Robotis Dynamixel DX-117 Manual de usuario

Closer to Real, DX-113, DX-116, DX-117 Dynamixel User’s Manual 2005-11-16 (2ndEdition)

9DYNAMIXEL DX-Series 3-2. Instruction Packet The structure of the Instruction Packet is as follows: Instruction Packet OXFF 0XFF ID LENGTH INST

10DYNAMIXEL DX-Series 0XFF 0XFF Two 0XFF bytes indicate the start of a packet. ID ID of the Dynamixel which is returning the packet. LENGTH

11DYNAMIXEL DX-Series 3-4. Control Table Address Item Access Initial Value0(0X00) Model Number(L) RD116(0x74)1(

12DYNAMIXEL DX-Series Control Table The Control Table consists of data for conditions and movement of the Dynamixel. By writing the values in the

13DYNAMIXEL DX-Series Address 0x05 Return Delay Time. The time taken after sending the Instruction Packet, to receive the requested Status Packet.

14DYNAMIXEL DX-Series In the case of an instruction which uses the Broadcast ID (0XFE), regardless of the Address 0x10 value, the Status Packet wil

15DYNAMIXEL DX-Series From Address 0x18 in the RAM area. Address 0x18 Torque Enable. When power is first applied the Dynamixel enters the Torque F

16DYNAMIXEL DX-Series Address 0x20,0x21 Moving Speed. The angular speed to move to the Goal Position. If set to the maximum values of 0x3ff, it mo

17DYNAMIXEL DX-Series Range Each Register has an operative range. Write instructions made outside of these ranges will return an error. The followi

18DYNAMIXEL DX-Series 4. Instruction Set and Examples The following Instructions are available. 4-1. WRITE_DATA Function Write

1DYNAMIXEL DX-Series Contents 1. Summary 1-1. Overview and Characteristics of DX-113, 116, and 117 Page 2 1-2. Main Specifications Page 3 2.

19DYNAMIXEL DX-Series Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6 ID LENGTH INSTRUCTION PARAMETERS

20DYNAMIXEL DX-Series Function REG_WRITE instruction is similar to the WRITE_DATA instruction, but the execution timing is different. When the Inst

21DYNAMIXEL DX-Series Example 3 To obtain the status packet of a Dynamixel with ID=1 Instruction Packet : 0XFF 0XFF 0X01 0X02 0X01 0XFB`

22DYNAMIXEL DX-Series 5. Example Used to explain through example with the assumption that the Dynamixel has been Reset (ID = 1, Baudrate = 571

23DYNAMIXEL DX-Series Communication ->[Dynamixel]:FF FF 00 04 03 05 02 F1 (LEN:008) <-[Dynamixel]:FF FF 00 02 00 FD (LEN:006) Status Pac

24DYNAMIXEL DX-Series Example 13 Make the Dynamixel with ID=0 perform only 50% of the maximum torque. Set the max torque values within the EEPROM

25DYNAMIXEL DX-Series Example 16 Turn on the LED of the Dynamixel with ID=0 and enable the torque. Instruction Packet Instruction = WRITE_DATA

26DYNAMIXEL DX-Series C : CW Compliance Margin(Address0x01A) = 0x01(Approximately 0.29°) D : CW Compliance Slope(Address0x1C) = 0x40 (Approximat

27DYNAMIXEL DX-Series Example 20 Prevent the Dynamixel with ID=0 from changing values other than within the range between Address 0x18 and Address

28DYNAMIXEL DX-Series Appendix RS-485 RS-485 is a protocol used for serial communication which operates by forming a bus with multiple clients co

2DYNAMIXEL DX-Series 1. Dynamixel DX-Series 1-1. Overview and Characteristics of the DX-Series Dynamixel DX-Series The Dynamixel robot actuato

29DYNAMIXEL DX-Series When changing the direction of RS-485, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked. The following is an example program

30DYNAMIXEL DX-Series C Language Example : Dinamixel access with Atmega128 /* * The Example of Dynamixel Evaluation with Atmega128 * Date : 2004.7

31DYNAMIXEL DX-Series volatile byte gbpRxInterruptBuffer[256]; byte gbpParameter[128]; byte gbRxBufferReadPointer; byte gbpRxBuffer[128]; byte gbp

32DYNAMIXEL DX-Series /* About Register and value of bits, vide Mega128 Data Sheet. */ void PortInitialize(void) { DDRA = DDRB = DDRC = DDRD

33DYNAMIXEL DX-Series Print value of Baud Rate. */ void PrintBaudrate(void) { TxDString("\r\n RS232:");TxD32Dec((16000000L/8L)/((long)

34DYNAMIXEL DX-Series C Language Example : Dinamixel access with Am188ER CPU #include <stdio.h> #include <stdlib.h> #include <coni

35DYNAMIXEL DX-Series SetInterrupt(INUM_SERIAL0,Serial0Interrupt,INT_ENABLE|INT_RX, 7/*Priority*/); //Memory Initialize gbRxBufferReadP

36DYNAMIXEL DX-Series #define RX_TIMEOUT_COUNT2 10000L //10mSec #define RX_TIMEOUT_COUNT1 (RX_TIMEOUT_COUNT2*10L) //1Sec unsigned

37DYNAMIXEL DX-Series { TxD8Hex(bpPrintBuffer[bCount]); TxD8(' '); } } Result

38DYNAMIXEL DX-Series Connector Company Name : Molex Pin Number: 4 Model Number Temperature range : -40°C to +105°C Contact Inserti

3DYNAMIXEL DX-Series Metal Gear All gears are made with metal to ensure durability. Axis Bearing A bearing is used at the final axis to ensure

39DYNAMIXEL DX-Series Dimension Motor Curve(No reduction gear state)

40DYNAMIXEL DX-Series Optional Frame Application Example OF116H OF116S OF116B Body to Body Mount

41DYNAMIXEL DX-Series Full Option frame The CM-2 Board - A dedicated board designed for controlling Dynamixel actuators - Availa

42DYNAMIXEL DX-Series Dynamixel Application Example CYCLOIDⅡ

4DYNAMIXEL DX-Series 2. Dynamixel Operation 2-1. Mechanical Assembly Follow the figure below for the mechanical assembly of the Dynamixel actuator.

5DYNAMIXEL DX-Series 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixe

6DYNAMIXEL DX-Series Stand Alone The CM-2 board can be directly mounted on a robot that is built with Dynamixel actuators. For usage d

7DYNAMIXEL DX-Series The direction of data signals on the TTL level TxD and RxD depends on the DIRECTION485 level as the following. • When the DIR

8DYNAMIXEL DX-Series 3. Communication Protocol 3-1. Communication Overview Packet The Main Controller communicates with the Dynamixel by sending