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Anleitung Zusammenfassung
..: Dynamixel ... ..: Closer to Real, ... ..: User’s Manual 2006-06-14 Contents 1. Summary 1-1. Overview and Characteristics of AX-12 Page 2 1-2. Main Specifications Page 3 2. Dynamixel Operation 2-1. Mechanical Assembly Page 4 2-2. Connector Assembly Page 5 2-3. Dynamixel Wiring Page 6 3. Communication Protocol 3-1. Communication Overview Page 9 3-2. Instruction Packet Page 10 3-3. Status Packet Page 10 3-4. Control Table Page 12 4. Instruction Set and Examples 4-1. WRITE_DATA Page 19 4-2. READ_DATA Page 20 4-3. REG WRITE and ACTION Page 20 4-4. PING Page 21 4-5. RESET Page 22 4-6. SYNCWRITE Page 23 5. Example Page 24 Appendix Page 30 1. Dynamixel AX-12 1-1. Overview and Characteristics of AX-12 Dynamixel AX-12 The Dynamixel series robot actuator is a smart, modular actuator that incorporates a gear reducer, a precision DC motor and a control circuitry with networking functionality, all in a single package. Despite its compact size, it can produce high torque and is made with high quality materials to provide the necessary strength and structural resilience to withstand large external forces. It also has the ability to detect and act upon internal conditions such as changes in internal temperature or supply voltage. The Dynamixel series robot actuator has many advantages over similar products. Precision Control Position and speed can be controlled with a resolution of 1024 steps. Compliance Driving The degree of compliance can be adjusted and specified in controlling position. Feedback Feedback for angular position, angular velocity, and load torque are available. Alarm System The Dynamixel series robot actuator can alert the user when parameters deviate from user defined ranges (e.g. internal temperature, torque, voltage, etc) and can also handle the problem automatically (e.g. torque off) Communication Wiring is easy with daisy chain connection, and it support communication speeds up to 1M BPS. Distributed Control Position, velocity, compliance, and torque can be set with a single command packet, thus enabling the main processor to control many Dynamixel units even with very few resources. Engineering Plastic The main body of the unit is made with high quality engineering plastic which enables it to handle high torque loads. Axis Bearing A bearing is used at the final axis to ensure no efficiency degradation with high external loads. Status LED The LED can indicate the error status to the user. Frames A hinge frame and a side mount frame are included. 1-2. Main Specifications AX-12 Weight (g) 55 Gear Reduction Ratio 1/254 Input Voltage (V) at 7V at 10V Final Max Holding Torque(kgf.cm) 12 16.5 Sec/60degree 0.269 0.196 Resolution 0.35° Operating Angle 300°, Endless Turn Voltage 7V~10V (Recommended voltage: 9.6V) Max. Current 900mA Operate Temperature -5 ~ +85.. Command Signal Digital Packet Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity) Link (Physical) TTL Level Multi Drop (daisy chain type Connector) ID 254 ID (0~253) Communication Speed 7343bps ~ 1 Mbps Feedback Position, Temperature, Load, Input Voltage, etc. Material Engineering Plastic 2. Dynamixel Operation 2-1. Mechanical Assembly Frames Provided The two frames provided with AX-12 are shown below. OF-12SH Installation The OF-12SH (hinge frame) can be installed on the AX-12 as the following. OF-12S Installation The OF-12S (side mount frame) can be installed on the AX-12 as the following. The OF- 12S can be mounted on any of the three faces (left, right, or under side) of the AX-12 body as needed. Horn2Body Body2Body Assembled Exploded view OF-12S OF-12SH Assembled Exploded view ... ..: Assembled ... ..: Exploded view 2-2 . Connector Assembly Assemble the connectors as shown below. Attach the wires to the terminals using the correct crimping tool. If you do not have access to a crimping tool, solder the terminals to the wires to ensure that they do not become loose during operation. 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixel are connected pin to pin, thus the AX-12 can be operated with only one connector attached. Wiring Connect the AX-2 actuators pin to pin as shown below. Many AX-12 actuators can be controlled with a single bus in this manner. Main Controller To operate the Dynamixel actuators, the main controller must support TTL level half duplex UART. A proprietary controller can be used, but the use of the Dynamixel controller CM-5 is recommended. PC LINK A PC can be used to control the Dynamixel via the CM-5 controller. TTL Level CM-5 Dynamixels RS232 Level PC Control Box “CM-5” PIN2: VDD PIN1: GND PIN3: Data PIN2: VDD PIN1: GND PIN3: Data bioloid A robot can be built using only the CM-5 controller and a number of AX-12 actuators. An edutainment robotic kit named “Bioloid” is available which is based on the CM-5 controller and the AX-12 actuators. For details, please refer to the Bioloid manual. Connection to UART To control the...