FUTABA RS204MD Instruction Manual
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FUTABA RS204MD Instruction Manual

FUTABA RS204MD Instruction Manual

Command type servo for robot
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1M23Z06502
User's Manual Ver.1.04
RS204MD
Command Type Servo for Robot
Instruction Manual
Caution
・ Read this instruction manual before use.
・ Keep this manual handy for immediate reference.
For models
1

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Summary of Contents for FUTABA RS204MD

  • Page 1 1M23Z06502 User’s Manual Ver.1.04 RS204MD Command Type Servo for Robot Instruction Manual Caution ・ Read this instruction manual before use. ・ Keep this manual handy for immediate reference. For models...

  • Page 2: Table Of Contents

    FOR SAFETY ............................5 ..............................5 ARNING YMBOLS ..............................5 AUTIONS FOR ............................6 AUTIONS FOR TORAGE INTRODUCTION ............................7 ................................. 7 OMPONENTS ................................8 EATURES Small and Lightweight ............................8 ● Interactive High-Speed TTL Communication ....................8 ● Servos for Both Command Type and PWM Type ....................8 ●...
  • Page 3 Present Temperature (2 Byte, Hex, Read) ................43 ● No.52/No.53 Present Voltage (2 Byte, Hex, Read) ..................44 ● REFERENCES ............................45 ................................... 45 PECS ............................... 45 IMENSIONS RS204MD ................................46 ● Dimensions with Servo Horn and Free Horn ....................47 ●...
  • Page 4 ● ..............................49 PTION ARTS “B ” ............................51 OW TO USE RACKET Fixing Brackets to RS204MD ........................... 51 ● Jointing Other Parts/Servos ..........................51 ● Usage of Brackets ............................. 52 ● Dimensions with Brackets ..........................52 ● ........................53...

  • Page 5: For Safety

    Do not use any battery as a power supply other than the specified battery. The product is designed to be operated by Futaba’s 9.6V Ni-MH battery only. Do not use any other batteries. Do not touch the servo case during or some time after operating the servo.

  • Page 6: Cautions For Storage

    Do not use this product for any application other than indoor hobby-robots. Futaba is cleared of all responsibility to the results caused by the usage of this product for any application other than indoor hobby-robots. Do not turn the servo horn forcibly.

  • Page 7: Introduction

    Introduction Components The following parts are included in RS204MD. “Optional parts” for optional parts and repair parts. Please refer to p.50 ● 1) Servo(RS204MD) 2) Servo Horn 3) Screw to fix servo horn (M2x8 Tapping Screw) *Servo Horn and Screw are attached to the servo.

  • Page 8: Features

    ● Servos for Both Command Type and PWM Type RS204MD can be controlled either as the Command Type Servo for robots or the PWM Type Servo for existing R/C servos. The type is automatically switched by the first signal sent after these products are connected.

  • Page 9: Part Names / Handling Instructions

    Part Names / Handling Instructions Screw to fix cases of the servo Screw to fix cases of the servo and other parts. Output-Axis Servo Horn Free Horn Connector (Inward) Connector(Outward) Fig. 2.1 Part Names Caution Do not remove screws to fix cases of the servo unless repair or replacement is needed. When removing all case fixing screws, be careful not to get dust or foreign matter inside the case.

  • Page 10: How To Attach The Servo

    How to attach the servo Remove some of the screws of RS204MD and use its hole to fix the servo to brackets or other frames. Refer Fig. 2.2 for the depth of each hole. 1.8mm from each Reference-Surface of Hole (A) is Clearance Hole.

  • Page 11: Pin Assignment Of The Connector

    Pin Assignment of the Connector The pin assignment of the connector of RS204MD is shown in Fig. 2.. Connector: ADH connector, J.S.T. Mfg. Co., Ltd. ③（Gray）：Signal ②（Black）：VCC(3.7-6.0V) ① （Black）：GND a. Connector of the cable ① (Black）：GND ③（Gray）：Signal ② （Black）：VCC ②（Black）：VCC ③...
  • Page 12 Installing/Unplugging the connector When installing the connector, be careful not to apply excessive force to the board. Also, when unplugging, grasp the cable and pull it out slowly. ① Installing the connector ②unplugging the connector Push the connector from upside. Hold the cable and pull it upward slowly.
  • Page 13 Routing the cable Remove the bottom case before routing the cable through the hole for Free-Horn (When using the Inward-Connector). ③Install the Connector. ②Route the cable through the ① Remove the screws hole of the Bottom Case. and Bottom Case. ④Re-Assemble the Bottom ⑤Finish.

  • Page 14: Definition Of Angle And Its Range

    Definition of Angle and its Range ● Definition of “0 degrees” and operational range “0 degrees” and directions(+/-) of RS204MD are defined as fig. 2.7. Operational range (for Goal Position) is 0±150deg, and Detectable range (for Present Position) is 0±...

  • Page 15: Connections

    To Control RS204MD as Command-Type Servo with USB-RS485 Converter “RSC-U485” etc., Power Hub “TB-RV71EH 7.4V/3W” is required somewhere in the system. The maximum number of RS204MD to be connected as TTL Command-Type Servos is 24. When these products are used together with RS485 Command-Type Servos, the maximum number of the RS485 Command-Type Servo is 4.

  • Page 16: Systems As Pwm Type Servos

    ● Systems as PWM Type Servo Fig. 3.2 Systems with PWM Type servo Please note that the servos made by Futaba Corporation may malfunction, depending on the specification of the controller used for PWM servos.

  • Page 17: Notes Of Connection

    Notes of Connection RS204MD may malfunction, depending on the system configuration if they are used as TTL command Type Servo. Fig. 3.3 TTL Command-Type Servo / Example of Disabled Connection (1) RS485 Command Type Servos do not work if they are connected via the Hub for 3 Wire Servo.
  • Page 18 Fig. 3.4 TTL Command-Type Servo / Example of Disabled Connection (2) The servos may malfunction if more than one Hub with Power Switch for TTL Command Type Servo (RV71EH-7.4V/3W) is connected in the same system.

  • Page 19: Control

    The signal line can be switched alternately for transmission or reception of data. Normally, RS204MD stand by in a receiving mode. When they receive commands to get the data of or the status of servos, the mode changes to a transmitting mode. After sending the data, they stand by again in a receiving mode.

  • Page 20: Memory Map

    When you use plural servos in a single communication network, give them different “ID” numbers. ● Packet “Packet” is a block that is used for sending a command to or receiving data from RS204MD servos. Packets are divided into the following three groups, having different formats.

  • Page 21: Format Of Packets

    Format of Packets ● Short Packet Short Packet is used for sending the data in the memory map to a single servo. STRUCTURE Header Flag Address Length Count Data Header This is a line head of a packet. Set “FA AF” for short packets. Set “ID”...
  • Page 22 Details of Flag Each bit has the following meaning. Table 4.2 bit of Flag Function (Reserved) Write Flash ROM Reboot Servo Initialize memory map data Direct Address of Return Packet Direct Address of Return Packet Direct Address of Return Packet Direct Address of Return Packet Bit 7 : Reserved Set “0”...
  • Page 23 Bit 5 : Reboot Servo Setting this bit to “1” (Flags=20H), and sending a packet with Address = FFH, Length = 00H, Count = 00H to a servo will reboot a servo. Ex)Reboot servo(ID:01) FA AF The packet that “Write Flash ROM” and “Reboot Servo” has to be sent separately. “Reboot Servo”...
  • Page 24 Bit 3～0 : Direct Address of Return Packet (1)Direct Area of Memory Map Setting Bit 3 to Bit 0 of a Short Packet as Table 4.3, you can receive return data of the specified area of servo’s memory map. The RS485 half-duplex communication does not allow addressing more than one servo that can send a return packet.

  • Page 25: Long Packet

    ● Long Packet “Long Packet” is used to send the data to multiple servos. (“Address” and “Length” are the same to all servos.) Length Length Length Structure Header Flags Address Length Count VID Data VID Data ･･･ VID Data Number of servos (=“Count”) Header This notation indicates the front of a packet.
  • Page 26 “Sum” is the value obtained from XOR operation on all bytes from ID through Data in a packet by a unit of a byte. Ex)Set angle to 10 degrees to the Servos (ID:1 and ID:2) and 50 degrees to the servo (ID:5). FA AF 64 00 64 00...

  • Page 27: Return Packet

    ● Return Packet “Return Packet” is the packet returned from the servo when the Flag field requests a servo to send a return packet. STRUCTURE Header Flags Address Length Count Data Header This notation indicates the front of a packet. “FD DF” is set to Return Packet. This is the “ID”...

  • Page 28: Memory Map

    Memory Map 4.1. Invariable ROM Area Table 4.5 Invariable ROM Area Address Area Initial Name Model Number L Model Number H Invariable Firmware Version Reserved ● No.0/No.1 Model Number(2 Byte, Hex, Read) It is the Model Number (Name of the servo). “20 40”...

  • Page 29: Variable Rom Area

    4.2. Variable ROM Area Table 4.6 Variable ROM Area Address Area Initial Name DEC. HEX. Servo ID Reverse Baud Rate Return Delay CW Angle Limit L CW Angle Limit H CCW Angle Limit L CCW Angle Limit H Reserved Reserved Temperature Limit L Temperature Limit H Reserved...

  • Page 30: Servo Id (1Byte, Hex, Read/Write)

    ● No.4 Servo ID (1Byte, Hex, Read/Write) This value can be changed ONLY when the Torque is OFF (“Torque-Enable” is “00H”). It is the “ID” of the servo. Its Initial value is 01H and the settable range is from 1 to 127 (01H to 7FH). Ex) Set ID to “5”...

  • Page 31: 7 Return Delay(1Byte, Hex, Read/Write)

    Even after the value is rewritten, the servos are operated at the previous baud rate. In order to operate under the new baud rate, it is required to write Flash ROM and Reboot Servo. Ex) Set baud rate as 38,400 bps to the servo (ID:1) FA AF After sending above packet, “Write Flash ROM”...

  • Page 32: 8/No.9/No.10/No.11 Angle Limit (2 Byte, Hex, Read/Write)

    ● No.8/No.9/No.10/No.11 Angle Limit (2 Byte, Hex, Read/Write) This value can be changed ONLY when the Torque is OFF (“Torque-Enable” is “00H”). It is the maximum operating angle based on 0 degrees (units: 0.1 degree). No.8 and No.9 are used for CW (clockwise) direction and No.10 and No.11 are for CCW (counterclockwise) direction.

  • Page 33: Torque In Silence(1 Byte, Hex, Read/Write, For Pwm)

    ● No.22 Torque in Silence(1 Byte, Hex, Read/Write, for PWM) It is the condition of the servo’s output torque. When there is no input for more than 80ms or continuous invalid input that the pulse width is less than 0.5ms or more than 2.55ms, the servos’ torque condition changes to the specified condition. The initial value is 0(00H) and the relationship between the set value and the condition is shown as below: Table 4.8 Torque Conditions...

  • Page 34: 24 / No.25 Compliance Margin (1 Byte, Hex, Read/Write)

    ● No.24 / No.25 Compliance Margin (1 Byte, Hex, Read/Write) It is the allowable range of the angle around the goal angle. If the error between the present angle and the goal position is in the set range, the servo recognized itself to be in the goal position and stop moving.
  • Page 35 ● Output Torque 【CW Compliance Margin】 【CW Compliance Slope】 Maximum Torque Maximum Torque ×【Max Torque（％）】 【Punch】 Present Angle 【Punch】 Goal position Maximum Torque ×【Max Torque（％）】 Maximum torque 【CCW Compliance Slope】 【CCW Compliance Margin】 Fig. 4.1 The relationship of Output Torque, Angle and Compliance settings Ex.1) Set Punch of the servo (ID: 1) to 1[%]( = 100(0064H)).

  • Page 36: Variable Ram Area

    4.3. Variable RAM Area Table 4.9 Variable RAM Area Address Area Initial Name DEC. HEX. Goal Position L Goal Position H Goal Time L Goal Time H Reserved Max Torque Torque Enable Reserved PID coefficient Reserved Reserved Reserved Present Position L Present Position H Variable Present Time L...

  • Page 37: 30 / No.31 Goal Position

    ● No.30 / No.31 Goal Position (2 Byte, Hex, Read/Write） This parameter is the target angle of the servo. Center of the movable range is 0 degrees and CW direction is “+” and CCW direction is “-” from the top of the servo (nameplate side).

  • Page 38: 35 Maximum Torque (1 Byte, Hex, Read/Write)

    ● No.35 Maximum Torque (1 Byte, Hex, Read/Write) This parameter set the maximum torque of the servo. In PWM-Type Control, the servo always moves with the initial value (100%) regardless of set value. The unit is 1 % with the torque described in this manual (p.エラー! ブックマークが定義されていま せん。) as 100%.
  • Page 39 FA AF...

  • Page 40: 38 Pid Coefficient

    ● No.38 PID Coefficient (1 Byte, Hex, Read/Write） It is the PID-Gain of internal motor control. The smaller the set value is, the smaller the hunting becomes, on the other hand, the output torque to hold the position will be small. The unit is 1% and settable range is 01H~FFH.

  • Page 41: 44/No.45 Present Time (2 Byte, Hex., Read)

    ● No.44/No.45 Present Time (2 Byte, Hex., Read) It is an elapsed time after a servo receives a packet to move. When movement is completed, it maintains the last value. If the “Goal Time” of the movement is “0(00H)”, “Present Time” will not be rewritten (maintain last value).

  • Page 42: 46/No.47 Present Speed (2 Byte, Hex, Read)

    ● No.46/No.47 Present Speed (2 Byte, Hex, Read) It is the rotational speed and its unit is deg/sec. Ex) Get “Present Speed” of the servo (ID: 1) A Short Packet to require Return Packet with Memory Map No.42 ~ No.49 is the same as the previous paragraphs.

  • Page 43: 48/No.49 Present Current (2 Byte, Hex, Read)

    ● No.48/No.49 Present Current (2 Byte, Hex, Read) It is the electric current of the servo and its unit is 1mA. It is almost proportional to output torque, but does not become 0 even in the condition of Torque-OFF. Ex) Get “Present Current” of the servo (ID: 1) A Short Packet to require Return Packet with Memory Map No.42 ~ No.49 is the same as the previous paragraphs.

  • Page 44: Present Temperature (2 Byte, Hex, Read)

    ● No.50/No.51 Present Temperature (2 Byte, Hex, Read) It is the temperature of the board in the servo. individual difference about up to ±3 degrees Celsius. The sensor has When “Present Temperature” reaches low temperature 10 degrees Celsius than a “Temperature Limit” (No.14 and No.15 of Memory Map), “Temperature Alarm”...

  • Page 45: Present Voltage (2 Byte, Hex, Read)

    ● No.52/No.53 Present Voltage (2 Byte, Hex, Read) It is the voltage of the power applied to the servo and its unit is 10mV. individual difference about up to ±0.3V. The sensor has Detectable range is 3.7V~6.0V. Ex) Get “Present Voltage” of the servo (ID: 1) A Short Packet to require Return Packet with Memory Map from No.42 and No.59 is;...

  • Page 46: References

    By this function, the current is limited to about 510mA in usual, but it may be up to about 700mA instantaneously. Applying a large load that is enough to be effect the current limit function for a long time will cause the servo to be damaged. *2. The value is by Futaba’s measurement.

  • Page 47: Dimensions

    Dimensions ● RS204MD Fig. 5.1 RS204MD without Servo Horn (mm)

  • Page 48: Dimensions With Servo Horn And Free Horn

    ● Dimensions with Servo Horn and Free Horn Fig.5.2 RS204MD with Servo Horn and Free Horn (mm) *A gap of 0.3mm occurs between Servo Horn and the body of servo when the Servo Horn is attached exactly. *Free Horn is not fixed to the servo. It turns freely around the axis of the bottom case and is unlocked...

  • Page 49: Servo Horn And Free Horn For Rs20X/Rs30X

    ● Servo Horn and Free Horn for RS20x/RS30x Fig. 5.3 (L)Servo Horn (R)Free Horn...

  • Page 50: Option Parts

    Option Parts Table 5.1 Option Parts for RS204MD Code Name “Bracket Set” to joint RS204MD ・Bracket Part 6pcs ・Tapping Screw 1.2x5 20pcs BS3468 BRACKET SET RS204MD ・Tapping Screw 2.0x8 20pcs ・Washer 1.2mm 20pcs Terminal BOX TERMINAL BOARD BS3476 Terminal Board with 4 ADH Connectors...
  • Page 51 BS3477 GREASE MULTIPURPOSE (Appropriate amount 0.05g for RS204MD) Horns BS0532 RS302_304 SCREW 2x8 Screw to fix Servo Horn for RS302CD/RS304MD/RS204MD (10pcs) BS3354 ROBOT SERVO HORN RH01 Servo Horn for RS30x/RS20x (5pcs) BS0168 RS30x FREE HORN SET Free Horns for RS30x/RS20x (5pcs) Fig.

  • Page 52: How To Use "Bracket

    How to use “Bracket” BRACKET SET RS204MD is used to fix RS204MD to other parts easily. ● Fixing Brackets to RS204MD Tapping Screw 1.2x5 Tapping Screw 1.2×3.5 Fig. 5.7 RS204MD with Brackets ● Jointing Other Parts/Servos Tapping Screw (2mm) Tapping Screw 1.2x5 and plane washer.

  • Page 53: Usage Of Brackets

    ● Usage of Brackets Fig. 5.9 RS204MD with Brackets ● Dimensions with Brackets Fig. 5.10 RS204MD with Brackets (mm)

  • Page 54: Dimensions Of Terminal Board

    Dimensions of Terminal Board *Use tape to fix TB-41AD. Fig. 5.11 Dimensions of TB-41AD (mm)
  • Page 55 © FUTABA CORPORATION 2019. May...

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