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MX-28AR, MX-28AT (Protocol 2.0)
1. Specifications
Item
MCU
Position Sensor
Motor
Baud Rate
Control Algorithm
Resolution
Backlash
Operating Mode
Weight
Dimensions (W x H x D)
Gear Ratio
Stall Torque
No Load Speed
Radial Load
Axial Load
Operating Temperature
Input Voltage
Command Signal
Specifications
ARM CORTEX-M3 (72 [MHz], 32Bit)
Contactless absolute encoder (12Bit, 360 [°])
Maker : ams(www.ams.com), Part No : AS5045
Coreless(Maxon)
8,000 [bps] ~ 4.5 [Mbps]
PID control
4096 [pulse/rev]
20 [arcmin] (0.33 [°])
Velocity Control Mode
Position Control Mode(0° ~ 360°)
Extended Position Ctrl Mode(Multi-turn)
PWM Control Mode
MX-28AR/AT : 77 [g], MX-28R/T : 72 [g]
35.6 x 50.6 x 35.5 [mm]
193 : 1
2.3 [Nm] (at 11.1 [V], 1.3 [A])
2.5 [Nm] (at 12 [V], 1.4 [A])
3.1 [Nm] (at 14.8 [V], 1.7 [A])
50 [rev/min] (at 11.1 [V])
55 [rev/min] (at 12 [V])
67 [rev/min] (at 14.8 [V])
30 [N] (10 [mm] away from the horn)
1
15 [N]
1
-5 ~ +80 [°C]
10.0 ~ 14.8 [V] (Recommended : 12.0 [V])
Digital Packet
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Summary of Contents for Robotis MX-28AT
- Page 1 MX-28AR, MX-28AT (Protocol 2.0) 1. Specifications Item Specifications ARM CORTEX-M3 (72 [MHz], 32Bit) Contactless absolute encoder (12Bit, 360 [°]) Position Sensor Maker : ams(www.ams.com), Part No : AS5045 Motor Coreless(Maxon) Baud Rate 8,000 [bps] ~ 4.5 [Mbps] Control Algorithm PID control...
- Page 2 Item Specifications TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity Protocol Type RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity Physcial Connection RS485 / TTL Multidrop Bus 253 ID (0 ~ 252) Feedback Position, Velocity, Temperature, Load, Input Voltage, Trajectory, Realtime Tick, etc Full Metal Gear Material Engineering Plastic(Front, Middle, Back)
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Page 3: 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 4 The Control Table is a structure that consists of multiple Data fields to store status or to control the device. Users can check current status of the device by reading a specific Data from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the device by changing specific Data in the Control Table.
- Page 5 Size Initial Address Data Name Description Access (Byte) Value Firmware Version Firmware Version DYNAMIXEL ID Baud Rate Communication Baud Rate Return Delay Time Response Delay Time Drive Mode Drive Mode Operating Mode Operating Mode Secondary(Shadow) ID Secondary ID Protocol Type Protocol Type Homing Offset Home Position Offset...
- Page 6 Size Initial Address Data Name Description Access (Byte) Value Feedforward 2nd Gain 2nd Gain of Feed-Forward Feedforward 1st Gain 1st Gain of Feed-Forward BUS Watchdog DYNAMIXEL BUS Watchdog Goal PWM Desired PWM Value Goal Velocity Desired Velocity Value Profile Acceleration Acceleration Value of Profile Profile Velocity Velocity Value of Profile...
- Page 7 Size Initial Address Data Name Description Access (Byte) Value Indirect Data 28 Indirect Data 28 Indirect Address 29 Indirect Address 29 Indirect Address 30 Indirect Address 30 Indirect Address 31 Indirect Address 31 … … … … … … Indirect Address 54 Indirect Address 54 Indirect Address 55 Indirect Address 55...
- Page 8 NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face communication failure or may not be able to detect DYNAMIXEL with an identical ID. 2. 4. 4. Baud Rate(8) Baud Rate determines serial communication speed between a controller and DYNAMIXEL. Value Baud Rate Margin of Error...
- Page 9 Item Description Bit 1(0x02) Unused, always ‘0’ [0] Normal Mode: CCW(Positive), CW(Negative) Bit 0(0x01) Normal/Reverse Mode [1] Reverse Mode: CCW(Negative), CW(Positive) NOTE : Time-based Profile is available from firmware V42. NOTE : If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to , rotational direction is inverted.
- Page 10 NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648 to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11). However, Present Position(132) will be reset to an absolute position value of one full rotation in those cases: 1.
- Page 11 2. 4. 9. Protocol Type(13) Users can select DYNAMIXEL protocol type (1.0 and 2.0). Even if Protocol 1.0 is selected, Protocol 2.0 Control Table will be used. It is recommended to use an identical protocol type for multiple DYNAMIXEL. Value Protocol Type Compatible DYNAMIXEL AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39...
- Page 12 2. 4. 12. Temperature Limit(31) 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...
- Page 13 2. 4. 16. Velocity Limit(44) This indicates the maximum value of Goal Velocity(104). For more details, please refer to Goal Velocity(104). Unit Value Range 0.229rpm 0 ~ 1,023 NOTE: The default value of Velocity Limit(44) has been decreased since Firmware V42. 2.
- Page 14 Item Description Motor Encoder Error Detect malfunction of the motor encoder Detect internal temperature exceeds the configured operating OverHeating Error(default) temperature Unused, Always ‘0’ Input Voltage Error Detect input voltage exceeds the configured operating voltage NOTE : 1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above) 2.
- Page 15 Status LED Representation Boot Mode LED On 2. 4. 21. Status Return Level(68) This value decides how to return Status Packet when DYNAMIXEL receives an Instruction Packet. Value Responding Instructions Description PING Instruction Status Packet will not be returned for all Instructions PING Instruction Status Packet will be returned only for READ Instruction READ Instruction...
- Page 16 Item Description Unused, Always ‘0’ Overload Error(default) Detect persistent load that exceeds maximum output Electrical Shock Detect electric shock on the circuit or insufficient power to operate the Error(default) motor Motor Encoder Error Detect malfunction of the motor encoder Detect internal temperature exceeds the configured operating OverHeating Error(default) temperature Unused, Always ‘0’...
- Page 17 Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value. 6. The final PWM value is applied to the motor through an Inverter, and the horn of DYNAMIXEL is driven. 7. Results are stored at Present Position(132), Present...
- Page 18 1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal Position(116). Goal Position(116) is converted to desired position trajectory and desired velocity trajectory Profile Velocity(112) Profile Acceleration(108). 3. The desired position trajectory and desired velocity trajectory is stored at Position Trajectory(140) Velocity Trajectory(136)
- Page 19 Values Description Range 1 ~ 127 Activate Bus Watchdog Range Bus Watchdog Error Status The Bus Watchdog function monitors the communication interval (time) between the controller and DYNAMIXEL when Torque Enable(64) is ‘1’. If the measured communication interval (time) is larger than Watchdog(98), the DYNAMIXEL will stop.
- Page 20 Unit Value Range 0.229 rpm -Velocity Limit(44) ~ Velocity Limit(44) NOTE : The maximum velocity and maximum torque of DYNAMIXEL is affected by supplying voltage. Therefore, if supplying voltage changes, so does the maximum velocity. This manual complies with recommended supply voltage(12[V]). NOTE : If Profile Acceleration(108) and Goal Velocity(104) are modified simultaneously, modified...
- Page 21 Velocity-based Profile Values Description Range 0 ~ 32767 ‘0’ stands for an infinite velocity Time-based Profile Values Description Unit 1 [msec] Sets the time span for the Profile ‘0’ stands for an infinite velocity. Range 0 ~ 32737 Profile Acceleration(108) will not exceed 50% of Profile Velocity(112) value.
- Page 22 6. desired velocity trajectory and desired position trajectory from Profile are stored at Velocity Trajectory(136) Position Trajectory(140) respectively. Condition Types of Profile Profile not used (112) = 0 PRFL (Step Instruction) (112) ≠ 0) & (A (108) = 0) Rectangular Profile PRFL (112) ≠...
- Page 23 Acceleration(108) will not exceed 50% of Profile Velocity(112) value. 2. 4. 31. Goal Position(116) Desired position can be set with Goal Position(116). From the front view of DYNAMIXEL, CCW is an increasing direction whereas CW is a decreasing direction. The way to reaching Goal Position(116) is differ by 4 Profiles provided by DYNAMIXEL.
- Page 24 Present Position(132) value can be affected by Homing Offset(20) 2. 4. 32. Realtime Tick(120) This value indicates DYNAMIXEL’s time. Unit Value Range Description 1 ms 0 ~ 32,767 The value resets to ‘0’ when it exceeds 32,767 2. 4. 33. Moving(122) This value indicates whether DYNAMIXEL is in motion or not.
- Page 25 NOTE : Triangular velocity profile is configured when Rectangular velocity profile cannot reach to the Profile Velocity(112). NOTE : In-Position bit will be set when the positional deviation is smaller than a predefined value under Position related control modes. 2. 4. 35. Present PWM(124) This value indicates present PWM.
- Page 26 1. Velocity Control Mode : When Profile reaches to the endpoint, Velocity Trajectory(136) becomes equal to Goal Velocity(104). 2. Position Control Mode, Extended Position Control Mode : Velocity Trajectory is used to create Position Trajectory(140). When Profile reaches to an endpoint, Velocity Trajectory(136) is cleared to ‘0’.
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Page 27: How To Assemble
Indirect Address Range Indirect Address Range Description Description 64 ~ 661 EEPROM address can’t be assigned to Indirect 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. NOTE : Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0. -
Page 28: Maintenance
HN07-N101 3. 3. Combination Structures 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. - Page 29 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. 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.
- Page 30 accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. WARNING Any changes or modifications not expressly approved by the manufacturer could void the user’s authority to operate the equipment.
- Page 31 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 32 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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