Robotis RX-28 Bedienungsanleitung

User’s Manual 2007-03-27 R Dynamixel X-28 Closer to Real,

DYNAMIXEL RX-28 3. Communication Protocol 3-1. Communication Overview Packet The main controller communicates with the Dynamixel units by sendin

DYNAMIXEL RX-28 3-2. Instruction Packet The Instruction Packet is the packet sent by the main controller to the Dynamixel units to send commands. Th

DYNAMIXEL RX-28 The meanings of each packet byte definition are as the following. 0XFF 0XFF The two 0XFF bytes indicate the start of the packet.

DYNAMIXEL RX-28 3-4. Control Table Address Item Access Initial Value0(0X00) Model Number(L) RD28(0x1C)1(0X01) Model Number(H) RD0(0x00)2(0X02) Vers

DYNAMIXEL RX-28 Control Table The Control Table contains information on the status and operation of the Dynamixel actuator. The Dynamixel actuator i

DYNAMIXEL RX-28 Address 0x05 Return Delay Time. The time it takes for the Status Packet to return after the Instruction Packet is sent. The delay ti

DYNAMIXEL RX-28 In the case of an instruction which uses the Broadcast ID (0XFE) the Status Packet will not be returned regardless of the Address 0x1

DYNAMIXEL RX-28 Address 0x18 Torque Enable. When the power is first turned on, the Dynamixel actuator enters the Torque Free Run condition (zero tor

DYNAMIXEL RX-28 Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position. Setting this value to its maxi

DYNAMIXEL RX-28 Goal Speed Setting BIT 15~11 10 9876543210Value 0 Turn Direction Speed ValueTurn Direction = 0 : CCW Direction Turn, Load Dir

DYNAMIXEL RX-28 Contents 1. Summary 1-1. Overview and Characteristics of RX-28 Page 2 1-2. Main Specifications

DYNAMIXEL RX-28 4. Instruction Set and Examples The following Instructions are available. Instruction Function ValueNumber ofParameterPING No acti

DYNAMIXEL RX-28 Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6` ID LENGTH INSTRUCTION PARAMETERS CHECKS

DYNAMIXEL RX-28 4-3. REG_WRITE과 ACTION 4-3-1. REG_WRITE Function The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the execu

DYNAMIXEL RX-28 4-4. PING Function Does not command any operations. Used for requesting a status packet or to check the existence of a Dynamixel ac

DYNAMIXEL RX-28 The returned Status Packet is as the following Status Packet : 0XFF 0XFF 0X00 0X02 0X00 0XFD ID LENGT

DYNAMIXEL RX-28 Dynamixel actuator with an ID of 2: to position 0X030 with a speed of 0X170 Dynamixel actuator with an ID of 0: to position 0X220 wit

DYNAMIXEL RX-28 5. Example For the following examples, we assume a Dynamixel actuator with an ID of 1 in Reset status and that the Baud rate is 57

DYNAMIXEL RX-28 Instruction Packet Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02 Communication ->[Dynamixel]:FF FF 00 04 03 05 02 F

DYNAMIXEL RX-28 Example 13 Setting the maximum torque to 50% of its maximum possible value for a Dynamixel actuator with an ID of 0 Set the MAX To

DYNAMIXEL RX-28 Instruction Packet Instruction = WRITE_DATA, Address = 0x18, DATA = 0x01, 0x01 Communication ->[Dynamixel]:FF FF 00 05 03 1

DYNAMIXEL RX-28 1. Dynamixel RX-28 1-1. Overview and Characteristics of RX-28 Dynamixel RX-28 The Dynamixel series robot actuator is a smart, modu

DYNAMIXEL RX-28 D : CW Compliance Slope (Address0x1C) = 0x40 (about 18.8°) Instruction Packet Instruction = WRITE_DATA, Address = 0x1A, DATA =

DYNAMIXEL RX-28 Status Packet Result NO ERROR Example 20 Lock all addresses except for Address 0x18 ~ Address0x23 for a Dynamixel actuator with an

DYNAMIXEL RX-28 Appendix RS485 UART RS485 UART is a serial communication protocol where both TxD and RxD cannot be used at the same time. This metho

DYNAMIXEL RX-28 When changing the direction, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked. The following is an example program that sends an

DYNAMIXEL RX-28 C Language Example : Dinamixel access with Atmega128 /* * The Example of Dynamixel Evaluation with Atmega128 * Date : 2005.5.11 *

DYNAMIXEL RX-28 // --- Gloval Variable Number --- volatile byte gbpRxInterruptBuffer[256]; byte gbpParameter[128]; byte gbRxBufferReadPointer; byte

DYNAMIXEL RX-28 while(1); } void PortInitialize(void) { DDRA = DDRB = DDRC = DDRD = DDRE = DDRF = 0; //Set all port to input d

DYNAMIXEL RX-28 } /* Print value of Baud Rate. /* */ TXD81() send data to USART 1. void PrintBaudrate(void) */ { void TxD81(byte bTxdData)

DYNAMIXEL RX-28 Connector Company Name : Molex Pin Number: 4 (or 5 for Optional VCC 5V) Model Number Molex Part Number Old Part NumberMale

DYNAMIXEL RX-28 Dimension 38

DYNAMIXEL RX-28 1-2. Main Specifications RX-28 Weight (g) 72 Gear Reduction Ratio 1/193 Input Voltage (V) at 12V at 16V Final Max Holding Tor

DYNAMIXEL RX-28 2. Dynamixel Operation 2-1. Mechanical Assembly Option Frames OF-28B OF-28S RXOF-28H Horn-28T

DYNAMIXEL RX-28 Assembly Sample assembly using option frames. 2-2 . Connector Assembly Assemble the connectors as shown below. Attach the wir

DYNAMIXEL RX-28 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixel are

DYNAMIXEL RX-28 Connection to UART To control the Dynamixel actuators, the main controller needs to convert its UART signals to the RS485 type. The

DYNAMIXEL RX-28 Caution Please ensure that the pin assignments are correct when connecting the Dynamixel actuators. Check the current consumption