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nd
User’s Manual 2005-11-16 (2 Edition)
Closer to Real,
Dynamixel
DX-113, DX-116, DX-117
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DYNAMIXEL 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. 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-
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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
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DYNAMIXEL 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 no efficiency degradation with high external loads on the output shaft. Status LED The LED can indicate the error status to the user. 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
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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. Horn Nut(8EA) Screw for Horn Screw for mount(8EA) The 8 sets of screws and nuts are only used for attaching the Dynamixel actuator to other parts. 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 cri
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1 2 3 4 DYNAMIXEL DX-Series 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixel actuator are internally connected to each other. Pin 1 : GND Pin 2 : +12V~18V Pin 1 Pin 4 3 2 Pin 3 : D+ (RS485 Signal) 4 3 1 4 Pin 4 : D- (RS485 Signal) Wire Link Connect the pins to pins that have the same number as shown below. Main Controller Main Controller To operate the Dynamixel actuato
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DYNAMIXEL DX-Series Stand Alone The CM-2 board can be directly mounted on a robot that is built with Dynamixel actuators. CM-2 Board on Robot 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 Pi
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DYNAMIXEL 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 RS485 The communication protocol used by the Dynamixel actuator, RS485 (IEEE485), uses the multi-drop method of connecting multiple terminals on a single node. Thus a protocol that does not allow multip
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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) Instruction Packet Main Controller Status Packet Communication For the system connection below, if the main controller sends an instruction packet with the ID set
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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 Dyna
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DYNAMIXEL DX-Series 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: Bit Name Details Bit 7 0 - Set to 1 if an undefined instruction is given without the Bit 6 Instruction Error reg_write instruction. Bit 5 Overload Error Set to 1 if the specifie
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DYNAMIXEL DX-Series 3-4. Control Address Item Access Initial Value 0(0X00) Model Number(L) RD Table 116(0x74) 1(0X01) Model Number(H) RD 0(0x00) 2(0X02) Version of Firmware RD ? 3(0X03) ID RD,W R 1(0x01) 4(0X04) Baud Rate RD,W R 34(0x22) 5(0X05) Return Delay Time RD,W R 250(0xFA) 6(0X06) CW Angle Limit(L) RD,W R 0(0x00) 7(0X07) CW Angle Limit(H) RD,W R 0(0x00) 8(0X08) CCW Angle Limit(L) RD,W R 255(0xFF) 9(0X09) CCW Angle Limit(H) RD,W R 3(0x03) 10(0x0A) (Reserved) - 0(0x00) 11(
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DYNAMIXEL DX-Series Control Table The Control Table consists of data for conditions and movement of the Dynamixel. By writing the values in the control table, you can move the Dynamixel and detect the condition of the Dynamixel. RAM and EEPROM The data values for the RAM Area will be set to the default initial values on power on. The data values for the EEPROM Area are non-volatile and will be available next power on. Initial Value The Initial Value column of the control table sho
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DYNAMIXEL DX-Series Address 0x05 Return Delay Time. The time taken after sending the Instruction Packet, to receive the requested Status Packet. The delay time is given by 2uSec *Address5 value. Address 0x06,0x07,0x08,0x09 Operating Angle Limit. Set the operating angle to restrict the Dynamixel’s angular range. The Goal Position needs to be within the range of:- CW Angle Limit <= Goal Position <= CCW Angle Limit An Angle Limit Error will occur if this relationship is not satisfied
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DYNAMIXEL DX-Series In the case of an instruction which uses the Broadcast ID (0XFE), regardless of the Address 0x10 value, the Status Packet will not be returned. Address 0X11 Alarm LED. When an Error occurs, if the corresponding Bit is set to 1, then the LED blinks. Bit Function Bit 7 0 Bit 6 If set to 1, LED blinks when Ins truction Error occurs Bit 5 If set to 1, LED blinks when Overload Error occurs Bit 4 If set to 1, LED blinks when Checksum Error occurs Bit 3 If set t
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DYNAMIXEL DX-Series From Address 0x18 in the RAM area. Address 0x18 Torque Enable. When power is first applied the Dynamixel enters the Torque Free Run condition. To allow torque to be applied Address 0x18 must be set to 1. (Torque Enabled Condition) Address 0x19 LED. LED is on when set to 1 and LED is off if set to 0. Address 0x1A~0x1D Compliance Margin and Slope. The Dynamixel controls Compliance by setting the Margin and Slope. If used well Compliance will absorb the shocks. The
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DYNAMIXEL 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 moves at 70RPM. Address 0x24,0x25 Present Position. Current position of the Dynamixel. Address 0x26,0x27 Present Speed. Current Speed of the Dynamixel Address 0x28,0x29 Present Load. Load size on the Dynamixel in action. Bit 10 is the direction of the load. BIT 15~11 10 987 65432 10 Value 0 Load Direction Load Value Load Direction
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DYNAMIXEL DX-Series Range Each Register has an operative range. Write instructions made outside of these ranges will return an error. The following table summarises the data range for each register. 16 bit data registers are indicated as (L) and (H), two bytes. Each byte of a two byte register can be written to independently. Write Length Writing Item Min Max Address (bytes) 3(0X03) ID 1 0 253(0xfd) 4(0X04) Baud Rate 1 0 254(0xfe) 5(0X05) Return Delay Time 1 0 254(0xfe) 6(0X06) CW Angle
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DYNAMIXEL DX-Series 4. Instruction Set and Examples The following Instructions are available. Number of Instruction Function Value Parameter No action. Used to obtain a Dynamixel Status PING 0x01 0 Packet. READ DATA Read the values in the Control table. 0x02 2 W RITE DATA W rite the values to the Control Table. 0x03 2 ~ Similar to W RITE DATA, but stay in standby REG W RITE 0x04 2 ~ mode until write upon the action instruction. ACTION Start the action registered by R
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DYNAMIXEL DX-Series Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6 ID LENGTH INSTRUCTION PARAMETERS CHECKSUM Because it was transmitted by Broadcast ID(0XFE), no return status packet. 4-2. READ_DATA Function Read data from the Control Table of Dynamixel Length 0X04 Instruction 0X02 Parameter1 Starting Address of Data to Read Parameter2 length of Data to Read Example 2 Read the internal temperature of the Dynamixel with ID=1
