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Robotis Dynamixel RX-64 User Manual

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v1.10
Closer to Real,
User's Manual
Dynamixel
RX-64
ROBOTIS CO.,LTD. www.robotis.com

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Summary of Contents for Robotis Dynamixel RX-64

  • Page 1 Closer to Real, User’s Manual Dynamixel RX-64 ROBOTIS CO.,LTD. www.robotis.com...

  • Page 2: Table Of Contents

    RX-64 Contents 1. Introduction ··································································································2 1-1. What is Dynamixel ? ······················································································································· 3 1-2. Strong Points of Dynamixel ············································································································ 5 1-3. Specifications of RX-64 ·················································································································· 6 2. Installation·····································································································7 2-1. How to Assemble Frames··············································································································· 8 2-2. Assembling Connector·················································································································· 10 2-3. Wiring ··········································································································································· 11 2-4.

  • Page 3: Introduction

    RX-64 1. Introduction What is Dynaimxel? Strong Points of Dynamixel Specifications of RX-64...

  • Page 4: What Is Dynamixel

    RX-64 1-1. What is Dynamixel ? Dynamixel is a robot-only Smart Actuator with a new concept integrating speed reducer, New Concept controller, driver, network function, etc. into one module. Reduction Driver Network Controller Dynamixel Gear We have Line up of several kinds of Dynamixel applicable numerously according to the LINE UP kinds and characteristics of robots...
  • Page 5 RX-64 Dynamixel is built up with all-round combining structure and it is possible to connect one All-round Combining another with various forms. You can design a robot easily as if assembling a block toy by Structure using option frame for Dynamixel Dynamixel is connected with Daisy Chain and it is easy to wire one another.

  • Page 6: Strong Points Of Dynamixel

    RX-64 1-2. Strong Points of Dynamixel In spite of the compact size, it generates relatively big Torque by way of the efficient Torque speed reduction. It can control location and speed with the resolution of 1024. Close Control It can set up the extent of elasticity when controlling position with Compliance Driving. Elasticity Setting It can read the current position and speed.

  • Page 7: Specifications Of Rx-64

    RX-64 1-3. Specifications of RX-64 RX-64 Weight (g) Dimension (mm) 40.2 x 61.1 x 41.0 Gear Reduction Ratio 1/200 Applied Voltage (V) at 15V at 18V Final Reduction Stopping Torque 64.4 77.2 (kgf.cm) Speed (Sec/60 degrees) 0.188 0.157 0.29° Resolution 300°, Endless Turn Running Degree 12V~21V (Recommended voltage: 18V)

  • Page 8: Installation

    RX-64 2. Installation 1. How to Assemble Fames 2. Assembling Connectors 3. Wiring 4. Connection of Main Controller...

  • Page 9: How To Assemble Frames

    RX-64 2-1. How to Assemble Frames Rx-64 has the following optional frames. optional frames. Optional Frames OF-64B OF-64S2 OF-64H OF-64S...
  • Page 10 RX-64 RX-64 has the following kinds of Horns. Horn Horn-64N Horn-64I Horn-64T Basic Supply Trust Bearing Ball Bearing The below picture shows examples of combinations by using optional frames and horns. Device Combination...

  • Page 11: Assembling Connector

    RX-64 2-2. Assembling Connector Connector is assembled in the following order. Peel the coating of cable to the extent of 5mm 1) Striping approx. 2) Inserting Put the cable on the terminal like the left picture. Press the cable and terminal by using Wire 3) Forming Former.

  • Page 12: Wiring

    RX-64 2-3. Wiring The pin assignment of a connector is as shown below. RX-64 can be run by linking with Pin Assignment any one of two 4P connectors of RX-64 since they are connected Pin2Pin internally. PIN1: GND PIN1: GND PIN2: VDD (12V~21V) PIN2: VDD(12V~21V) PIN3: D+...

  • Page 13: Connection Of Main Controller

    Half Duplex UART. Thus, a Main Controller to run RX-64 must support RS485 UART. You can also design and use Main Controller by yourself. (Refer to the website www.robotis.com If you want to control RX-64 with PC, you may control it via the Dynamixel-only controller Connection with PC or using the USB2Dynmixel.
  • Page 14 RX-64 The power of RX-64 is supplied via Pin1(-), Pin2(+). (The above circuit is built into Dynamixel-only controller.) In the above circuit diagram, the direction of data signal of TxD and 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-.

  • Page 15: Communication With

    RX-64 3. Communication with RX-64 1. Overview of Communication 2. Instruction Packet 3. Status Packet 4. Control Table 5. How to Use Packet...

  • Page 16: Overview Of Communication

    RX-64 3-1. Overview of Communication To control RX-64, communication should be established according to the protocol of RX- 64. RX-64 is driven by receiving binary data. Examples of programs for the transmission of this kind of data are described in detail in the User’s Manual of the Dynamixel-only controller or the USB2Dynamixel.

  • Page 17: Instruction Packet

    RX-64 3-2. Instruction Packet Instruction Packet is command data that Main Controller sends to RX-64. The structure of Instruction Packet is as follows: OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK SUM The meaning of each byte composing packet is as follows: 0XFF 0XFF This signal notifies the beginning of the packet It is the ID of RX-64 which will receive Instruction Packet.
  • Page 18 RX-64 PARAMETER0…N Parameter is used when Instruction requires ancillary data. For the usage of parameters, refer to “3-5 How to Use Packet” CHECK SUM It is used to check if packet is damaged during communication. Check Sum is calculated according to the following formula. Check Sum = ~ ( ID + Length + Instruction + Parameter1 + …...

  • Page 19: Status Packet (Return Packet)

    RX-64 3-3. Status Packet (Return Packet) RX-64 executes command received from the Main controller and returns the result to the Main Controller. The returned data is called Status Packet. The structure of Status Packet is as follows: OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N CHECK SUM Each byte composing the packet means as below.
  • Page 20 RX-64 For example, when Status Packet is returned as below 0xFF 0xFF 0x01 0x02 0x24 0xD8 It means that the error of 0x24 occurs from RX-64 whose ID is 01. Since 0x24 is 00100100 as binary, Bit5 and Bit2 become 1. In order words, Overload and Overheating Errors have occurred.

  • Page 21: Control Table

    RX-64 3-4. Control Table Control Table consists of data regarding the current status and operation, which exists inside of RX-64. The user can control RX-64 by changing data of Control Table via Instruction Packet. Address Initial Value Name Description Access (hexadecimal) (Hexadecimal) 0 (0X00) Model Number(L)
  • Page 22 RX-64 Data in RAM area is reset to the initial value whenever the power is turned on while data RAM and EEPROM in EEPROM area is kept once the value is set even if the power is turned off. It represents the location of data. To read data from or write data to RX-64, the user Address should assign an address where the data locates to Packet.
  • Page 23 RX-64 3-4-1 Control Table Items ( EEPROM Area ) Address 0, 1 (0x00, 0x01) In case of RX-64, the data value is 64 (0X0040). Model Number. Address 2 (0x02) It represents the firmware version. Firmware Version Address 3 (0x03) It is a unique number to identify RX-64. 0 to 253 (0xFD) can be used for it and the factory default setting is 1.
  • Page 24 RX-64 Operating Angle Limit Address 6, 7, 8, 9 (0x06,0x07,0x08,0x09) represents allowed range movement. The range for use is 0 to 1023 (0x3FF). Data 0 denotes 0° and Data 1023 (0X3FF) 300°. Thus, the angle per data value 1 is about 0.3°. Address 11 (0x0B) It is the highest limit of operating temperature.
  • Page 25 RX-64 Address 16 (0X10) It decides how to return Status Packet. There are three ways like the Status Return Level below table. Address16 Return of Status Packet No return against all instructions Retrun only for the READ_DATA command Return for all Instructions When Instruction Packet is Broadcast ID, Status Packet is not returned regardless of Status Return Level.
  • Page 26 RX-64 Address 18 (0X12) It turns Torque off when an error occurs during operation. It also Alarm Shut down allocates each error content in the same way as Alarm LED. It turns Torque off when the Data bit is set as “1” and the applicable error occurs. The function of each Bit runs the logic of ‘OR’...
  • Page 27 RX-64 3-4-2 Control Table Items ( RAM Area ) Address 24 (0x18) When the power is supplied to RX-64 for the first time, RX-64 is in the Torque Enable Free Run state in which case there is no torque generated. When Torque Enable is set as "1”, Torque is generated.
  • Page 28 RX-64 Compliance Slope can be defined as seven levels in total as shown in the below table. It recognizes the data values 1 to 5 as 4, valid position value, while the data values 6 to 11 as 8. Thus, it is convenient to set up the data of Compliance Slope as the valid position value in the below table.
  • Page 29 RX-64 Address 30, 31 (0X1E, 0x1F) It is a position value of destination. 0 to 1023 (0x3FF) is Goal Position available. Position values according to data values are as shown in the below picture. Goal Position should be used within the range of CW Angle Limit ≤ Goal Potion ≤ CCW Angle Limit;...
  • Page 30 RX-64 maximum speed is reduced to 53.2RPM so that the speed with 0 to 53.2 RPM can be controlled. The relationship between data value and speed is as shown in the below picture. RX-64, Max. Moving Speed & Data Value at 18V Min.
  • Page 31 RX-64 Data value indicates the ratio of Torque as described in Max Torque. For example, data value is 1023 (0X3FF) when the maximum torque is generated but the load is too big for RX-64 to move, so that RX-64 ends up in the holding state. Address 42 (0x2A) It is the size of the current voltage supplied.
  • Page 32 RX-64 3-4-3 Endless Turn Endless Turn can be materialized when CW Angle Limit (Address 6,7) and CCW Angle Limit (Address8,9) are set as “0”. It can be usefully applied to move wheels. Endless Turn has no speed control function. Enter a desired torque value into Moving Speed (Addresses 32 and 33 (0X20 and 0X21)).

  • Page 33: How To Use Packet

    RX-64 3-5. How to Use Packet To operate RX-64, Instruction Packet, which is binary type data, should be sent to RX- 64 from Main Controller. Instruction Packet has seven kinds of commands. (Refer to “3- 2 Instruction Packet”) In addition, RX-64 receives Instruction Packet to performs a command and returns the result as Status Packet to Main Controller.
  • Page 34 RX-64 3-5-2 WRITE DATA This command is to write data to the Control Table inside of RX-64. Function N+3 (if the number of writing data is N) Length 0X03 Instruction Start address to write data Parameter1 First data to write Parameter2 Second data to write Parameter3...
  • Page 35 RX-64 3-5-3 REG WRITE The REG_WRITE command is similar to the WRITE_DATA command in terms of Function function, but differs in terms of the timing that a command is executed. When Instruction Packet arrives, it is saved in Buffer and the Write operation remains in the standby state. At this moment, Registered Instruction (Address 44 (0x2C)) is set as “1”.
  • Page 36 RX-64 3-5-5 PING This command does not instruct anything. It is only used when receiving Status Packet Function or confirming the existence of RX-64 with a specific ID. 0X02 Length 0X01 Instruction NONE Parameter Example 3 Receives Status Packet of RX-64 whose ID is 1. Reads 1 byte from the value of Address 43 (0x2B) in the Control Table.
  • Page 37 RX-64 3-5-6 RESET This command is to reset the Control Table of RX-64 to the factory default setting. Function 0X02 Length 0X06 Instruction NONE Parameter Example 4 Resets the Control Table of RX-64 whose ID is 0. Instruction Packet : 0XFF 0XFF 0X00 0X02 0X06 0XF7` ID LENGTH INSTRUCTION CHECKSUM Status Packet returned is as follows: Status Packet : 0XFF 0XFF 0X00 0X02 0X00 0XFD...
  • Page 38 RX-64 3-5-7 SYNC WRITE This command is used to control several RX-64s simultaneously with one Instruction Function Packet transmission. When this command is used, several commands are transmitted at once, so that the communication time is reduced when multiple RX-64s are controlled. However, the SYNC WRITE command can be used only if both of the address and length of the Control Table to write is identical.
  • Page 39 RX-64 3-5-8 Other Examples The following examples are supposed that ID is 1 and Baud rate is 57142 BPS. Example 6 Reads the Model Number and Firmware Version. Instruction = READ_DATA, Address = 0x00, Hint Length = 0x03 Instruction Packet : FF FF 01 04 02 00 03 F5 Communication Status Packet : FF FF 01 05 00 40 00 08 7D Model Number = 64 (0x40) Firmware Version = 0x08...
  • Page 40 RX-64 Example 9 Resets Return Delay Time as 4usec. Instruction = WRITE_DATA, Address = 0x05, Hint DATA = 0x02 Instruction Packet : FF FF 01 04 03 05 02 F1 Communication Status Packet : FF FF 01 02 00 FD NO ERROR Status Packet Result Return Delay Time Data 1 is equal to 2usec.
  • Page 41 RX-64 Example 12 Sets the operating voltage as 10 to 17V. Data of 10V is 100 (0x64) while 17V is 170 (0xAA). Hint Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA Instruction Packet : FF FF 01 05 03 0C 64 AA DD Communication Status Packet : FF FF 01 02 00 FD...
  • Page 42 RX-64 Example 15 Sets the Alarm as such that LED flickers and shutdown (torque off) when the operating temperature is higher than the limit temperature. Since Overheating Error is Bit 2, set up Alarm value as Hint 0x04. ( 0x04=00000100 ) Instruction = WRITE_DATA, Address = 0x11, DATA = 0x04, 0x04 Instruction Packet: FF FF 01 05 03 11 04 04 DE...
  • Page 43 RX-64 Example 18 Sets Compliance Margin=1 and Compliance Slope=0x40. The suggested condition can be depicted in a graph as below. Hint Goal Position Angle (Position Error) 0x41(CW) 0x01(CW) 0x01(CCW) 0x41(CCW) A: CCW Compliance Slope (Address 29 (0x1D)) = 0x40 (about 18.8°) B: CCW Compliance Margin (Address 27 (0x1B)) = 0x01 (about 0.3°)
  • Page 44 RX-64 Example 20 Locates RX-64 with ID 0 at Position 0° and RX-64 with ID 1 at Position 300°. Start only two RX-64s at the same point. When the WRITE_DATA command is used, two RX-64s Hint cannot be started at the same point. Thus, REG_WRITE and ACTION are used.

  • Page 45: Appendix

    RX-64 4. Appendix Each data has valid range. When the Write commancd that is off the valid range is Range transmitted, an error is returned. The below table shows the length and range of data that the user can write. 16bit Data is displayed in two bytes, L and H. These two bytes should be written as one Instruction Packet at once.
  • Page 46 RX-64 RS485 UART is a serial communication method that TxD and RxD cannot be executed RS485 UART simultaneously. It is usually used when connecting several communication equipments to one BUS. Since multiple devices are connected to the same BUS, all other devices should be in the input state while a device transmits.
  • Page 47 RX-64 You should check TXD_SHIFT_REGISTER_EMPTY_BIT at the time of changing direction. The following example is a program sending Instruction Packet. LINE 1 DIRECTION_PORT = TX_DIRECTION; LINE 2 TxDByte(0xff); LINE 3 TxDByte(0xff); LINE 4 TxDByte(bID); LINE 5 TxDByte(bLength); LINE 6 TxDByte(bInstruction); LINE 7 TxDByte(Parameter0);...
  • Page 48 RX-64 Pin Number: 4 (or 5 for Optional VCC 5V) Model Number Molex Part Number Old Part Number Male 22-03-5045 5267-04 male 50-37-5043 5264-04 Temperature range : -40°C to +105°C Contact Insertion Force-max : 14.7N (3.30 lb) Contact Retention Force-min : 14.7N (3.30 lb) For further information, please visit the website www.molex.com or www.molex.co.jp.
  • Page 49 RX-64 Dimension 8-M2.5T AP TH R U M3TAP DP 8 34,6 40,2 8-M2.5T AP TH R U 8-M2.5TAP TH R U 34,6 40,2 8-M2.5T AP TH R U 34,6 40,2...

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