’s.
Status packets will not be returned with a broadcasting ID.
LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”
INSTRUCTION The instruction for the Dynamixel to perform.
PARAME T ER0…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
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 :
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2… PARAMETER N
CHECK SUM
The meaning of each byte within the packet is as follows :
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DYNAMIXEL
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:
PARAME T ER0…N Used when additional information is required.
CHECK SUM SUM Calculation method of ‘Check Sum’is as follows:
DX-Series
Bit Name Details
Bit 7 0 -
Bit 6 Instruction Error
Bit 5 Overload Error Set to 1 if the specified torque can't control the load.
Bit 4 Checksum Error
Bit 3 Range Error Set to 1 if the instruction is out of the usage range.
Bit 2
Bit 1 Angle Limit Error
Bit 0
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
Overheating
Error
Input Voltage
Error
Set to 1 if an undefined instruction is given without the
reg_write instruction.
Set to 1 if the checksum of the intruction packet is
incorrect
Set as 1 if the internal temperature of Dynamixel is out of
the operative range as set in the control table.
Set as 1 if the goal position is set outside of the range
between CW Angle Limit and CCW Angle Limit
Set to 1 if the voltage is out of the operative range set in
the control table.
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DYNAMIXEL
3-4. Control
Table
EEPROM
Area
RAM
Area
DX-Series
Address Item Access Initial Value
0(0X00) Model Number(L) RD
1(0X01) Model Number(H) RD
2(0X02) Version of Firmware RD
3(0X03) ID RD,W R
4(0X04) Baud Rate RD,W R
5(0X05) Return Delay Time RD,W R
6(0X06) CW Angle Limit(L) RD,W R
7(0X07) CW Angle Limit(H) RD,W R
8(0X08) CCW Angle Limit(L) RD,WR
9(0X09) CCW Angle Limit(H) RD,W R
10(0x0A) (Reserved) 11(0X0B) the Highest Limit Temperature RD,W R
12(0X0C) the Lowest Limit Voltage RD,W R
13(0X0D) the Highest Limit Voltage RD,W R
14(0X0E) Max Torque(L) RD,W R
15(0X0F) Max Torque(H) RD,W R
16(0X10) Status Return Level RD,W R
17(0X11) Alarm LED RD,W R
18(0X12) Alarm Shutdown RD,W R
19(0X13) (Reserved) RD,W R
20(0X14) Down Calibration(L) RD
21(0X15) Down Calibration(H) RD
22(0X16) Up Calibration(L) RD
23(0X17) Up Calibration(H) RD
24(0X18) Torque Enable RD,WR
25(0X19) LED RD,W R
26(0X1A) CW Compliance Margin RD,W R
27(0X1B) CCW Compliance Margin RD,W R
28(0X1C) CW Compliance Slope RD,W R
29(0X1D) CCW Com pliance Slope RD,W R
30(0X1E) Goal Position(L) RD,W R
31(0X1F) Goal Position(H) RD,WR
32(0X20) Moving Speed(L) RD,W R
33(0X21) Moving Speed(H) RD,W R
34(0X22) Torque Limit(L) RD,W R
35(0X23) Torque Limit(H) RD,W R
36(0X24) Present Position(L) RD
37(0X25) Present Position(H) RD
38(0X26) Present Speed(L) RD
39(0X27) Present Speed(H) RD
40(0X28) Present Load(L) RD
41(0X29) Present Load(H) RD
42(0X2A) Present Voltage RD
43(0X2B) Present Temperature RD
44(0X2C) Registered Instruction RD,W R
45(0X2D) (Reserved) -
46[0x2E) Moving RD
47[0x2F) Lock RD,WR
48[0x30) Punch(L) RD,W R
49[0x31) Punch(H) RD,W R
116(0x74)
0(0x00)
?
1(0x01)
34(0x22)
250(0xFA)
0(0x00)
0(0x00)
255(0xFF)
3(0x03)
0(0x00)
85(0x55)
60(0X3C)
190(0xBE)
255(0XFF)
3(0x03)
2(0x02)
4(0x04)
4(0x04)
0(0x00)
?
?
?
?
0(0x00)
0(0x00)
0(0x00)
0(0x00)
32(0x20)
32(0x20)
[Addr36]value
[Addr37]value
0
0
[Addr14] value
[Addr15] value
?
?
?
?
?
?
?
?
0(0x00)
0(0x00)
0(0x00)
0(0x00)
32(0x20)
0(0x00)
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DYNAMIXEL
Control Table
RAM and EEPROM The data values for the RAM Area will be set to the default initial values on power on.
Initial Value The Initial Value column of the control table shows the Factory Default Values for the
Address 0x00,0x01 Model Number. In the case of the DX-116, the value is 0X0074(116).
Address 0x02 Firmware Version.
Address 0x03 ID. Unique ID number to identify the Dynamixel. Different ID’s are required to be
Address 0x04 Baud Rate. Determines the Communication Speed. The Calculation method is:
Note A maximum Baud Rate error of 3% is within the UART communication tolerance.
The Control Table consists of data for conditions and movement of the Dynamixel. By
DX-Series
writing the values in the control table, you can move the Dynamixel and detect the
condition of the Dynamixel.
The data values for the EEPROM Area are non-volatile and will be available next power
on.
case of EEPROM Area Data. For the RAM Area Data, the initial value column gives the
power on data values.
Please note the following meanings for data assigned to each address in the control
table.
assigned to “linked” Dynamixels.
Speed(BPS) = 2000000/(Address4+1)
Data Value as per Major Baud Rate
Adress4 BPS Set Target BPS Error
1 1000000.0 1000000.0 0.000%
3 500000.0 500000.0 0.000%
4 400000.0 400000.0 0.000%
7 250000.0 250000.0 0.000%
9 200000.0 200000.0 0.000%
16 117647.1 115200.0 -2.124%
34 57142.9 57600.0 0.794%
103 19230.8 19200.0 -0.160%
207 9615.4 9600.0 -0.160%
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