Robotis Dynamixel DX-116 Manual de usuario

Closer to Real, DX-116 Dynamixel User’s Manual 2004-04-02

9English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 3. Communication Protocol 3-1. Communication Overview Packet The Main

10English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 3-2. Instruction Packet The structure of the Instruction Packet is a

11English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N CH

12English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 3-4. Control Table Addre ss Ite m

13English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Control Table The Control Table consists of data for conditions and m

14English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 receive the requested Status Packet. The delay time is given

15English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Address 0X11 Alarm LED. When an Error occurs, if the corresponding Bi

16English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 From Address 0x18 in the RAM area. Address 0x18 Torque Enable. W

17English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Address 0x20,0x21 Moving Speed. The angular speed t

18English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Address 0x2F Lock. If set to 1, only Address 0x18 ~ Address

1DYNAMIXEL DX-116 English Translation by: Tribotix Pty Ltd www.tribotix.com Contents 1. Summary 1-1. Overview & Characteristics of DX-116 Pa

19English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 4. Instruction Set and Examples The following Instructions are avail

20English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Broadcasting ID (0xFE). Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03

21English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Function REG_WRITE instruction is similar to the WRITE_DATA in

22English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Example 3 To obtain the status packet of a Dynamixel with ID=1 Inst

23English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 5. Example Used to explain through example with the assumption tha

24English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 The best approach is to set the Return Delay Time to the minimum val

25English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Instruction Packet Instruction = WRITE_DATA, Address = 0x0E, DATA

26English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Example 16 Set the Dynamixel with ID=0 to have a Compliance Mar

27English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 number), that is, the effect of the values of Compliance between 0x11 a

28English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA

2English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 1. Dynamixel DX-116 1-1. Overview & Characteristics of DX-116 Dyna

29English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Appendix RS485 Direction The Main Controller sets the RS485 communi

30English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 TXD_SHIFT_REGISTER_EMPTY_BIT. An example program to send an Instruct

31English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 C Language Example #include <stdio.h> #include <stdlib.h>

32English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 SetInterrupt(INUM_SERIAL0,Serial0Interrupt,INT_ENABLE|INT_RX, 7/*Pr

33English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 #define RX_TIMEOUT_COUNT2 10000L //10mSec #define RX_TIMEOUT

34English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 { TxD8Hex(bpPrintBuffer[bCount]); TxD8(' &apos

35English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Connector Company Name : Molex Pin Number: 4 Model Number

36English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Dimension Motor Curve(No reduction gear state)

37English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Optional Frame Application Example

38English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Full Option frame Cycloid M2 Board - The Custom-B

3English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Metal Gears All the gear sets are made of metal to ensure extreme du

39English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Application Example CYCLOIDⅡ

4English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 1-2. Main Specification Holding Torque 31.5kg·cm (18V) ~ 21 kg·cm (12

5English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 2. Installation of Dynamixel 2-1. Mechanical Parts Assembly Mechanical

6English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 2-3. Wiring of Dynamixel Pin Assignment Pin assignments of the connect

7English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 Please refer to the Cycloid-M2 Board manual for more detai

8English Translation by: Tribotix Pty Ltd www.tribotix.com DYNAMIXEL DX-116 RS485 A multi-dropped RS485 (IEEE485) network is established fr