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RS204MD
FUTABA RS204MD Manuals
Manuals and User Guides for FUTABA RS204MD. We have
1
FUTABA RS204MD manual available for free PDF download: Instruction Manual
FUTABA RS204MD Instruction Manual (55 pages)
Command Type Servo for Robot
Brand:
FUTABA
| Category:
Robotics
| Size: 3 MB
Table of Contents
Table of Contents
2
For Safety
5
Warning Symbols
5
Cautions for Use
5
Cautions for Storage
6
Introduction
7
Components
7
Features
8
Calibration
8
Compliance Control
8
Feedback(Only as Command Type)
8
Horn with a Mark for the Reference Position
8
Interactive High-Speed TTL Communication
8
Servos for both Command Type and PWM Type
8
Small and Lightweight
8
Wiring from the Output Shaft
8
Part Names / Handling Instructions
9
How to Attach the Servo
10
Pin Assignment of the Connector
11
Communication Settings
11
Definition of Angle and Its Range
14
Definition of "0 Degrees" and Operational Range
14
Dead Zone(Undetectable Range)
14
Connections
15
Systems
15
Systems as Command-Type Servos
15
Systems as PWM Type Servos
16
Notes of Connection
17
Control
19
Abstract
19
Switch of Command-Type and PWM-Type
19
Communication Protocol (TTL Command-Type)
19
Control as PWM-Type Servos
19
Memory Map
20
Servo ID
20
Packet
20
Long Packet
20
Return Packet
20
Short Packet
20
Format of Packets
21
Short Packet
21
Long Packet
25
Return Packet
27
Memory Map
28
Invariable ROM Area
28
0/No.1 Model Number(2 Byte, Hex, Read)
28
2 Firmware Version(1Byte, Hex, Read)
28
Variable ROM Area
29
Baud Rate(1Byte, Hex, Read/Write)
30
Servo ID (1Byte, Hex, Read/Write)
30
Servo Reverse(1Byte, Hex, Read/Write)
30
7 Return Delay(1Byte, Hex, Read/Write)
31
14/ No.15 Temperature Limit(2 Byte, Hex, Read)
32
8/No.9/No.10/No.11 Angle Limit (2 Byte, Hex, Read/Write)
32
Preparation Time (1 Byte, Hex, Read/Write, for PWM)
33
Torque in Silence(1 Byte, Hex, Read/Write, for PWM)
33
24 / No.25 Compliance Margin (1 Byte, Hex, Read/Write)
34
26 / No.27 Compliance Slope (1 Byte, Hex Read/Write)
34
28 / No.29 Punch (2 Byte, Hex, Read/Write)
34
Variable RAM Area
36
30 / No.31 Goal Position
37
32 / No.33 Goal Time
37
35 Maximum Torque (1 Byte, Hex, Read/Write)
38
36 Torque Enable
38
38 PID Coefficient
40
42 / No.43 Present Position (2 Byte, Hex, Read)
40
44/No.45 Present Time (2 Byte, Hex., Read)
41
46/No.47 Present Speed (2 Byte, Hex, Read)
42
48/No.49 Present Current (2 Byte, Hex, Read)
43
Present Temperature (2 Byte, Hex, Read)
44
Present Voltage (2 Byte, Hex, Read)
45
References
46
Specs
46
Dimensions
47
Rs204Md
47
Dimensions with Servo Horn and Free Horn
48
Servo Horn and Free Horn for Rs20X/Rs30X
49
Option Parts
50
How to Use "Bracket
52
Fixing Brackets to RS204MD
52
Jointing Other Parts/Servos
52
Usage of Brackets
53
Dimensions with Brackets
53
Dimensions of Terminal Board
54
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