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User’s Manual 2004-04-02
Closer to Real,
Dynamixel
DX-116
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DYNAMIXEL DX-116 Contents 1. Summary 1-1. Overview & Characteristics of DX-116 Page 2 1-2. Main Specification Page 4 2. Dynamixel Assembly 2-1. Mechanical Parts Assembly Page 5 2-2. Connector Assembly Page 5 2-3. Dynamixel Wiring Page 6 3. Communication Protocol 3-1. Communication Overview Page 9 3-2. Instruction Packet Page 10 3-3. Status Packet Page 10 3-4. Control Table Page 13 4. Instruction Set and Examples 4-1. WRITE _DATA Page 2
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DYNAMIXEL DX-116 1. Dynamixel DX-116 1-1. Overview & Characteristics of DX-116 Dynamixel DX-116 The Dynamixel is a smart actuator which incorporates a precision servo motor and a control unit with networking functionality, all in a single unit. Despite its compact size, it can produce high torque and has been manufactured using high quality materials to provide the necessary strength and structural resilience. It can also detect and act upon internal conditions such as temperature
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DYNAMIXEL DX-116 Metal Gears All the gear sets are made of metal to ensure extreme durability. Axis Bearing A bearing is used on the final axis to ensure there is no loss of efficiency during heavily loaded conditions. Status LED A LED indicates error status. 3 English Translation by: Tribotix Pty Ltd www.tribotix.com
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DYNAMIXEL DX-116 1-2. Main Specification Holding Torque 31.5kg·cm (18V) ~ 21 kg·cm (12V) Reduction ratio 1/140 Speed 0.084sec/60° (18V) ~ 0.125sec/60° (12V) Resolution 0.35° Operating Angle 300° Voltage 12V~18V (Recommended voltage: 14~15V) Max. Current 1200mA Operating Temp. -5℃ ~ +85℃ Weight 66g Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity) Link (Physical) RS 485 Multi Drop (daisy chain configuration) ID
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DYNAMIXEL DX-116 2. Installation of Dynamixel 2-1. Mechanical Parts Assembly Mechanical Parts of Dynamixel are assembled as follows: Horn Nut(8EA) Screw for Horn Screw for mount(8EA) The 8 sets of Nuts & Screws are only used when a Dynamixel is mounted to other equipment. 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 an appropriate crimp
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1 2 3 4 DYNAMIXEL DX-116 2-3. Wiring of Dynamixel Pin Assignment Pin assignments of the connectors are as follows:- Pin 1: GND Pin 2: +12V~18V Pin 1 Pin 4 3 2 Pin 3: D+ (RS485 Signal) 2 3 1 4 Pin 4: D- (RS485 Signal) Wire Link Connect the same pin numbers as shown below. Main Controller Main Controller The Main Controller must support RS485 to control the Dynamixel. A proprietary Controller may be utilised but the Cycloid-M2 board is re
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DYNAMIXEL DX-116 Cycloid-M2 Board on Robot Please refer to the Cycloid-M2 Board manual for more details. Connection to UART To control the Dynamixel, the main Controller needs to convert the signals to RS485. The recommended schematic configuration is as follows:- 전원은 Main Controller의 Molex4P Connector의 Pin1,Pin2를 통하여 Dynamixel로 공급되어진다. Signal DIRECTION485 determines the data direction as follows:- If DIRECTION485 is High:
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DYNAMIXEL DX-116 RS485 A multi-dropped RS485 (IEEE485) network is established from the main controller. Data Packets are then issued through this single portal. Main Controller [RS485 Multi Drop Link] Please note that caution should be applied when connecting the Dynamixel units to ensure that the pin assignments are correct. Always check the current consumption. The standby current consumption of a Dynamixel unit should be less than 50mA. Connection Status When power
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DYNAMIXEL DX-116 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-116 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 0XFE is the Broadcast ID which is assigned to all of the connected Dynami
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DYNAMIXEL DX-116 OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2 …PARAMETER N CHECK SUM The meaning of each byte within the packet is as follows:- 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 - Ins truction Set to
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DYNAMIXEL DX-116 3-4. Control Address Item Access Initial Value Table 0(0X00) Model Number(L) RD 116(0x74) 1(0X01) Model Number(H) RD 0(0x00) 2(0X02) Version of Firmware RD ? 3(0X03) ID RD,WR 1(0x01) 4(0X04) Baud Rate RD,WR 34(0x22) 5(0X05) Return Delay Time RD,WR 80(0x50) 6(0X06) CW Angle Limit(L) RD,WR 0(0x00) 7(0X07) CW Angle Limit(H) RD,WR 0(0x00) 8(0X08) CCW Angle Limit(L) RD,WR 255(0xFF) 9(0X09) CCW Angle Limit(H) RD,WR 3(0x03) 10(0x0A) (Reserved) - 0(0x00) 11(0X0B) the
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DYNAMIXEL DX-116 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 shows
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DYNAMIXEL DX-116 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. . The upper limit of the Dynamixel ’s operative Address 0x0B the Highest Limit Temp
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DYNAMIXEL DX-116 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 Instruction 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 to 1, LED blinks when Range Error occurs Bit 2 If set to 1, LED blinks when Overheating Error occurs Bit 1 If set to 1, LED blinks when Angle Limit Err
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DYNAMIXEL DX-116 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 is on when set to 1 and LED is off if set to 0. . The Dynamixel controls Compliance by setting the Address 0x1A~0x1D Compliance Margin and Slope Margin and Slope. If used well Compliance will absorb the shocks. The f
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DYNAMIXEL DX-116 150° (Goal Position = 0x1ff) 300° 330~360° 0° (Goal Position = 0x3ff) (Goal Position = 0) Invalid Angle 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 Dynamixe
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DYNAMIXEL DX-116 Address 0x2F Lock. If set to 1, only Address 0x18 ~ Address 0x23 can be written to. Other areas are not permitted. Once locked, it can only be unlocked by powering down. Address 0x30,0x31 Punch. Minimum current being supplied to the motor during an action. The minimum value is 0x20 and the maximum value as 0x3ff. Range Each Register has an operative range. Write instructions made outside of these ranges will return an error. The following table summarises the
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DYNAMIXEL DX-116 4. Instruction Set and Examples The following Instructions are available. Ins truction Number of Function Value Parameter Name No action. Used to obtain a Dynamixel PING 0x01 0 Status Packet. READ_DATA Read the values in the Control Table. 0x02 2 WRITE_DATA Write the values to the Control Table. 0x03 2 ~ Similar to WRITE_DATA, but stay in REG_WRIT E standby mode until the write upon the 0x04 2 ~ action instruction. ACTION Start the action reg
