Robotis MX-106R Manual
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Robotis MX-106R Manual

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MX-106R, MX-106T
NOTE : Compliance has been replaced with PID Gains.
NOTE : Although the MX-106T (TTL) and MX-106R (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-106(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-106(2.0) Control Table
(Update firmware
using R+
as they are different.

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  • Page 1 MX-106R, MX-106T NOTE : Compliance has been replaced with PID Gains. NOTE : Although the MX-106T (TTL) and MX-106R (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 RS485 / TTL Multidrop Bus 254 ID (0 ~ 253) Feedback Position, Temperature, Load, Input Voltage, etc Full Metal Gear Material Engineering Plastic(Front, Middle, Back) Metal(Front) Standby Current 100 [mA] Applies to alumium housing products(MX-28AR/AT, MX-64AR/AT, MX-106R/T). DANGER (May cause serious injury or death)

  • 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 Goal Position Desired Position 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...
  • Page 7 Baud Rate determines serial communication speed between a controller and DYNAMIXEL. Available value range is 0 ~ 254(0xFE), and below is the equation for BPS calculation. Baudrate(BPS) = 2,000,000 / (Value + 1) Value Baud Rate(bps) Margin of Error 0.000 [%] 0.000 [%] 500,000 0.000 [%]...
  • Page 8 CCW Angle Limit: the maximum value of Goal Position(30) The following three modes can be set pursuant to the value of CW and CCW. Operation Type CW / CCW Wheel Mode both are 0 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.
  • Page 9 In order to use Dual Mode, Slave DYNAMIXEL should be connected to Master DYNAMIXEL with the Sync Cable. Please note that the Slave DYNAMIXEL is directly controlled only by the PWM signal from the Master DYNAMIXEL through the Sync Cable. Thus, Goal Position, Moving Speed of the Slave DYNAMIXEL are unused and ignored.
  • Page 10 Unit Value Range About 1°C 0 ~ 100 CAUTION : Do not set the temperature higher than the default value. When the temperature alarm shutdown occurs, wait 20 minutes to cool the temperature before re-use. Keep using the product when the temperature is high can cause severe damage.
  • Page 11 generated. For instance, when ‘0x05’ (binary : 00000101) is defined in Shutdown(18), DYNAMIXEL can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). If those errors are detected, Torque Enable(24) is cleared to ‘0’ and the motor output becomes 0 [%].
  • Page 12 2. 4. 14. Resolution Divider (22) It allows the user to change DYNAMIXEL’s resolution. The default Resolution Divider Value is set as 1. (1 ~ 4 available) When resolution is lowered, revolutions (in both directions) can be increased (up to 28 turns in each direction).
  • Page 13 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 LED flickers 3 times Boot Mode LED On 2. 4. 17. PID Gains (26, 27, 28) MX series will use the PID controller as a main control method.
  • Page 14 difference in terms of motion. Explanation for PID required. For the brief explanation about general PID, please refer to the website(link) below. http://en.wikipedia.org/wiki/PID_controller FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic theory that can be applied to all kinds of control.
  • Page 15 rotating to CW direction. That is, the 10th bit becomes the direction bit to control the direction. NOTE : Please check the maximum rpm of DYNAMIXEL. The motor cannot exceed the maximum rpm with the higher Moving Speed value. 2. 4. 20. Torque Limit (34) It is the value of the maximum torque limit.
  • Page 16 For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 34.33rpm. 2. 4. 23. Present Load (40) It means currently applied load. The range of the value is 0~2047, and the unit is about 0.1%. If the value is 0~1,023, it means the load works to the CCW direction.
  • Page 17 2. 4. 28. Lock (47) Value Description EEPROM area can be modified EEPROM area cannot be modified CAUTION : If Lock is set to 1, the power must be turned off and then turned on again to change into 0. 2.

  • Page 18: How To Assemble

    Value Meaning Turn on the torque mode. Cannot control the position or moving speed but only Torque When Torque Control Mode Enable is 1, DYNAMIXEL behaves like the followings DYNAMIXEL does not control position or velocity. DYNAMIXEL is controlled by the Goal Torque value. DYNAMIXEL does not affected by the Goal position and Goal speed values.
  • Page 19 FR08-B101 FR08-H101 FR08-H110 and FR08-D101 3. 2. Horns HN05-N102 HN05-I101 3. 3. Combination Structures...

  • Page 20: 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 21 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 22: 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 Dual Joint PWM1 Pinout PWM2 DATA+ DATA ENABLE DATA- Diagram Housing MOLEX 50-37-5033 MOLEX 50-37-5043 MOLEX 51021-0300 PCB Header MOLEX 22-03-5035...
  • Page 23 ROBOTIS FAQ-DXL Gear Replacement (MX-64/MX-106) ROBOTIS FAQ-DXL Gear Replacement (MX-64/MX-106) 5. 4. Drawings MX-106T DWG Download MX-106T PDF Download MX-106T STEP Download MX-106T IGES Download MX-106R DWG Download MX-106R PDF Download MX-106R STEP Download MX-106R IGES Download 5. 5. Communication Circuit To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals to the half duplex type.
  • Page 24 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...

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Mx-106t

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