Robotis MX-28AR, Manual

Page 1: ...rder to use Protocol 2 0 please update the firmware to V39 or above Update firmware using R Manager 2 0 WARNING For MX 28 2 0 Protocol please refer to the MX 28 2 0 Control Table as they are different 1 Specifications Item Specifications MCU ARM CORTEX M3 72 MHz 32Bit Position Sensor Contactless absolute encoder 12Bit 360 Maker ams www ams com Part No AS5045 Dynamixel MX Series Protocol v2 0 F W R...

Page 2: ... 14 8 V Radial Load 1 30 N 10 mm away from the horn Axial Load 1 15 N Operating Temperature 5 80 C Input Voltage 10 0 14 8 V Recommended 12 0 V Command Signal Digital Packet Protocol Type TTL Half Duplex Asynchronous Serial Communication with 8bit 1stop No Parity RS485 Asynchronous Serial Communication with 8bit 1stop No Parity Physcial Connection RS485 TTL Multidrop Bus ID 254 ID 0 253 Feedback P...

Page 3: ... not insert sharp blades nor pins during product operation ATTENTION May cause injury or damage to product Do not disassemble or modify product Do not drop or apply strong shock to product 1 1 Performance Graph NOTE The Max Torque and the Stall Torque of Performance Graph are different in measurement methods Stall torque is a measured value of the momentary torque that it can reach This is general...

Page 4: ...h Instruction Packets In order to read or write data users must designate a specific Address in the Instruction Packet Please refer to Protocol 1 0 for more details about Instruction Packets NOTE Two s complement is applied for the negative value For more information please refer to Two s complement from Wikipedia 2 1 1 Area EEPROM RAM The Control Table is divided into 2 Areas Data in the RAM Area...

Page 5: ...250 6 2 CW Angle Limit Clockwise Angle Limit RW 0 8 2 CCW Angle Limit Counter Clockwise Angle Limit RW 4 095 11 1 Temperature Limit Maximum Internal Temperature Limit RW 80 12 1 Min Voltage Limit Minimum Input Voltage Limit RW 60 13 1 Max Voltage Limit Maximum Input Voltage Limit RW 160 14 2 Max Torque Maximun Torque RW 1023 16 1 Status Return Level Select Types of Status Return RW 2 17 1 Alarm LE...

Page 6: ...4 1 Model Number 0 This address stores model number of DYNAMIXEL 2 4 2 Firmware Version 2 This address stores firmware version of DYNAMIXEL 2 4 3 ID 3 The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction Packet 0 252 0xFC values can be used as an ID and 254 0xFE is occupied as a broadcast ID The Broadcast ID 254 0xFE can send an Instruction Packet to all connected...

Page 7: ...me 5 After the DYNAMIXEL receives an Instruction Packet it delays transmitting the Status Packet for Return Delay Time 5 For instance if the Return Delay Time 5 is set to 10 the Status Packet will be returned after 20 μsec when the Instruction Packet is received Unit Value Range Description 2 μsec 0 254 Default value 250 500 μsec Maximum 508 μsec 2 4 6 CW CCW Angle Limit 6 8 The angle limit allows...

Page 8: ...ange Description About 0 1V 50 160 5 0 16 0V For example if the value is 80 the voltage is 8V If Present Voltage 42 is out of the range Voltage Range Error Bit Bit0 of Status Packet is returned as 1 and Alarm is triggered as set in the addresses 17 and 18 2 4 9 Max Torque 14 It is the torque value of maximum output 0 to 1 023 0x3FF can be used and the unit is about 0 1 For example Data 1 023 0x3FF...

Page 9: ...o reset Torque Enable 24 to 1 Torque ON after the shutdown The followings are detectable situations Bit Item Description Bit 7 0 Bit 6 Instruction Error When undefined Instruction is transmitted or the Action command is delivered without the reg_write command Bit 5 Overload Error When the current load cannot be controlled with the set maximum torque Bit 4 CheckSum Error When the Checksum of the tr...

Page 10: ...th a Resolution Divider set as 2 will yield a Present Position value of 1024 2048 2 1024 A DYNAMIXEL with Resolution Divider set as 2 will have a resolution 2048 for a single revolution The Present Position can be obtained while Multi turn Offset and Resolution Divider are taken into account For example a DYNAMIXEL with a Real Position of 2048 with a Resolution Divider set as 4 and Multi turn Offs...

Page 11: ...atus of the device Status LED Representation Booting LED flickers once Factory Reset LED flickers 4 times Alarm LED flickers Boot Mode LED On 2 4 16 PID Gains 26 27 28 MX series will use the PID controller as a main control method P gain value of proportional band I gain value of integral action D Gain value of derivative action Gains values are in between 0 254 Kp P Gain 8 Ki I Gain 1 000 2 048 K...

Page 12: ...ory is not only limited to the control of motor actuator but is a generic theory that can be applied to all kinds of control 2 4 17 Goal Position 30 It is a position value of destination 0 to 4 095 0xFFF is available The unit is 0 088 If Goal Position is out of the range Angle Limit Error Bit Bit1 of Status Packet is returned as 1 and Alarm is triggered as set in Alarm LED Shutdown The picture abo...

Page 13: ...ection NOTE Wheel mode allows to check max rpm Any values higher than max rpm will not take effect 2 4 19 Torque Limit 34 It is the value of the maximum torque limit 0 1 023 0x3FF is available and the unit is about 0 1 For example if the value is 512 it is about 50 that means only 50 of the maximum torque will be used If the power is turned on the value of Max Torque 14 is used as the initial valu...

Page 14: ...4 is equal to 0 For example the value is 512 it means the load is detected in the direction of CCW about 50 of the maximum torque Bit 15 11 10 9 0 Value 0 Load Direction Data Load Ratio NOTE CCW Load Load Direction 0 CW Load Load Direction 1 NOTE Present load is an inferred value based on the internal output value not a measured value using torque sensor etc Therefore it may be inaccurate for meas...

Page 15: ...48 Minimum current to drive motor This value ranges from 0x20 to 0x3FF 2 4 29 Realtime Tick 50 This value indicates DYNAMIXEL s time Unit Value Range Description 1 ms 0 32 767 The value resets to 0 when it exceeds 32 767 NOTE This feature is available from Firmware v40 2 4 30 Goal Acceleration 73 This is Goal Acceleration value It can be used from 0 254 0xFE and the unit is approximately 8 583 sec...

Page 16: ...3 1 Frames FR07 B101 Option Frame FR07 F101_FR07 X101 Option Frame FR07 H101 Option Frame FR07 S101 Option Frame 3 2 Horns HN07 I101 HN07 N101 3 3 Combination Structures ...

Page 17: ...the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back 4 1 1 Installing the Horn Place the thrust horn washer into the actuator before inserting the horn You must carefully align the horn to the wheel gear serration by aligning dots ...

Page 18: ...nquire us for information regarding unlisted certifications 5 1 1 FCC Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate...

Page 19: ...rmation Item TTL RS 485 Pinout 1 GND 2 VDD 3 DATA 1 GND 2 VDD 3 DATA 4 DATA Diagram Housing MOLEX 50 37 5033 MOLEX 50 37 5043 PCB Header MOLEX 22 03 5035 MOLEX 22 03 5045 Crimp Terminal MOLEX 08 70 1039 MOLEX 08 70 1039 Wire Gauge 21 AWG 21 AWG WARNING Check the pinout The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer 5 3 Videos ...

Page 20: ...ownload MX 28R IGES Please also checkout ROBOTIS Download Center for software applications 3D 2D CAD and other useful resources 5 5 Communication Circuit To control the DYNAMIXEL actuators the main controller needs to convert its UART signals to the half duplex type The recommended circuit diagram for this is shown below 5 5 1 TTL Communication ROBOTIS FAQ DXL Gear Replacement MX 28 ENG ROBOTIS FA...

Page 21: ...d RxD in the TTL Level is determined according to the level of DIRECTION 485 as follows In case of DIRECTION485 Level High The signal of TxD is output to D and D In case of DIRECTION485 Level Low The signal of D and D is output to RxD WARNING Check the pinout The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer 2020 ROBOTIS Powered by Jekyll Minimal Mistakes www pishrobot c...