Robotis Dynamixel RX-64 User Manual
Closer to Real,
Dynamixel
RX-64
v1.10
ROBOTIS CO.,LTD. www.robotis.com
User’s Manual
RX-64
Contents
1. Introduction··································································································2
1-1. What is Dynamixel ?······················································································································· 3
1-2. Strong Points of Dynamixel ············································································································ 5
1-3. Specifications of RX-64 ·················································································································· 6
2. Installation·····································································································7
2-1. How to Assemble Frames··············································································································· 8
2-2. Assembling Connector·················································································································· 10
2-3. Wiring ··········································································································································· 11
2-4. Connection of Main Controller ······································································································ 12
3. Communication with RX-64 ·······································································14
3-1. Overview of Communication········································································································· 15
3-2. Instruction Packet ························································································································· 16
3-3. Status Packet (Return Packet) ····································································································· 18
3-4. Control Table································································································································20
3-5. How to Use Packet ······················································································································· 32
4. Appendix·······································································································44
1
RX-64
1. Introduction
What is Dynaimxel?
Strong Points of Dynamixel
Specifications of RX-64
2
RX-64
1-1. What is Dynamixel ?
New Concept Dynamixel is a robot-only Smart Actuator with a new concept integrating speed reducer,
controller, driver, network function, etc. into one module.
Dynamixel
Reduction
Gear
Controller
Driver Network
LINE UP We have Line up of several kinds of Dynamixel applicable numerously according to the
kinds and characteristics of robots
3
RX-64
All-round Combining Dynamixel is built up with all-round combining structure and it is possible to connect one
Structure another with various forms. You can design a robot easily as if assembling a block toy by
using option frame for Dynamixel
Convenient Wiring Dynamixel is connected with Daisy Chain and it is easy to wire one another.
Network Dynamixel with a unique ID is controlled by Packet communication on a BUS and
supports networks such as TTL, RS485, and CAN depending on the type of model.
4
RX-64
1-2. Strong Points of Dynamixel
Torque In spite of the compact size, it generates relatively big Torque by way of the efficient
speed reduction.
Close Control It can control location and speed with the resolution of 1024.
Elasticity Setting It can set up the extent of elasticity when controlling position with Compliance Driving.
Position, Speed It can read the current position and speed.
Communication It is easy to wire since it is connected with Daisy chain, and up to 1M BPS of
communication speed is supported.
Distribution Control Since the main processor can set speed, position, compliance, torque, etc.
simultaneously with a single command packet, it can control several Dynamixels with a
little resource
Physical Intensity The main body is made of engineering plastic to withstand against strong external force.
Efficiency against Since a bearing is used at the last axis of the gear, the amount of efficiency reduction is
External Force minimal even if strong external force is applied to the axis.
Safety Device It has the [Alarming] function, which notifies when internal temperature, torque, supplied
voltage, etc. deviate from what the user has set, and the [Shut down] function, which
allows it to cope with situation by itself.
Status Indicator It informs the user of ERROR status via LED.
5
RX-64
1-3. Specifications of RX-64
RX-64
Weight (g) 125
Dimension (mm) 40.2 x 61.1 x 41.0
Gear Reduction Ratio 1/200
Applied Voltage (V) at 15V at 18V
Final Reduction Stopping Torque
(kgf.cm)
64.4 77.2
Speed (Sec/60 degrees) 0.188 0.157
Resolution 0.29°
Running Degree 300°, Endless Turn
Voltage 12V~21V (Recommended voltage: 18V)
Max Current 1200mA
Running Te mpe r a ture -5℃ ~ +85℃
Command Signal Digital Packet
Protocol RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (Physical) RS485 Multi Drop Bus
ID 254 ID (0~253)
Communication Speed 7343bps ~ 1 Mbps
Sensing & Measuring Position, Temperature, Load, Input Voltage, etc.
Material Quality Full Metal Gear, Engineering Plastic Body
Motor Maxon RE-MAX
Standby Current 50 mA
6
RX-64
2. Installation
1. How to Assemble Fames
2. Assembling Connectors
3. Wiring
4. Connection of Main Controller
7
RX-64
2-1. How to Assemble Frames
Optional Frames Rx-64 has the following optional frames. optional frames.
OF-64B OF-64S2
OF-64H OF-64S
8
RX-64
Horn RX-64 has the following kinds of Horns.
Device Combination The below picture shows examples of combinations by using optional frames and horns.
Horn-64I Horn-64T Horn-64N
Basic Supply
Ball Bearing
Trust Bearing
9
RX-64
10
2-2. Assembling Connector
Connector is assembled in the following order.
1) Striping
2) Inserting
3) Forming
4) Formed Wire
5) Assembling
6) Complete
Peel the coating of cable to the extent of 5mm
approx.
Put the cable on the terminal like the left
picture.
Press the cable and terminal by using Wire
Former.
Combine the terminal to the cable tightly like
the left picture. Solder the terminal and cable
after Forming to get the more solid
combination.
Insert the terminal into 4P Molex connector.
When inserting the
terminal, be careful with
the direction of the Molex
connector.
Terminals should be
inserted in the same way
as the left picture
RX-64
11
2-3. Wiring
Pin Assignment The pin assignment of a connector is as shown below. RX-64 can be run by linking with
any one of two 4P connectors of RX-64 since they are connected Pin2Pin internally.
Wiring Wiring should be done Pin2Pin as shown below. By connecting as such, several RX-64s
can be controlled on a BUS.
PIN1: GND
PIN2: VDD (12V~21V)
PIN3: D+
PIN4: D-
PIN1: GND
PIN2: VDD(12V~21V)
PIN3: D+
PIN4: D-
4
3
2
1
4
3
2
1
Caution
Please pay special attention to avoid incorrect pin assignments in wiring.
Otherwise, RX-64 may be damaged.
4
3
2
1
4
3
2
1
4
3
2
1
4
3
2
1
RX-64
12
2-4. Connection of Main Controller
Main Controller RX-64 uses the Multi-Drop Link method which connects several RX-64s to a Node by
using Half Duplex UART. Thus, a Main Controller to run RX-64 must support RS485
UART. You can also design and use Main Controller by yourself.
(Refer to the website www.robotis.com
)
Connection with PC If you want to control RX-64 with PC, you may control it via the Dynamixel-only controller
or using the USB2Dynmixel. For further information, refer to the Dynamixel-only
controller manual or the USB2Dynmixel manual.
Connection with UART To control RX-64 with a personally made Main Controller, the signal of Main Controller
UART should be converted into RS485 type signal. The following is a recommended
circuit diagram.
Serial
cable
Dynamixel-only
Controller
Power line
USB PORT
Power line
USB2Dynamixel
RX-64
13
The power of RX-64 is supplied via Pin1(-), Pin2(+).
(The above circuit is built into Dynamixel-only controller.)
In the above circuit diagram, the direction of data signal of TxD and RxD in the TTL Level
is determined according to the level of DIRECTION 485 as follows:
In case of DIRECTION485 Level = High: The signal of TxD is output to D+ and D-.
In case of DIRECTION485 Level = Low: The signal of D+ and D- is output to RxD.
Confirmation of The LED of RX-64 flickers once if the power is supplied to RX-64 properly via wiring.
Connection
Checking If the above steps are not performed successfully, recheck the pin assignment of the
connector. If the pin assignment is right, check the allowable voltage and current of the
power supply.
Note
Please check the current consumption when applying the power for the first
time. The current consumption of RX-64 in the standby state is 50mA or
less.
RX-64
3. Communication with RX-64
1. Overview of Communication
2. Instruction Packet
3. Status Packet
4. Control Table
5. How to Use Packet
14
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