Robotis MX-28AR Manual
  1. Manuals
  2. Brands
  3. Robotis Manuals
  4. Servo Drives
  5. MX-28AR
  6. Manual

Robotis MX-28AR Manual

Hide thumbs Also See for MX-28AR:
Table of Contents

Advertisement

Quick Links

Download this manual
MX-28AR, MX-28AT
NOTE : Compliance has been replaced with PID Gains.
NOTE : Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have
the same features and perform equally. (TTL uses 3-pin connectors while RS-485 uses 4)
NOTE : In order to use Protocol 2.0, please update the firmware to V39 or above.
Manager 2.0)
Dynamixel MX Series (Protocol v2.0) F/W Recovery
Dynamixel MX Series (Protocol v2.0) F/W Recovery
WARNING : For MX-28(2.0) Protocol, please refer to the
1. Specifications
Item
MCU
Position Sensor
Specifications
ARM CORTEX-M3 (72 [MHz], 32Bit)
Contactless absolute encoder (12Bit, 360 [°])
Maker : ams(www.ams.com), Part No : AS5045
MX-28(2.0) Control Table
(Update firmware
using R+
as they are different.

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MX-28AR and is the answer not in the manual?

Questions and answers

Related Manuals for Robotis MX-28AR

Summary of Contents for Robotis MX-28AR

  • Page 1 MX-28AR, MX-28AT NOTE : Compliance has been replaced with PID Gains. NOTE : Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have the same features and perform equally. (TTL uses 3-pin connectors while RS-485 uses 4) NOTE : In order to use Protocol 2.0, please update the firmware to V39 or above.
  • Page 2 20 [arcmin] (0.33 [°]) Joint Mode (0 ~ 360 [°]) Operating Mode Wheel Mode (Endless Turn) Weight MX-28AR/AT : 77 [g], MX-28R/T : 72 [g] Dimensions (W x H x D) 35.6 x 50.6 x 35.5 [mm] Gear Ratio 193 : 1 2.3 [Nm] (at 11.1 [V], 1.3 [A]...

  • Page 3: Performance Graph

    Never place items containing water, flammables, and solvents near product. Never place fingers, arms, toes, and other body parts near product during operation. Cut power off if product emits strange odors or smoke. Keep product out of reach of children. Check the power polarity before wiring.

  • Page 4: Control Table

    Generally, Max Torque of the Performance Graph is less than the Stall Torque. CAUTION : When supplying power It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL. Do not connect or disconnect DYNAMIXEL when power is being supplied. 2. Control Table The Control Table is a structure of data implemented in the device.
  • Page 5 2. 1. 4. Initial Value Each data in the Control Table is restored to initial values when the device is turned on. Default values in the EEPROM area are initial values of the device (factory default settings). If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the device is turned on.
  • Page 6 Size Initial Address Data Name Description Access (Byte) Value Moving Speed Moving Speed(Moving Velocity) Torque Limit Torque Limit(Goal Torque) ADD 14&15 Present Position Present Position Present Speed Present Speed Present Load Present Load Present Voltage Present Voltage Present Temperature Present Temperature Registered If Instruction is registered Moving...
  • Page 7 Value Baud Rate(bps) Margin of Error 0.000 [%] 500,000 0.000 [%] 400,000 0.000 [%] 250,000 0.000 [%] 200,000 0.000 [%] 115200 -2.124 [%] 34(Default) 57600 0.794 [%] 19200 -0.160 [%] 9600 -0.160 [%] NOTE : Less than 3% of the baud rate error margin will not affect to UART communication. NOTE : For the stable communication with higher Baudrate, configure USB Latency value to the lower.
  • Page 8 Operation Type CW / CCW Joint Mode neither are 0 Multi-turn Mode both are 4095 The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely. The joint mode can be used to multi-joints robot since the robots can be controlled with specific angles.
  • Page 9 Value Responding Instructions Description All Instructions Status Packet will be returned for all Instructions NOTE : If the ID of Instruction Packet is set to Broad Cast ID(0xFE), Status Packet will not be returned for READ and WRITE Instructions regardless of Status Return Level. For more details, please refer to section for Protocol 1.0 Protocol...
  • Page 10 DYNAMIXEL with a Present position of 2,048 with an offset of 1,024 will return an adjusted Present position of 3,072. NOTE : This offset feature is only available in multi-turn mode. 2. 4. 13. Resolution Divider (22) It allows the user to change DYNAMIXEL’s resolution. The default Resolution Divider Value is set as 1.
  • Page 11 2. 4. 14. Torque Enable (24) Value Description 0(Default) Turn off the torque Turn on the torque and lock EEPROM area 2. 4. 15. LED (25) 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.
  • Page 12 Slope Slope P Gain P Gain The less the P gain, The larger the back lash, and the weaker the amount of output near goal position. At some extent, it is like a combined concept of margine and slope. It does not exactly match the previous concept of compliance. So it is obvious if you see the difference in terms of motion.
  • Page 13 Join Mode, Multi-Turn mode It is a moving speed to Goal Position. 0~1023 (0X3FF) can be used, and the unit is about 0.114rpm. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed.
  • Page 14 NOTE : In multi-turn mode, Present position depends on resolution divider and multi-turn offset For more information turn to the section on Multi Turn offset and Resolution Divider. 2. 4. 21. Present Speed (38) Is the current moving speed. 0 ~ 2,047 (0x000 ~ 0x7FF) can be used. If a value is in the rage of 0 ~ 1,023 then the motor rotates to the CCW direction.

  • Page 15: How To Assemble

    Value Description REG_WRITE instruction is not received REG_WRITE instruction is received NOTE : If ACTION instruction is executed, the value will be changed to 0. 2. 4. 26. Moving (46) Value Description Goal position command execution is completed Goal position command execution is in progress 2.
  • 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: Maintenance

    4. Maintenance 4. 1. Horn and Bearing Replacement The horn is installed on 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 Once alignment is properly done, gently push the center of the horn toward the actuator. Make sure that the horn washer is in place as you tighten the bolt. 4. 1. 2. Installing the Bearing Set You may need to remove the bearing set from the previous actuator and reinstall it into the new actuator.

  • Page 19: Connector Information

    WARNING Any changes or modifications not expressly approved by the manufacturer could void the user’s authority to operate the equipment. 5. 2. Connector Information Item RS-485 Pinout DATA+ DATA 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...
  • Page 20 ROBOTIS FAQ-DXL Gear Replacement (MX-28) ENG ROBOTIS FAQ-DXL Gear Replacement (MX-28) ENG 5. 4. Drawings MX-28AT_AR DWG Download MX-28AT_AR PDF Download MX-28AT_AR STEP Download MX-28T DWG Download MX-28T PDF Download MX-28T STEP Download MX-28T IGES Download MX-28R DWG Download MX-28R PDF...
  • Page 21 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.com...

This manual is also suitable for:

Mx-28at

Table of Contents