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Summary of Contents for FUTABA RS301CR
- Page 1 User’s Manual Ver.1.0 RS301CR/RS302CD Command Type Servo for Robot Instruction Manual Caution Read this instruction manual before use. Keep this manual handy for immediate reference. For models...
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Page 2: Table Of Contents
CONTENTS １．FOR SAFETY ● WARNING SYMBOLS ..................... 4 ● CAUTIONS FOR USE ..................... 4 ● WARNINGS IN HANDLING BATTERIES ............. 5 ● Cautions for Storage ....................5 ２．INTRODUCTION ● Features ........................6 ● Part Names / Handling Instructions ................ 7 ３．CONNECTION ●... - Page 3 No.26 /No.27 Compliance Slope ............ 21 No.28 /No.29 Punch ............... 21 ● Variable RAM Area ....................23 No.30 /No.31 Goal Position ............24 No.32 /No.33 Goal Time ..............24 No.35 Maximum Torque ..............24 No.36 Torque Enable ..............25 No.42 /No.43 Present Position ............25 No.44 /No.45 Present Time ............
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Page 4: １．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 5: Warnings In Handling Batteries
Do not use any battery charger other than the specified charger. Otherwise, the battery may be get damaged, fire, smoke or liquid leakage. Be sure to use batteries recommended by Futaba. Do not use battery packs connected in parallel. Connecting battery packs in parallel may cause abnormal heat generation or explosion due to the differences between charging voltages. -
Page 6: Features
2.INTRODUCTION Features RS301CR/RS302CD servo is especially designed for robotic applications, having the following features. trembling its arms and legs and to absorb ● Small and Lightweight turbulence from external force. RS301CR and RS302CD are small and ● Calibration lightweight servos specially designed for... -
Page 7: Part Names / Handling Instructions
Part Names / Handling Instructions Screws for fixing the servo to a case ※ Do not remove these screws. Output-axis Connecter Fig.2.1 Part names Caution Removing the screws for fixing the servo with a case may damage the servo. -
Page 8: System Configuration
3.CONNECTION System Configuration The following figure shows a robotic system using RS301CR/RS302CD servos, RPU-10 processor unit and etc. Motion editor Control softwar RS301CR RS302CD Processing Unit (RPU-10 etc.） RSC-U485 Battery (PR-4S780P) Fig. 3.1 Robotic system configuration Pin Assignment Pin assignment of the RS301CR/RS302CD servo is shown below. -
Page 9: Cautions When Connecting
Cautions when Connecting Please refer to the figure below for connecting RS301CR/RS302CD and RPU-10. Please prepare it by your self RPU-10 RS232C PR-4S780P Relay box RS301CR/RS302CD Fig. 3.3 Operating with RPU-100 Allowable current for relay connectors is 2A and for servo harness is 3A each for continues use. -
Page 10: ４．Control Method
● Memory Map The RS301CR/RS302C servo has its own memory area to store data necessary for its movement. This memory area is called “Memory Map”. This memory map is divided into two groups. One is “RAM area” in which data will be erased when the power is turned off. -
Page 11: Packet Format
Packet Format ●Short Packet Short packets are used for sending the data in the memory map toward a single servo. Packet structure Header ID Flags Address Length Count Data Header This is a line head of a packet. FAAFH is used for short packets. “xH”... - Page 12 Ex）Write the data of the ID1 servo into the Flash ROM. ID Flg Adr Len Cnt Sum FA AF The servo’s memory should be renewed with the data you want to write into the Flash ROM by transferring the data by using a short packet beforehand. The servo ID becomes effective only after receiving a packet.
- Page 13 Bit3 ~ Bit0：Address assignment of a return packet (1) Data return from predetermined addresses Setting the Bit3 through Bit0 like the table below when sending a short packet makes it possible to receive the data of the specified addresses in the servo’s memory map. The Bit0 indicates whether to require a return packet (Bit0=1) or not (Bit0=0).
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Page 14: Long Packet
This notation indicates an address on the memory map. Using this address makes it possible Address to write the data of the specified number of bytes determined by the “Length” into the memory map. This notation indicates the length of a data block. Length Length = the number of bytes of data This notation indicates the number of servos, which should be set at “1”... - Page 15 Address This indicates an address on the memory map. Using this address makes it possible to write the data of the specified number of bytes determined by the “Length” into the memory maps of multiple servos. Length This is used to specify the number of bytes of the data for a servo. Length = the number of bytes of data + 1 Count This notation indicates the number of servos that data is sent to.
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Page 16: Return Packet
●Return Packet A return packet is the packet returned from the servo when the Flag field requests a servo to send a return packet. Packet structure Header ID Flags Address Length Count Data Header This field denotes the beginning of the packet. For a short packet, the header is FDDFH. This field represents the servo ID. -
Page 17: Memory Map
Model Number H Firmware Version Reserved ( ) For RS302CD ●No.0 / No.1 Model Number(2Bytes, Hex Number, Read Only) This field represents the model No. (servo model). For the RS301CR, it is: Model Number L = 10H Model Number H = 30H For RS302CD, they are as follows. -
Page 18: Variable Rom Area
●Variable ROM area Table 4.5 Variable ROM area Adress No. Initial Area Name Property DEC HEX value 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 50H(46H) -
Page 19: No.4 Servo Id
●No.4 Servo ID(1Byte, Hex Number, Read/Write) This data represents the servo ID. Its initial value is 01H. The setting range is 1 ~ 127 (01H ~ 7FH). Ex) Rewrite servo ID1 to ID5. ID Flg Adr Len Cnt Dat Sum FA AF The relevant servo begins to operate under the new ID as soon as the ID rewrite command is received. -
Page 20: No.7 Return Delay
No.7 Return Delay（１ Byte,Hex Number,Read/Write） ● This indicates the delay time for reply when the return packet is required. The servo sends the return packet in 100μs after receiving data with the setting of 0. The parameters of No.7 are in units of 001H = 50μs. If you want to set the delay time for reply to 1ms, write 18 (12H). -
Page 21: No.24 /No.25 Compliance Margin
Setting is in approximately 1.0 degree units. The setting range is 00H ~ 96H (approximately 150 degrees). The initial values are 0AH(10 deg.) for RS301CR, and 0FH(15 deg.) for RS302CD. ※ Please refer to the chart in ”●No.28/No29 Punch”. ●No.28 / No.29 Punch(2Bytes, Hex Number, Read/Write) The minimum current applied to the internal motor when a servo is driven can be set. - Page 22 84 03 Target position Punch Position Punch A： CCW Compliance Slope B： CCW Compliance Margin C： CW Compliance Margin D： CW Compliance Slope Fig. 4.1 Compliance control Ex. 1) Set punch to 0064H(1%). Flg Adr Len Cnt FA AF 64 00 Ex.
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Page 23: Variable Ram Area
●Variable RAM Area Table 4.7 Variable RAM area Adress No. Initial Area Name Property DEC HEX value Goal PositionL Goal PositionH Goal TimeL Goal TimeH Reserved 64H(4DH) Max Torque Torque Enable Reserved Reserved Reserved Reserved Reserved Present Position L Present Position H Present Time L Present Time H Present Speed L... -
Page 24: No.30 /No.31 Goal Position
The maximum torque output by the servo can be set. The servo torque can be set in 1% units with the torque of the servo described in this manual as 100%. However, consider this an approximate standard. Even if a value over 100% is set, the maximum torque becomes 100%. 64H（100%）is the initial value for RS301CR,and 4DH（77%）is for RS302CD. -
Page 25: No.36 Torque Enable
The setting range is between 0H and 64H. Ex) Set the maximum torque of servo ID=1 to 80% (50H). Flg Adr Len Cnt Dat Sum FA AF ●No.36 Torque Enable(1Byte, Hex Number, Read/Write) The servo torque can be enabled and disabled. 01H enables the torque and 00H disables the torque. -
Page 26: No.44 /No.45 Present Time
If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and nothing should be written in「Data」. ID Flg Adr Len Cnt Dat Sum FA AF Return Packet ID Flg Adr Len Cnt FD DF 01 84 03 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00 Memory Map No. -
Page 27: No.46 /No.47 Present Speed
● No.46/No.47 Present Speed（２ Byte,Hex Number,Read） You can get the servo’s current rotation speed on deg/sec basis. Ex.）To read the current rotation speed of the servo in ID=1 If you want to get the values of No.46 and No.47 in the servo’s memory map as return packets, send the packets with the bits of 1 to 3 in the “Flag”... -
Page 28: No.50 /No.51 Present Temperature
Ex.) To send flags for the return packets between No.42 and No.59 in the memory map. Flg Adr Len Cnt Sum FA AF Return Packet Flg Adr Len Cnt Dat FD DF 4E FB 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00 Memory Map No. -
Page 29: No.52 /No.53 Present Voltage
Return Packets Flg Adr Len Cnt Dat FD DF 4E FB 00 00 00 00 06 00 2D 00 00 00 00 00 00 00 00 00 Memory Map No. 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The current temperature is 002DH(45℃), which is identified by the values of No.50 and No.51 in the return packet. -
Page 30: Specifications
： RS302CD Operation Current ：IN SUSPENSION RS301CR 40±20 [mA] RS302CD 40±20 [mA] （ROOM TEMPERATURE, No Load, 7.4V） ：IN WORKING RS301CR 110±40 [mA] RS302CD 100±40 [mA] （ROOM TEMPERATURE, No Load, 7.4V） MAXIMUM OUTPUT TORQUE: RS301CR [kg･cm] (7.4V) RS302CD [kg･cm] MAXIMUM SPEED: RS301CR 0.11... -
Page 31: Dimensions
DIMENSIONS Figure 0-1 Dimensions with using Joint-Ball... -
Page 32: Troubleshooting
_Symptom (Including when the problem occurred) _System(Application configuration) _Model Numbers and Quantity _Your Name, Address, e-mail address, and Telephone Number. If you have any questions regarding this product, please consult your local Futaba dealer.
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