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AMS XM540-W270-T/R Specifications
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AMS XM540-W270-T/R Specifications

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XM540-W270-T/R
Specifications
Item
MCU
Position Sensor
Motor
Baud Rate
Control Algorithm
Degree of
Precision
Operating Modes
Weight
Dimensions (W x H
x D)
Gear Ratio
Stall Torque
Specifications
ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit)
Contactless absolute encoder (12Bit, 360° )
Maker : ams(www.ams.com), Part No : AS5045
Coreless Motor
9600 bps ~ 4.5 Mbps
PID control
0.088°
Current Control Mode
Velocity Control Mode
Position Control Mode (0° ~ 360° )
Extended Position Control Mode
Current-based Position Control Mode
PWM Control Mode (Voltage Control Mode)
165g
33.5mm x 58.5mm x 44mm
272.5 : 1
10.0N.m @ 11.1V, 4.2A
10.6Nm @ 12.0V, 4.4A
12.9Nm @ 14.8V, 5.5A

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Summary of Contents for AMS XM540-W270-T/R

  • Page 1 XM540-W270-T/R Specifications Item Specifications ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit) Contactless absolute encoder (12Bit, 360° ) Position Sensor Maker : ams(www.ams.com), Part No : AS5045 Motor Coreless Motor Baud Rate 9600 bps ~ 4.5 Mbps Control Algorithm PID control Degree of 0.088°...
  • Page 2 Item Specifications 28rpm @ 11.1V No Load Speed 30rpm @ 12.0V 37rpm @ 14.8V Operating -5° C ~ +80° C Temperature Input Voltage 10.0 ~ 14.8V (Recommended : 12.0V) Standby Current 40mA Command Signal Digital Packet XM540-W270-T: Half Duplex Asynchronous Serial Communication Protocol Type XM540-W270-R: RS485 Asynchronous Serial...

  • Page 3: Performance Graph

     Do 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. Performance Graph NOTE : The max torque measurement method for the Stall Torque and Performance Graph is different.
  • Page 4 Control Table, Data, Address The Control Table is a structure that consists of multiple Data fields to store status of the DYNAMIXEL or to control the DYNAMIXEL. Users can check current status of the DYNAMIXEL by reading a specific Data from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the DYNAMIXEL by changing specific Data in the Control Table.
  • Page 5 Initial Values in the RAM area are restored when the DYNAMIXEL is turned on. Control Table of EEPROM Area Size Initial Addres Acces (Byte Data Name Description Valu Model Number Model Number 1120 Model Information Model Information Firmware Version Firmware Version DYNAMIXEL ID Communication Baud Rate...
  • Page 6 Size Initial Addres Acces (Byte Data Name Description Valu Maximum PWM PWM Limit Limit Maximum Current Current Limit 2047 Limit Maximum 3276 Acceleration Limit Accleration Limit Maximum Velocity Velocity Limit Limit Maximum Position Max Position Limit 4,095 Limit Minimum Position Min Position Limit Limit External Port Mode...
  • Page 7 Size Initial Address Data Name Description Access (Byte) Value Instruction Instruction Hardware Hardware Error Error Status Status Velocity I Gain I Gain of Velocity 1920 Velocity P P Gain of Velocity Gain Position D D Gain of Position Gain Position I Gain I Gain of Position Position P P Gain of Position...
  • Page 8 Size Initial Address Data Name Description Access (Byte) Value millisecond Moving Movement Status Detailed Information Moving Status of Movement Status Present PWM Present PWM Value Present Present Current Value Current Present Present Velocity Velocity Value Present Present Position Position Value Desired Velocity Velocity Trajectory Generated...
  • Page 9 Size Initial Address Data Name Description Access (Byte) Value Indirect Indirect Address 2 Address 2 Indirect Indirect Address 3 Address 3 Indirect Indirect Address 26 Address 26 Indirect Indirect Address 27 Address 27 Indirect Indirect Address 28 Address 28 Indirect Data 1 Indirect Data 1 Indirect Data 2 Indirect Data 2...
  • Page 10 Size Initial Address Data Name Description Access (Byte) Value Indirect Indirect Address 56 Address 56 Indirect Data Indirect Data 29 Indirect Data Indirect Data 30 Indirect Data Indirect Data 31 Indirect Data Indirect Data 54 Indirect Data Indirect Data 55 Indirect Data Indirect Data 56 CAUTION : Protocol 1.0 does not support addresses greater than 256.
  • Page 11 NOTE : Please avoid using an identical ID for multiple DYNAMIXELs. You may face communication failure or may not be able to detect Dynamixels with an identical ID. Baud Rate(8) Baud Rate determines serial communication speed between a controller and DYNAMIXELs. Value Baud Rate Margin of Error 4.5M...
  • Page 12 Item Description Configuration Master DYNAMIXEL Slave mode(‘1’) : Operate as a (Dual Joint) Slave DYNAMIXEL Normal Mode(0): CCW(Positive), CW(Negative) Bit 0(0x01) Direction of Rotation Reverse Mode(1): CCW(Negative), CW(Positive) Drive Mode is availabe from the firmware version 38. Item Description Bit 2 ~ Unused, always ‘0’...
  • Page 13 Sync Cable Description The Slave DYNAMIXEL is controlled by the PWM signal from the Master DYNAMIXEL. General Mode Master / Slave DYNAMIXELs have an identical rotational direction. The Slave DYNAMIXEL is controlled by inverted PWM Reverse signal from the Master DYNAMIXEL. Mode(Twisted) Master / Slave DYNAMIXELs have opposite rotational directions.
  • Page 14 Value Operating Mode Description for wheel-type robots. This mode controls position. This mode is identical to the Joint Mode from existing DYNAMIXELs. Operating position range is Position Control 3(Default) limited by Max Position Limit(48) and Min Mode Position Limit(52). This mode is ideal for articulated robots that each joint rotates less than 360 degrees.
  • Page 15 value to control supply voltage for DYNAMIXEL. PWM Control Mode is similar to the Wheel Mode of DYNAMIXEL AX and RX series. Secondary(Shadow) ID(12) Set the Dynamixel’s Secondary ID. Secondary ID(12) is a value to identify each Dynamixel, just like the ID(7). However, unlike ID(7), Secondary ID(12) is not a unique value.
  • Page 16 Users can select Dynamixel protocol version (1.0 and 2.0). It is recommended to use an identical protocol version for multiple Dynamixels. Protocol Value Compatible Dynamixels Version AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39 MX-28/64/106 with Firmware v39 or above, X 2(default) Series, Pro Series...
  • Page 17 This value limits operating temperature. When the Present Temperature(146) that indicates internal temperature of Dynamixel is greater than the Temperature Limit(31), the Over Heating Error Bit(0x04) and Hardware Error Bit(0x80) in the Hardware Error Status(70) will be set. If Overheating Error Bit(0x04) is configured in the Shutdown(63), Torque Enable(64) is cleared to ‘0’...
  • Page 18 This value indicates maximum current(torque) output limit. Goal Current(102) can’t be configured with any values exceeding Current Limit(38). The Current Limit(38) is used in Torque Control Mode and Current-based Position Control Mode, therefore decreasing Current Limit(38) will result in decreasing torque of DYNAMIXEL. For more details, please refer to the Position PID Gain(80 ~ 84).
  • Page 19 Unit Value Range 0.088° 0 ~ 4,095(1 rotation) NOTE : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control Mode with a single turn. External Port Mode 1,2,3(56,57,58) External ports that can be used for various purposes are provided. The property of each port is configured by the External Port Mode and data of external port is controlled by the External Port Data(152~157).
  • Page 20 ON) after the shutdown. The followings are detectable situations. Item Description Unused, Always ‘0’ Unused, Always ‘0’ Overload Detect persistent load that exceeds maximum Error(default) output Electrical Shock Detect electric shock on the circuit or Error(default) insufficient power to operate the motor Motor Encoder Error Detect malfunction of the motor encoder OverHeating...
  • Page 21 LED(65) Turn on or turn off the LED on Dynamixel. Description 0(Default) Turn OFF the LED Turn ON the LED NOTE : The LED indicates present status of the device. Status LED Representation Booting LED flickers once Factory Reset LED flickers 4 times Alarm LED flickers Slave Mode(MX-106)
  • Page 22 Value Description REG_WRITE instruction is received NOTE : If ACTION instruction is executed, the value will be changed to 0. Hardware Error Status(70) This value indicates hardware error status. The Dynamixel can protect itself by detecting dangerous situations that could occur during the operation.
  • Page 23 Item Description operating voltage NOTE : If Shutdown occurs, use below method to reboot Dynamixels. 1. H/W REBOOT : Turn off the power and turn on again 2. S/W REBOOT : Transmit REBOOT Instruction (For more details, please refer to the [Reboot] section of Protocol e-Manual.) If Shutdown occurs, LED will flicker every second.(Firmware v41 or above) Velocity PI Gain(76, 78) These values indicate Gains of Velocity Control Mode.
  • Page 24 A stands for Anti-windup Gain and ‘β’ is a conversion coefficient of NOTE : K position and velocity that cannot be modified by users. For more details about the PID controller, please refer to the PID Controller at wikipedia. Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90) These Gains are used in Position Control Mode and Extended Position Control Mode.
  • Page 25 1. An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116). 2. Goal Position(116) is converted to desired position trajectory and desired velocity trajectory by Profile Velocity(112) and Profile Acceleration(108). 3. The desired position trajectory and desired velocity trajectory is stored at Position Trajectory(140) and Velocity Trajectory(136) respectively.
  • Page 26 3. Current controller calculates PWM output for the motor based on the final desired current. 4. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value. 5. The final PWM value is applied to the motor through an Inverter, and the horn of DYNAMIXEL is driven.
  • Page 27 Bus Watchdog (98), the DYNAMIXEL will stop. Bus Watchdog (98) will be changed to ‘-1’ (Bus Watchdog Error). If the Bus Watchdog Error screen appears, the Goal Value (Goal PWM(100), Goal Current(102), Goal Velocity(104), Goal Position(116)) will be changed to read-only-access. Therefore, when a new value is written to the Goal Value, a Range Error will be returned via the Status packet.
  • Page 28 Range Description -PWM Limit(36) ~ PWM Limit(36) Initial Value of PWM Limit(36) : ‘885’ Goal Current(102) In case of Torque Control Mode, Goal Current(102) can be used to set a desired current. This value sets a limit to current in Current-based Position Control mode.
  • Page 29 Unit Value Range Description Rev/min Limit(40) acceleration Profile Velocity(112) The Maximum velocity of Profile can be set with this value. Profile Velocity(112) can be used in all control modes except Torque Control Mode and Velocity Control Mode. Profile Velocity(112) cannot exceed Velocity Limit(44). Velocity Control Mode only uses Profile Acceleration(108) instead of Profile Velocity(112).
  • Page 30 Profile is ‘0’. The following explains how Profile processes Goal Position(116) instruction in Position Control mode, Extended Position Control Mode, Current-based Position Control Mode. 1. An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116). 2.
  • Page 31 NOTE : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override are supported as well. Acceleration time(t1) can be calculated as below equation. = 64 * {Goal Velocity(104) / Profile Acceleration(108)} Goal Position(116) Desired position can be set with Goal Position(116). From the front view of Dynamixels, CCW is an increasing direction whereas CW is a decreasing direction.
  • Page 32 Mode Values Description Min Position Limit(52) ~ Max Initial Value : 0 ~ Position Control Mode Position Limit(48) 4,095 Extended Position Control -256[rev] ~ -1,048,575 ~ 1,048,575 Mode 256[rev] Current-based Position -256[rev] ~ -1,048,575 ~ 1,048,575 Control Mode 256[rev] Degree Conversion Constant Description 0.088°...
  • Page 33 Value Description Movement is not detected Movement is detected, or Profile is in progress(Goal Position(116) instruction is being processed) Moving Status(123) This value provides additional information about the movement. Following Error Bit(0x08) and In-Position Bit(0x01) only work with Position Control Mode, Extended Position Control Mode, Current-based Position Control Mode.
  • Page 34 This value indicates current Current. For more details, please refer to Goal Current(102). Present Velocity(128) This value indicates current Velocity. For more details, please refer to Goal Velocity(104). Present Position(132) This value indicates present Position. For more details, please refer to Goal Position(116).
  • Page 35 Through External Port Data, signal on the External Port can be read or data can be written on the External Port. The External Port is not electrically insulated, therefore abide by the electrical specifications. For more accurate measurement, use shielded cable or twisted cable. The shorter the length, the better the result.
  • Page 36 The External Port is not electrically insulated, therefore, abide by the electrical specifications. If the electrical specification is exceeded or there is a problem with the signal connection, special caution is required because DYNAMIXEL can be damaged.  Be careful not to cause electric shock by static electricity (ESD), short circuit, open circuit.

  • Page 37: How To Assemble

    5. Set 4 byte value ‘1,024’ to Indirect Data 2 : Goal Position(116) also becomes ‘1024’ and Dynamixel moves. Indirect Address Description Range EEPROM address can’t be assigned to Indirect 64 ~ 661 Address NOTE : In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address, all address must be allocated to Indirect Address like the above Example 2.
  • Page 38 CAUTION : Dynamixel X-Series cable assembly through hollow case  Organize the entangled cable before assembling the back case.  Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error. Option Frame Assembly...

  • Page 40: Maintenance

    Maintenance Horn and Gear Replacement The horn is installed on the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back. Installing the Horn When installing horn, carefully match the align markings on the horn and the wheel gear serration.
  • Page 41 Item RS-485 External Port Pinout PORT 1 DATA+ DATA PORT 2 DATA- PORT 3 Diagram Housing MOLEX JST EHR-04 51021-0500 JST EHR-03 Header MOLEX JST B3B-EH-A JST B4B-EH-A 53047-0510 Crimp MOLEX JST SHE-001T-P0.6 JST SHE-001T-P0.6 Terminal 50079-8100 Wire 21 AWG 21 AWG 26 AWG Gauge...