Robotis DX-113 Automobile Electronics User`s manual

User’s Manual 2005-11-16 (2 nd

Edition)

Closer to Real,

Dynamixel

DX-113, DX-116, DX-117

DYNAMIXEL DX-Series

Contents

1. Summary

1-1. Overview and Characteristics of DX-113, 116, and 117 Page 2

3. Communication Protocol

3-4. Table

4. Instruction Set and Examples

4-1. DATA

REG ACTION

1


1. Dynamixel DX-Series

1-1. Overview and Characteristics of the DX-Series

Dynamixel DX-Series

The Dynamixel robot actuator is a smart, modular actuator that incorporates a gear reducer and a control circuitry with networking functionality, all in a single package.

Despite its compact size, it can produce large torque and is made with special 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. There are three models (DX-113, DX-116, and DX-117) in the DX series of the Dynamixel robot actuator family and they have many advantages over similar products.

Precision Control

Compliance Driving

Feedback

Alarm System

Position and speed can be controlled with a resolution of 1024 steps.

The degree of compliance can be adjusted and specified in controlling position.

Feedback for angular position, angular velocity, and load torque are available.

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 appropriately handle the problems by itself.

Communication Wiring is easy with daisy chain connection, and it support communication speeds up to 1M BPS.

High-performance Motors Models DX-116 and DX-117 use the RE-MAX Series Coreless DC Motors, which are the top of the line Swiss Maxon motors, allowing them to produce large output torques and high accelerations.

Distributed Control

The actuation schedule 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.

2


Metal Gear

Axis Bearing

All gears are made with metal to ensure durability.

A bearing is used at the final axis to ensure no efficiency degradation with high external loads on the output shaft.

Status LED The LED can indicate the error status to the user.

1-2. Main Specifications

DX-113

Gear Reduction Ratio 142.5 192.6 192.6

12 16 12 16 12

Final Max Holding Torque(kgf.cm) 21.38 28.50 28.89 38.52 10.20

Operating Angle 300°

Voltage DX116,117 : 12V~16V(Recommended voltage: 14.4V)

DX113 : 12V

Operating Temp. -5 ~ +85

℃

Protocol Type

Link (Physical)

Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)

RS 485 Multi Drop(daisy chain type Connector)

ID 254 ID (0~253)

Communication Speed 7343bps ~ 1 Mbps

Material

Motor

Full Metal Gear, Engineering Plastic Body

Swiss MAXON Motor (DX-116, DX-117). DX-113 uses a cored motor

3


2. Dynamixel Operation

2-1. Mechanical Assembly

Follow the figure below for the mechanical assembly of the Dynamixel actuator.

Nut(8EA)

Horn

Screw for mount(8EA)

Screw for Horn

The 8 sets of screws and nuts are only used for attaching the Dynamixel actuator to other parts.

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.

4


2-3. Dynamixel Wiring

Pin Assignment

The connector pin assignments are as the following. The two connectors on the Dynamixel actuator are internally connected to each other.

Pin 1 : GND

Pin 2 : +12V~18V

Pin 3 : D+ (RS485 Signal)

Pin 4 : D- (RS485 Signal)

Pin 1

2

3

4

Pin 4

3

4

1

Wire Link

Connect the pins to pins that have the same number as shown below.

Main

Controller

Main Controller To operate the Dynamixel actuators, the main controller must support RS485. You can design and build your own controller, but the use of the CM-2 Dynamixel controller board is recommended.

PC LINK

A PC can be used to control the Dynamixel actuator via the CM-2 controller.

RS485

Level

RS232

Level

PC

CM-2

Dynamixels

5


Stand Alone

The CM-2 board can be directly mounted on a robot that is built with Dynamixel actuators.

CM-2 Board on Robot

For usage details, please refer to the CM-2 manual.

Connection to UART To control the Dynamixel actuators, the main controller needs to convert its UART signals from TTL level to RS485 level. The recommended circuit diagram for this is shown below.

전원은 Main Controller의 Molex4P Connector의 Pin1,Pin2를 통하여 Dynamixel로

공급되어진다.

6


The direction of data signals on the TTL level TxD and RxD depends on the

DIRECTION485 level as the following.

• When the DIRECTION485 level is High: the TxD signal is outputted as D+, D-

• When the DIRECTION485 level is Low: the D+, D- signal is inputted to RxD

RS485 The communication protocol used by the Dynamixel actuator, RS485 (IEEE485), uses the multi-drop method of connecting multiple terminals on a single node. Thus a protocol that does not allow multiple transmissions at the same time should be maintained on a

RS485 network.

Main

Controller

[RS485 Multi Drop Link]

Note Please ensure that the pin assignments are correct when connecting the Dynamixel actuators. Check the current consumption after the wiring is completed. The current consumption of a single Dynamixel actuator unit in standby mode should be no larger than 50mA.

Connection Status Verification

When power is applied to the Dynamixel actuator, the LED blinks twice to confirm its connection.

Inspection

If the above operation was not successful, check the connector pin assignment and the voltage/current limit of the power supply.

7


3. Communication Protocol

3-1. Communication Overview

Packet The Main Controller communicates with the Dynamixel by sending and receiving data packets. There are two types of packets, the Instruction Packet (Main Controller to

Dynamixel) and the Status Packet. (Dynamixel to Main Controller)

Main

Controller

Instruction Packet

Status Packet

Communication

For the system connection below, if the main controller sends an instruction packet with the ID set to N, only the Dynamixel with this ID value will return its respective status packet and perform the required instruction.

Instruction Packet(ID=N)

Unique ID

Main

Controller

ID=0 ID=1

Status Packet(ID=N)

ID=N

Communication problems will arise if multiple Dynamixel's have the same ID value. This will cause multiple packets to be sent simultaneously resulting in packet collisions. It is imperative that ID values are unique within each data network.

Protocol

The Asynchronous Serial Communication word consists of 8 bits, 1 Stop bit and no parity.

8


3-2. Instruction Packet

The structure of the Instruction Packet is as follows:

Instruction Packet OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK

SUM

The packet byte definitions are as follows.

Two 0XFF bytes indicate the start of an incoming packet. 0XFF 0XFF

ID

Broadcasting ID

Unique ID of a Dynamixel. The ID can range from 0X00 to 0XFD (254 IDs are available)

ID ID 0XFE is the Broadcast ID which is assigned to all of the connected Dynamixel’s.

Status packets will not be returned with a broadcasting ID.

LENGTH The length of the Status Packet. The value is “Parameter number (N) + 2”

INSTRUCTION

PARAMETER0…N

The instruction for the Dynamixel to perform.

Used if there is additional information to be sent other than the Instruction.

CHECK SUM

3-3. Status Packet

The calculation method for the ‘Check Sum’ is as follows:

Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )

If the calculated value is bigger than 255, the lower byte becomes the checksum.

~ represents the Not or complement operation

The Status Packet is the response packet from the Dynamixel to the Main Controller after receiving an instruction packet. The structure of Status Packet is as follows :

OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N

CHECK SUM

The meaning of each byte within the packet is as follows :

9


0XFF 0XFF

ID

LENGTH

ERROR

PARAMETER0…N

CHECK SUM

Two 0XFF bytes indicate the start of a packet.

ID of the Dynamixel which is returning the packet.

The length of the Status Packet. The value is “Parameter number (N) + 2”.

Dynamixel communication error flags. The meaning of each bit is as follows:

Bit

Bit 7

Bit 2

Name

0

Details

-

Bit 6 Instruction Error

Set to 1 if an undefined instruction is given without the reg_write instruction.

Bit 5 Overload Error Set to 1 if the specified torque can't control the load.

Bit 4 Checksum Error

Set to 1 if the checksum of the intruction packet is incorrect

Bit 3 Range Error Set to 1 if the instruction is out of the usage range.

Overheating

Error

Set as 1 if the internal temperature of Dynamixel is out of the operative range as set in the control table.

Bit 1 Angle Limit Error

Set as 1 if the goal position is set outside of the range between CW Angle Limit and CCW Angle Limit

Bit 0

Input Voltage

Error

Set to 1 if the voltage is out of the operative range set in the control table.

Used when additional information is required.

SUM Calculation method of ‘Check Sum’is as follows:

Check Sum = ~( ID + Length + Instruction + Parameter1 + … Parameter N )

If the calculated value is bigger than 255, the lower byte becomes the checksum.

~ represents the Not or complement operation

10


3-4. Control

Table

EEPROM

Area

RAM

Area

14(0X0E)

15(0X0F)

16(0X10)

17(0X11)

18(0X12)

19(0X13)

20(0X14)

21(0X15)

22(0X16)

23(0X17)

24(0X18)

25(0X19)

26(0X1A)

27(0X1B)

28(0X1C)

29(0X1D)

30(0X1E)

Address

0(0X00)

1(0X01)

2(0X02)

3(0X03)

4(0X04)

5(0X05)

6(0X06)

7(0X07)

8(0X08)

9(0X09)

10(0x0A)

11(0X0B)

12(0X0C)

13(0X0D)

31(0X1F)

32(0X20)

33(0X21)

34(0X22)

35(0X23)

36(0X24)

37(0X25)

38(0X26)

39(0X27)

40(0X28)

41(0X29)

42(0X2A)

43(0X2B)

44(0X2C)

45(0X2D)

46[0x2E)

47[0x2F)

48[0x30)

49[0x31)

Item

Model Number(L)

Model Number(H)

Version of Firmware

ID

Baud Rate

Return Delay Time

CW Angle Limit(L)

CW Angle Limit(H)

CCW Angle Limit(L)

CCW Angle Limit(H)

(Reserved) the Highest Limit Temperature the Lowest Limit Voltage the Highest Limit Voltage

Max Torque(L)

Max Torque(H)

Status Return Level

Alarm LED

Alarm Shutdown

(Reserved)

Down Calibration(L)

Down Calibration(H)

Up Calibration(L)

Up Calibration(H)

Torque Enable

LED

CW Compliance Margin

CCW Compliance Margin

CW Compliance Slope

CCW Compliance Slope

Goal Position(L)

Goal Position(H)

Moving Speed(L)

Moving Speed(H)

Torque Limit(L)

Torque Limit(H)

Present Position(L)

Present Position(H)

Present Speed(L)

Present Speed(H)

Present Load(L)

Present Load(H)

Present Voltage

Present Temperature

Registered Instruction

(Reserved)

Moving

Lock

Punch(L)

Punch(H)

11

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD

RD

RD

RD

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

Access

RD

RD

RD

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

-

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD,W R

RD

RD

RD

RD

RD

RD

RD

RD

RD,W R

-

RD

RD,W R

RD,W R

RD,W R

255(0XFF)

3(0x03)

2(0x02)

4(0x04)

4(0x04)

0(0x00)

?

?

?

?

0(0x00)

0(0x00)

0(0x00)

0(0x00)

32(0x20)

32(0x20)

Initial Value

116(0x74)

0(0x00)

?

1(0x01)

34(0x22)

250(0xFA)

0(0x00)

0(0x00)

255(0xFF)

3(0x03)

0(0x00)

85(0x55)

60(0X3C)

190(0xBE)

[Addr36]value

[Addr37]value

0

0

[Addr14] value

[Addr15] value

?

?

?

?

?

?

?

?

0(0x00)

0(0x00)

0(0x00)

0(0x00)

32(0x20)

0(0x00)


Control Table

condition of the Dynamixel.

RAM and EEPROM

The data values for the RAM Area will be set to the default initial values on power on.

The data values for the EEPROM Area are non-volatile and will be available next power on.

Initial Value

The Control Table consists of data for conditions and movement of the Dynamixel. By writing the values in the control table, you can move the Dynamixel and detect the

The Initial Value column of the control table shows the Factory Default Values for the case of EEPROM Area Data. For the RAM Area Data, the initial value column gives the power on data values.

Please note the following meanings for data assigned to each address in the control table.

Address 0x00,0x01 Model Number

. In the case of the DX-116, the value is 0X0074(116).

Address 0x02 Firmware Version

.

Address 0x03 ID

. Unique ID number to identify the Dynamixel. Different ID’s are required to be assigned to “linked” Dynamixels.

Address 0x04 Baud Rate.

Determines the Communication Speed. The Calculation method is:

Speed(BPS) = 2000000/(Address4+1)

Data Value as per Major Baud Rate

Adress4

1

3

4

7

9

16

34

103

207

BPS Set

1000000.0

500000.0

400000.0

250000.0

200000.0

117647.1

57142.9

19230.8

9615.4

Target BPS

1000000.0

500000.0

400000.0

250000.0

200000.0

115200.0

57600.0

19200.0

9600.0

Error

0.000%

0.000%

0.000%

0.000%

0.000%

-2.124%

0.794%

-0.160%

-0.160%

Note

A maximum Baud Rate error of 3% is within the UART communication tolerance.

12


Address 0x05 Return Delay Time.

The time taken after sending the Instruction Packet, to receive the requested Status Packet. The delay time is given by 2uSec *Address5 value.

Address 0x06,0x07,0x08,0x09

range. The Goal Position needs to be within the range of:-

CW Angle Limit <= Goal Position <= CCW Angle Limit

An Angle Limit Error will occur if this relationship is not satisfied.

Address 0x0B the Highest Limit Temperature.

The upper limit of the Dynamixel’s operative temperature. If the Dynamixel’s internal temperature is higher than this value, an Over

Heating Error Bit (Bit 2 of the Status Packet) will be set. An alarm will be set in Address

17,18. The values are in Degrees Celsius.

Address 0x0C,0x0D

the Lowest (Highest) Limit Voltage. Setting the operative upper and lower limits of the

Dynamixel’s voltages.

If the present voltage (Address42) is out of the specified range, a Voltage Range Error bit will be set in the Status Packet and an alarm executed will be set in Address’s 17,18.

The values are 10 times the actual voltages. For example, if the Address 12 value is 80, then the lower voltage limit is set to 8V.

Address 0x0E,0x0F, 0x22,0x23

Address 0X10

Dynamixel enters a Torque Free Run condition. The Max Torque (Torque Limit) is assigned to EEPROM (Address 0X0E,0x0F) and RAM (Address 0x22,0x23) and a power on condition will copy EEPROM values to RAM. The torque of a Dynamixel is limited by

(Address0x22,0x23) of RAM.

Status Return Level.

To determine whether the Dynamixel will return the Status Packet after the transmission of an Instruction Packet.

Address16

0

1

2

Return of Status Packet

Do net respond to any instruction

Respond only to READ_DATA instruction

Respond to all instructions

13


In the case of an instruction which uses the Broadcast ID (0XFE), regardless of the Address 0x10 value, the Status Packet will not be returned.

Address 0X11 Alarm LED. When an Error occurs, if the corresponding Bit is set to 1, then the LED blinks.

Bit

Bit 7 0

Bit 0

Function

Bit 6

If set to 1, LED blinks when Ins truction Error occurs

Bit 5

If set to 1, LED blinks when Overload Error occurs

Bit 4

If set to 1, LED blinks when Checksum Error occurs

Bit 3

If set to 1, LED blinks when Range Error occurs

Bit 2

If set to 1, LED blinks when Overheating Error occurs

Bit 1

If set to 1, LED blinks when Angle Limit Error occurs

If set to 1, LED blinks when Input Voltage Error occurs

This function operates as the logical “OR”ing of all set bits. For example, when the register is set to 0X05, the LED will blink when a Voltage Error occurs or when an

Overheating Error occurs. Upon returning to a normal condition from an error state, the

LED stops blinking after 2 seconds.

Address 0X12 Alarm Shutdown. When an Error occurs, if the corresponding Bit is set to a 1, then the

Dynamixel will shut down (Torque off).

Bit

Bit 7 0

Function

Bit 6

If set to 1, torque off when Ins truction Error occurs

Bit 5

If set to 1, torque off when Overload Error occurs

Bit 4

If set to 1, torque off when Checksum Error occurs

Bit 3

If set to 1, torque off when Range Error occurs

Bit 2

If set to 1, torque off when Overheating Error occurs

Bit 1

If set to 1, torque off when Angle Limit Error occurs

Bit 0 If set to 1, torque off when Input Voltage Error occurs

This function operates as the logical “OR”ing of all set bits. However, unlike the Alarm

LED, after returning to a normal condition, it maintains a torque off status. To remove this restriction, Torque Enable (Address0X18) is required to be set to 1.

Address 0x14~0x17 Calibration. Data used for compensating for the differences between Robotis products.

Users cannot change this area.

14


From Address 0x18 in the RAM area.

Address 0x18

Torque Enable. When power is first applied the Dynamixel enters the Torque Free Run condition. To allow torque to be applied Address 0x18 must be set to 1. (Torque Enabled

Condition)

LED. LED is on when set to 1 and LED is off if set to 0. Address 0x19

Address 0x1A~0x1D Compliance Margin and Slope. The Dynamixel controls Compliance by setting the

Margin and Slope. If used well Compliance will absorb the shocks. The following graph demonstrates the use of Compliance values (length of A,B,C & D) relative to Position

Error and applied torque.

CCW

CW

CCW

Y axis:Output Torque

A

Goal Position

B C

E

E

D

CW

X axis:Position Error

Address 0X1E,0x1F

A : CCW Compliance Slope(Address0x1D)

B : CCW Compliance Margin(Address0x1B)

C : CW Compliance Margin(Address0x1A)

D : CW Compliance Slope (Address0x1C)

E : Punch(Address0x30,31)

Goal Position. Requested Angular Position for the Dynamixel to move to. If this is set to 0x3ff, then the goal position will be 300°.

150°

(Goal Position = 0x1ff)

300°

(Goal Position = 0x3ff)

300~360°

Invalid Angle

0°

(Goal Position = 0)

15


Address 0x20,0x21

Moving Speed. The angular speed to move to the Goal Position. If set to the maximum values of 0x3ff, it moves at 70RPM.


Present Position. Current position of the Dynamixel.


Present Speed. Current Speed of the Dynamixel


Present Load. Load size on the Dynamixel in action. Bit 10 is the direction of the load.

BIT

Value

15~11

0

10

Load Direction

9 8 7 6 5 4

Load Value

Load Direction = 0 : CCW Load, Load Direction = 1: CW Load

3 2 1 0

Address 0x2A

Present Voltage. The voltage applied to the Dynamixel. The value is 10 times the actual voltage. For example, 10V is read as 100(0x64).

Address 0x2B

Address 0x2C

Present Temperature. Current internal Dynamixel temperature (Degrees Celsius).

Registered Instruction. Set to 1 when a REG_WRITE instruction is made. After an

Action instruction and an action it is reset to 0.

Address 0x2E

Address 0x2F

Moving. Set to 1 when the Dynamixel moves by its own power.

Lock. If set to 1, only Address 0x18 ~ Address 0x23 can be written to. Other areas are not permitted. Once locked, it can only be unlocked by powering down.


Punch. Minimum current being supplied to the motor during an action. The minimum value is 0x20 and the maximum value as 0x3ff.

16


Range

Each Register has an operative range. Write instructions made outside of these ranges will return an error. The following table summarises the data range for each register. 16 bit data registers are indicated as (L) and (H), two bytes. Each byte of a two byte register can be written to independently.

Write

Address

3(0X03)

4(0X04)

5(0X05)

6(0X06)

8(0X08)

11(0X0B)

12(0X0C)

13(0X0D)

14(0X0E)

16(0X10)

17(0X11)

18(0X12)

19(0X13)

24(0X18)

25(0X19)

26(0X1A)

27(0X1B)

28(0X1C)

29(0X1D)

30(0X1E)

32(0X20)

34(0X22)

44(0X2C)

47(0X2F)

48(0X30)

Writing Item

ID

Baud Rate

Return Delay Time

CW Angle Limit

CCW Angle Limit the Highest Limit Temperature the Lowest Limit Voltage the Highest Limit Voltage

Max Torque

Status Return Level

Alarm LED

Alarm Shutdown

(Reserved)

Torque Enable

LED

CW Compliance Margin

CCW Compliance Margin

CW Compliance Slope

CCW Compliance Slope

Goal Position

Moving Speed

Torque Limit

Registered Instruction

Lock

Punch

1

1

2

1

1

1

1

1

1

2

2

2

1

1

1

2

1

1

Length

(bytes)

1

2

2

1

1

1

1

[Control Table Data Range and Length for Writing]

Min

0

0

0

0

0

0

50(0x32)

1

1

0

0

0

0

0

50(0x32)

0

0

0

0

0

0

1

0

0

0

Max

253(0xfd)

254(0xfe)

254(0xfe)

1023(0x3ff)

1023(0x3ff)

150(0x96)

250(0xfa)

250(0xfa)

1023(0x3ff)

2

127(0x7f)

127(0x7f)

1

1

1

254(0xfe)

254(0xfe)

254(0xfe)

254(0xfe)

1023(0x3ff)

1023(0x3ff)

1023(0x3ff)

1

1

1023(0x3ff)

17


4. Instruction Set and Examples

The following Instructions are available.

Instruction

PING

READ DATA

Function

No action. Used to obtain a Dynam ixel Status

Packet.

Read the values in the Control table.

W RITE DATA W rite the values to the Control Table.

REG W RITE

ACTION

RESET

Sim ilar to W RITE DATA, but stay in standby m ode until write upon the action instruction.

Start the action registered by REG W RITE.

Change the values of the Dynam ixel in the control table back to the Factory Default Values

Value

0x01

0x02

0x03

0x04

0x05

0x06

Num ber of

Parameter

0

2

2 ~

2 ~

0

0

4-1. WRITE_DATA

Function

Length

Instruction

Parameter1

Parameter2

Parameter3

Parameter N+1

Example 1

Write data into the control table of the Dynamixel

N+3 (Writing Data is N)

0X03

Start Address of the Area to write Data

1st Data to write

2nd Data to write

Nth Data to write

Set ID of connected Dynamixel as 1

Write 1 into the Address 3 of the Control Table. The ID is transmitted using Broadcasting

ID (0xFE).

18


Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6

ID LENGTH INSTRUCTION PARAMETERS CHECKSUM

4-2. READ_DATA

Function

Length

Instruction

Parameter1

Parameter2

Because it was transmitted by Broadcast ID(0XFE), no return status packet.

Read data from the Control Table of Dynamixel

0X04

0X02

Starting Address of Data to Read length of Data to Read

Example 2 Read the internal temperature of the Dynamixel with ID=1

Read 1 byte from the Address 0x2B values of the Control Table

Instruction Packet : 0XFF 0XFF 0X01 0X04 0X02 0X2B 0X01 0XCC`

ID LENGTH INSTRUCTION PARAMETERS .. CHECKSUM

The returned Status Packet will be as follows

Status Packet : 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB

ID LENGTH ERROR PARAMETER1 CHECKSUM

The value read is 0x20.The current Dynamixel’s internal temperature is approximately 32 (0X20).

4-3. REG_WRITE and ACTION

4-3-1. REG_WRITE

19


Function REG_WRITE instruction is similar to the WRITE_DATA instruction, but the execution timing is different. When the Instruction Packet is received the values are saved into the Buffer and the Write instruction is under a standby status.

The Registered Instruction register (Address 0x2C) is set to 1. After an Action

Instruction Packet is received the registered Write instruction is executed.

Length

Instruction

Parameter1

Parameter2

Parameter3

Parameter N+1

4-3-2. ACTION

Function

Length

Instruction

Parameter

N+3 (The number of Write Data bytes is N)

0X04

Start Address for Write Data

1st Data to Write

2nd Data to Write

N+1 Nth Data to Write

Execute the WRITE instruction written by REG_WRITE

0X02

0X05

NONE

The ACTION instruction is useful when multiple Dynamixels needs to move simultaneously. When controlling multiple units, slight time delays occur between the 1st unit to receive an instruction and the last one. The Dynamixel approach fixes this problem through the use of the ACTION instruction.

Broadcasting When sending ACTION instructions to move more than two Dynamixel units, the

Broadcast ID (0XFE) should be utilised.

4-4. PING

Function

Length

Instruction

Parameter

Used to request a specific Dynamixel status packet or to check the existence of a

Dynamixel with a particular ID

0X02

0X01

NONE

20


Example 3

4-5. RESET

Function

Length

Instruction

Parameter

Example 4

To obtain the status packet of a Dynamixel with ID=1

Instruction Packet : 0XFF 0XFF 0X01 0X02 0X01 0XFB`

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as follow;

Status Packet : 0XFF 0XFF 0X01 0X02 0X00 0XFC

ID LENGTH ERROR CHECKSUM

Restore the condition of the Control Table of the Dynamixel back to the Factory Default values.

0X02

0X06

NONE

Reset Dynamixe with ID=0

Instruction Packet : 0XFF 0XFF 0X00 0X02 0X06 0XF7`

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as follows;

Status Packet : 0XFF 0XFF 0X00 0X02 0X00 0XFD

ID LENGTH ERROR CHECKSUM

Please note that after a RESET instruction, the ID of the Dynamixel is changed to 1.

21


5. Example

Used to explain through example with the assumption that the Dynamixel has been

Reset (ID = 1, Baudrate = 57142BPS)

Example 6 Read the Model Number and Firmware Version of a Dynamixel with ID=1

Instruction Packet Instruction = READ_DATA, Address = 0x00, Length = 0x03

Communication ->[Dynamixel]:FF FF 01 04 02 00 03 F5 (LEN:008)

<-[Dynamixel]:FF FF 01 05 00 74 00 08 7D (LEN:009)

Status Packet Result Model Number = 116(0x74), Firmware Version = 0x08

Example 7 Change ID number of Dynamixel from 1 to 0.

Instruction Packet Instruction = WRITE_DATA, Address = 0x03, DATA = 0x00


<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)

Example 8 Change Baud Rate of Dynamixel to 1M bps.



<-[Dynamixel]:FF FF 00 02 00 FD (LEN:006)

Example 9 Reset Return Delay Time of Dynamixel with ID=0 to 4us.

A Return Delay Time Value of 1 corresponds to 2us.


22




The best approach is to set the Return Delay Time to the minimum value the Main

Controller will allow.

Example 10 Limit the the operative angles of a Dynamixel with ID=0 to 0~150°.

If CCW Angle Limit is 0x3ff, it is 300°, therefore the values for 150°is 0x1ff.

Instruction Packet Instruction = WRITE_DATA, Address = 0x08, DATA = 0xff, 0x01

Communication ->[Dynamixel]:FF FF 00 05 03 08 FF 01 EF (LEN:009)


Example 11 Reset the upper limit temperature of the Dynamixel with ID=1 to 80°.

Instruction Packet Instruction = WRITE_DATA, Address = 0x0B, DATA = 0x50

Communication ->[Dynamixel]:FF FF 00 04 03 0B 50 9D (LEN:008)


Example 12 Set the operative voltage of a Dynamixel with ID=0 to 10V ~ 17V.

10V is expressed as 100(0x64) and 17V as 170(0xAA).

Instruction Packet Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA

Communication ->[Dynamixel]:FF FF 00 05 03 0C 64 AA DD (LEN:009)


23


Example 13 Make the Dynamixel with ID=0 perform only 50% of the maximum torque.

Set the max torque values within the EEPROM area to 50% (0x1ff) of the maximum value (0x3ff)

Instruction Packet Instruction = WRITE_DATA, Address = 0x0E, DATA = 0xff, 0x01

Communication ->[Dynamixel]:FF FF 00 05 03 0E FF 01 E9 (LEN:009)


After a power off and on, you can check the effect of the changes in max torque.

Example 14 Stop the Dynamixel with ID=0 from returning a Status Packet.


Communication ->[Dynamixel]:FF FF 00 04 03 10 00 E8 (LEN:008)


Example 15

The Status Packet will not be returned for the next instruction.

If temperature values are higher than those defined operative temperatures, set the alarm to make the Dynamixel blink and then shut down the Dynamixel (Torque off).

Overheating Error is Bit 2, therefore set the alarm value to 0x04.

Instruction Packet Instruction = WRITE_DATA, Address = 0x11, DATA = 0x04, 0x04

Communication

->[Dynamixel]:FF FF 00 05 03 11 04 04 DE (LEN:009)


24


Example 16 Turn on the LED of the Dynamixel with ID=0 and enable the torque.


Communication

->[Dynamixel]:FF FF 00 05 03 18 01 01 DD (LEN:009)


Physical confirmation of an enabled torque can be obtained by attempting to rotate the motor with your hand.

Example 17

Compliance

Set the Dynamixel with ID=0 to have a Compliance Margin = 1 and Compliance

Slope=0x40

The following graph shows the Angle Error and Torque Output.

CW Goal Position

CCW

CW

X:Angle Error

CCW

If the position is slightly deviated from the goal position, the motor will generate a high torque to try to adjust its position to that of the goal position. The true control method is different due to the inertia. The condition provided in the above example can be shown in the graph below:-

CCW

CW

Output Torque

CCW

A

Goal Position

B C D

CW

Angle(Position)

A : CCW Compliance Slope(Address0x1D) = 0x40(Approximately 18.8°)

B : CCW Compliance Margin(Address0x1B) = 0x01 (Approximately 0.29°)

25


C : CW Compliance Margin(Address0x01A) = 0x01(Approximately 0.29°)

D : CW Compliance Slope(Address0x1C) = 0x40 (Approximately 18.8°)

Instruction Packet Instruction = WRITE_DATA, Address = 0x1A, DATA = 0x01, 0x01, 0x40, 0x40

Communication

->[Dynamixel]:FF FF 00 07 03 1A 01 01 40 40 59 (LEN:011)


The effect of a Compliance Slope changes at the boundary of 2n (n is positive number), that is, the effect of the values of Compliance between 0x11 and 0x20 are the same.

Example 18

Position Dynamixel with ID=0 at Position 180°after moving it at the speed of 35RPM.

Set Address 0x1E(Goal Position) = 0x200, Address 0x20(Moving Speed) = 0x200

Instruction Packet Instruction = WRITE_DATA, Address = 0x1E, DATA = 0x00, 0x02, 0x00, 0x02

Communication

->[Dynamixel]:FF FF 00 07 03 1E 00 02 00 02 D3 (LEN:011)


Example 19 Set the position of a Dynamixel (ID=0) to an angular Position of 0°and another

Dynamixel (ID=1) to an angular Position of 300°. Make sure both Dynamixels start at the same time.

If you use WRITE_DATA instruction, two Dynamixel can not start at the same time, therefore use REG_WRITE and ACTION.

Instruction Packet ID=0, Instruction = REG_WRITE, Address = 0x1E, DATA = 0x00, 0x00

ID=1, Instruction = REG_WRITE, Address = 0x1E, DATA = 0xff, 0x03

ID=0xfe(Broadcasting ID), Instruction = ACTION,

Communication

->[Dynamixel]:FF FF 00 05 04 1E 00 00 D8 (LEN:009)


->[Dynamixel]:FF FF 01 05 04 1E FF 03 D5 (LEN:009)

<-[Dynamixel]:FF FF 01 02 00 FC (LEN:006)

->[Dynamixel]:FF FF FE 02 05 FA (LEN:006)

<-[Dynamixel]: //No return packet against broadcasting ID

26


Example 20 Prevent the Dynamixel with ID=0 from changing values other than within the range between Address 0x18 and Address 0x23.

Set Address 0x2F(Lock) to 1.

Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA = 0x01

Communication

->[Dynamixel]:FF FF 00 04 03 2F 01 C8 (LEN:008)


If Locked, it can only be unlocked by removing power.

If trying to access other data areas whilst locked, an error will be returned.

Example 21

->[Dynamixel]:FF FF 00 05 03 30 40 00 87 (LEN:009)

<-[Dynamixel]:FF FF 00 02 08 F5 (LEN:006)

Range Error

Set the minimum punch (output) in the Dynamixel with ID=0 to 0x40.


Communication

->[Dynamixel]:FF FF 00 05 03 30 40 00 87 (LEN:009)


27


Appendix

RS-485

RS-485 is a protocol used for serial communication which operates by forming a bus with multiple clients connected to a single line. Thus, transmission and reception cannot occur at the same time, and while one client is transmitting, all the other clients need to be in input mode. The Main Controller that controllers the Dynamixel actuators sets the

RS485 communication direction to be input mode, and only when it is transmitting an

Instruction Packet, it changes the direction to be output mode.

RS485 Direction Output Duration

Return Delay Time

Instruction Packet

Return Delay Time

Status Packet

The time it takes for the Dynamixel actuator to return the Status Packet after receiving an Instruction Packet. The Default Value is 160 uSec and can be changed via the

Control Table at Address 5. The Main Controller needs to change the RS485 communication direction during the Return Delay Tim after sending an instruction packet.

485 Direction For RS-485, the timing to change the direction to receiving mode right after the ending of the transmission is important. The bit definitions within the register that indicates

UART_STATUS are as the following.

TXD_BUFFER_READY_BIT: Indicates that the transmission DATA can be loaded into the Buffer. Note that this only means that the SERIAL TX BUFFER is empty, and does not necessarily mean that the all the data transmitted before has left the CPU.

TXD_SHIFT_REGISTER_EMPTY_BIT: Set when all the Transmission Data has completed its transmission and left the CPU.

The TXD_BUFFER_READY_BIT is used when one byte is to be transmitted via the serial communication channel, and an example is shown below.

TxDByte(byte bData)

{ while(!TXD_BUFFER_READY_BIT); //wait until data can be loaded.

SerialTxDBuffer = bData; //data load to TxD buffer

}

28


When changing the direction of RS-485, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked.

LINE 1

LINE 2

LINE 3

LINE 4

LINE 5

LINE 6

LINE 7

LINE 8

LINE 9

LINE 10

LINE 11

LINE 12

The following is an example program that sends an Instruction Packet.

PORT_485_DIRECTION = TX_DIRECTION;

TxDByte(0xff);

TxDByte(0xff);

TxDByte(bID);

TxDByte(bLength);

TxDByte(bInstruction);

TxDByte(Parameter0); TxDByte(Parameter1); …

DisableInterrupt(); // interrupt should be disable

TxDByte(Checksum); //last TxD while(!TXD_SHIFT_REGISTER_EMPTY_BIT); //Wait till last data bit has been sent

PORT_485_DIRECTION = RX_DIRECTION; //485 direction change to RXD

EnableInterrupt(); // enable interrupt again

Please note the important lines between LINE 8 and LINE 12. Line 8 is necessary since an interrupt here may cause a delay longer than the return delay time and corruption to the front of the status packet may occur.

Byte to Byte Time The delay time between bytes when sending an instruction packet. If the delay time is over 100ms, then the Dynamixel actuator recognizes this as a communication problem and waits for the next header (0xff 0xff) of a packet again.

0xFF 0xFF ID

Byte To Byte Time

Length

The following is the source code of a program (Example.c) that accesses the Dynamixel actuator using the Atmega 128.

29


C Language Example : Dinamixel access with Atmega128

/*

* The Example of Dynamixel Evaluation with Atmega128

* Date : 2004.7.20

*/

#define ENABLE_BIT_DEFINITIONS

//#include <io.h>

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/signal.h> typedef unsigned char byte; typedef unsigned int word;

#define ON 1

#define OFF 0

#define _ON 0

#define _OFF 1

//--- Control Table Address ---

//EEPROM AREA

#define P_MODEL_NUMBER_L 0

#define P_MODOEL_NUMBER_H 1

#define P_VERSION 2

#define P_ID 3

#define P_BAUD_RATE 4

#define P_RETURN_DELAY_TIME 5

#define P_CW_ANGLE_LIMIT_L 6

#define P_CW_ANGLE_LIMIT_H 7

#define P_CCW_ANGLE_LIMIT_L 8

#define P_CCW_ANGLE_LIMIT_H 9

#define P_SYSTEM_DATA2 10

#define P_LIMIT_TEMPERATURE 11

#define P_DOWN_LIMIT_VOLTAGE 12

#define P_UP_LIMIT_VOLTAGE 13

#define P_MAX_TORQUE_L 14

#define P_MAX_TORQUE_H 15

#define P_RETURN_LEVEL 16

#define P_ALARM_LED 17

#define P_ALARM_SHUTDOWN 18

#define P_OPERATING_MODE 19

#define P_DOWN_CALIBRATION_L 20

#define P_DOWN_CALIBRATION_H 21

#define P_UP_CALIBRATION_L 22

#define P_UP_CALIBRATION_H 23

#define P_TORQUE_ENABLE (24)

#define P_LED (25)

#define P_CW_COMPLIANCE_MARGIN (26)

#define P_CCW_COMPLIANCE_MARGIN (27)

#define P_CW_COMPLIANCE_SLOPE (28)

#define P_CCW_COMPLIANCE_SLOPE (29)

#define P_GOAL_POSITION_L (30)

#define P_GOAL_POSITION_H (31)

#define P_GOAL_SPEED_L (32)

#define P_GOAL_SPEED_H (33)

#define P_TORQUE_LIMIT_L (34)

#define P_TORQUE_LIMIT_H (35)

#define P_PRESENT_POSITION_L (36)

#define P_PRESENT_POSITION_H (37)

#define P_PRESENT_SPEED_L (38)

#define P_PRESENT_SPEED_H (39)

#define P_PRESENT_LOAD_L (40)

#define P_PRESENT_LOAD_H (41)

#define P_PRESENT_VOLTAGE (42)

#define P_PRESENT_TEMPERATURE (43)

#define P_REGISTERED_INSTRUCTION (44)

#define P_PAUSE_TIME (45)

#define P_MOVING (46)

#define P_LOCK (47)

#define P_PUNCH_L (48)

#define P_PUNCH_H (49)

//--- Instruction ---

#define INST_PING 0x01

#define INST_READ 0x02

#define INST_WRITE 0x03

#define INST_REG_WRITE 0x04

#define INST_ACTION 0x05

#define INST_RESET 0x06

#define INST_DIGITAL_RESET 0x07

#define INST_SYSTEM_READ 0x0C

#define INST_SYSTEM_WRITE 0x0D

#define INST_SYNC_WRITE 0x83

#define INST_SYNC_REG_WRITE 0x84

#define CLEAR_BUFFER gbRxBufferReadPointer = gbRxBufferWritePointer

#define DEFAULT_RETURN_PACKET_SIZE 6

#define BROADCASTING_ID 0xfe

#define TxD8 TxD81

#define RxD8 RxD81

//Hardware Dependent Item

#define DEFAULT_BAUD_RATE 34 //57600bps at 16MHz

#define RS485_TXD PORTE |= _BV(PE2); //_485_DIRECTION = 1

#define RS485_RXD PORTE &= ~_BV(PE2);//PORT_485_DIRECTION = 0

//#define PORT_485_DIRECTION PORTE.P2 //Bit2 of PortE is linked to

MAX485 direction pin.

//#define TXD0_FINISH UCSR0A,6 //This bit is for checking TxD Buffer in CPU is empty or not.

//#define TXD1_FINISH UCSR1A,6

#define SET_TxD0_FINISH sbi(UCSR0A,6)

#define RESET_TXD0_FINISH cbi(UCSR0A,6)

#define CHECK_TXD0_FINISH bit_is_set(UCSR0A,6)

#define SET_TxD1_FINISH sbi(UCSR1A,6)

#define RESET_TXD1_FINISH cbi(UCSR1A,6)

#define CHECK_TXD1_FINISH bit_is_set(UCSR1A,6)

#define RX_INTERRUPT 0x01

#define TX_INTERRUPT 0x02

#define OVERFLOW_INTERRUPT 0x01

#define SERIAL_PORT0 0

#define SERIAL_PORT1 1

#define LED_M0_ON cbi(PORTE,3) //PORTE_Bit3



#define LED_E0_ON cbi(PORTE,7) //PORTE_Bit7

#define LED_E1_ON cbi(PORTB,0) //PORTB_Bit0

#define LED_M0_OFF sbi(PORTE,3) //PORTE_Bit3



#define LED_E0_OFF sbi(PORTE,7) //PORTE_Bit7

#define LED_E1_OFF sbi(PORTB,0) //PORTB_Bit0

#define BIT_LED_M0 0x08 //Port E



#define BIT_LED_E0 0x80 //Port E

#define BIT_LED_E1 0x01 //Port B

#define BIT_RS485_DIRECTION 0x04 //Port E void TxD81(byte bTxdData); void TxD80(byte bTxdData); void TxDString(byte *bData); void TxD8Hex(byte bSentData); void TxD32Dec(long lLong); byte RxD81(void); void MiliSec(word wDelayTime); void PortInitialize(void); void SerialInitialize(byte bPort, byte bBaudrate, byte bInterrupt); byte TxPacket(byte bID, byte bInstruction, byte bParameterLength); byte RxPacket(byte bRxLength); void PrintBuffer(byte *bpPrintBuffer, byte bLength);

// --- Gloval Variable Number ---

30


volatile byte gbpRxInterruptBuffer[256]; byte gbpParameter[128]; byte gbRxBufferReadPointer; byte gbpRxBuffer[128]; byte gbpTxBuffer[128]; volatile byte gbRxBufferWritePointer; int main(void)

{

byte bCount,bID, bTxPacketLength,bRxPacketLength;

PortInitialize(); //Port In/Out Direction Definition

RS485_RXD; //Set RS485 Direction to Input State.

//RS485 Initializing(RxInterrupt)

SerialInitialize(SERIAL_PORT0,DEFAULT_BAUD_RATE,RX_INTERRUPT);

//RS232 Initializing(None Interrupt)

SerialInitialize(SERIAL_PORT1,DEFAULT_BAUD_RATE,0);

//RS485 RxBuffer Clearing. gbRxBufferReadPointer = gbRxBufferWritePointer = 0;

sei(); //Enable Interrupt -- Compiler Function

TxDString("\r\n [The Example of Dynamixel Evaluation with

ATmega128,GCC-AVR]");

//Dynamixel Communication Function Execution Step.

// Step 1. Parameter Setting (gbpParameter[]). In case of no parameter instruction(Ex. INST_PING), this step is not needed.

// Step 2. TxPacket(ID,INSTRUCTION,LengthOfParameter); --Total

TxPacket Length is returned

// Step 3. RxPacket(ExpectedReturnPacketLength); -- Real RxPacket

Length is returned

// Step 4 PrintBuffer(BufferStartPointer,LengthForPrinting);

bID = 1;

TxDString("\r\n\n Example 1. Scanning Dynamixels(0~9). -- Any Key to

Continue."); RxD8();

for(bCount = 0; bCount < 0x0A; bCount++)

{

bTxPacketLength = TxPacket(bCount,INST_PING,0);

bRxPacketLength = RxPacket(255);

TxDString("\r\n TxD:"); PrintBuffer(gbpTxBuffer,bTxPacketLength);

TxDString(", RxD:"); PrintBuffer(gbpRxBuffer,bRxPacketLength);

if(bRxPacketLength == DEFAULT_RETURN_PACKET_SIZE)

{

TxDString(" Found!! ID:");TxD8Hex(bCount);

bID = bCount;

}

}

TxDString("\r\n\n Example 2. Read Firmware Version. -- Any Key to


gbpParameter[0] = P_VERSION; //Address of Firmware Version

gbpParameter[1] = 1; //Read Length

bTxPacketLength = TxPacket(bID,INST_READ,2);

RxPacketLength=RxPacket(DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1]);


TxDString("\r\n RxD:"); PrintBuffer(gbpRxBuffer,bRxPacketLength);

if(bRxPacketLength == DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1])

{

TxDString("\r\n Return Error : ");TxD8Hex(gbpRxBuffer[4]);

TxDString("\r\n Firmware Version : ");TxD8Hex(gbpRxBuffer[5]);

}

TxDString("\r\n\n Example 3. LED ON -- Any Key to Continue.");

RxD8();

gbpParameter[0] = P_LED; //Address of LED

gbpParameter[1] = 1; //Writing Data

bTxPacketLength = TxPacket(bID,INST_WRITE,2);

bRxPacketLength = RxPacket(DEFAULT_RETURN_PACKET_SIZE);



TxDString("\r\n\n Example 4. LED OFF -- Any Key to Continue.");

RxD8();

gbpParameter[0] = P_LED; //Address of LED






TxDString("\r\n\n Example 5. Read Control Table. -- Any Key to


gbpParameter[0] = 0; //Reading Address

gbpParameter[1] = 49; //Read Length

bTxPacketLength = TxPacket(bID,INST_READ,2);

bRxPacketLength

RxPacket(DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1]);

=



if(bRxPacketLength == DEFAULT_RETURN_PACKET_SIZE+gbpParameter[1])

{

TxDString("\r\n");

for(bCount = 0; bCount < 49; bCount++)

{

TxD8('[');TxD8Hex(bCount);TxDString("]:");

TxD8Hex(gbpRxBuffer[bCount+5]);TxD8(' ');

}

}

TxDString("\r\n\n Example 6. Go 0x200 with Speed 0x100 -- Any Key to Continue."); RxD8();

gbpParameter[0] = P_GOAL_POSITION_L; //Address of Firmware Version

gbpParameter[1] = 0x00; //Writing Data P_GOAL_POSITION_L

gbpParameter[2] = 0x02; //Writing Data P_GOAL_POSITION_H

gbpParameter[3] = 0x00; //Writing Data P_GOAL_SPEED_L

gbpParameter[4] = 0x01; //Writing Data P_GOAL_SPEED_H





TxDString("\r\n\n Example 7. Go 0x00 with Speed 0x40 -- Any Key to



gbpParameter[1] = 0x00; //Writing Data P_GOAL_POSITION_L


gbpParameter[3] = 0x40; //Writing Data P_GOAL_SPEED_L






TxDString("\r\n\n Example 8. Go 0x3ff with Speed 0x3ff -- Any Key to



gbpParameter[1] = 0xff; //Writing Data P_GOAL_POSITION_L


gbpParameter[3] = 0xff; //Writing Data P_GOAL_SPEED_L






TxDString("\r\n\n Example 9. Torque Off -- Any Key to Continue.");

RxD8();

gbpParameter[0] = P_TORQUE_ENABLE; //Address of LED






TxDString("\r\n\n End. Push reset button for repeat");

while(1);

}

31


/*

About Register and value of bits, vide Mega128 Data Sheet.

*/ void PortInitialize(void)

{

DDRA = DDRB = DDRC = DDRD = DDRE = DDRF = 0; //Set all port to input direction first.

PORTB = PORTC = PORTD = PORTE = PORTF = PORTG = 0x00; //PortData initialize to 0

cbi(SFIOR,2); //All Port Pull Up ready

//Set 5 LED port and RS485Direction port to output

DDRB |= (BIT_LED_E1);

DDRE |=

(BIT_RS485_DIRECTION|BIT_LED_M0|BIT_LED_M1|BIT_LED_M2|BIT_LED_E0);

//TurnOff LED

LED_M0_OFF; LED_M1_OFF;LED_M2_OFF;LED_E0_OFF;LED_E1_OFF;

}

/*

TxPacket() send data to RS485.

TxPacket() needs 3 parameter; ID of Dynamixel, Instruction byte,

Length of parameters.

TxPacket() return length of Return packet from Dynamixel.

*/ byte TxPacket(byte bID, byte bInstruction, byte bParameterLength)

{

byte bCount,bCheckSum,bPacketLength;

gbpTxBuffer[0] = 0xff;

gbpTxBuffer[1] = 0xff;

gbpTxBuffer[2] = bID;

gbpTxBuffer[3] =

//Length(Paramter,Instruction,Checksum)

gbpTxBuffer[4] = bInstruction; bParameterLength+2;

for(bCount = 0; bCount < bParameterLength; bCount++)

{

gbpTxBuffer[bCount+5] = gbpParameter[bCount];

}

bCheckSum = 0;

bPacketLength = bParameterLength+4+2;

for(bCount = 2; bCount < bPacketLength-1; bCount++) //except

0xff,checksum

{

bCheckSum += gbpTxBuffer[bCount];

}

gbpTxBuffer[bCount] = ~bCheckSum; //Writing Checksum with Bit

Inversion

RS485_TXD;

for(bCount = 0; bCount < bPacketLength; bCount++)

{

sbi(UCSR0A,6);//SET_TXD0_FINISH;

TxD80(gbpTxBuffer[bCount]);

}

while(!CHECK_TXD0_FINISH); //Wait until TXD Shift register empty

RS485_RXD;

return(bPacketLength);

}

#define RX_WAIT_TIMEOUT 0xf000

#define RX_TIMEOUT_COUNT2 3000L

#define RX_TIMEOUT_COUNT1 (RX_TIMEOUT_COUNT2*10L)

/*

RxPacket() read data from buffer.

RxPacket() need a Parameter; Total length of Return Packet.

RxPacket() return Length of Return Packet.

*/ byte RxPacket(byte bRxPacketLength)

{

unsigned long ulCounter;

byte bCount, bLength, bChecksum;

byte bTimeout;

bTimeout = 0;

for(bCount = 0; bCount < bRxPacketLength; bCount++)

{

ulCounter = 0;

while(gbRxBufferReadPointer == gbRxBufferWritePointer)

{

if(ulCounter++ > RX_TIMEOUT_COUNT1)

{

bTimeout = 1;

break;

}

}

if(bTimeout) break;

gbpRxBuffer[bCount] gbpRxInterruptBuffer[gbRxBufferReadPointer++];

}

bLength = bCount;

bChecksum = 0;

if(gbpTxBuffer[2] != BROADCASTING_ID)

{

if(bTimeout && bRxPacketLength != 255)

{

TxDString("\r\n [Error:RxD Timeout]");

CLEAR_BUFFER;

}

if(bLength > 3) //checking is available.

{

if(gbpRxBuffer[0] != 0xff || gbpRxBuffer[1] != 0xff )

{

TxDString("\r\n [Error:Wrong Header]");

CLEAR_BUFFER;

return 0;

}

if(gbpRxBuffer[2] != gbpTxBuffer[2] )

{

TxDString("\r\n [Error:TxID != RxID]");

CLEAR_BUFFER;

return 0;

}

if(gbpRxBuffer[3] != bLength-4)

{

TxDString("\r\n [Error:Wrong Length]");

CLEAR_BUFFER;

return 0;

=

}

for(bCount = 2; bCount < bLength; bCount++) bChecksum += gbpRxBuffer[bCount];

if(bChecksum != 0xff)

{

TxDString("\r\n [Error:Wrong CheckSum]");

CLEAR_BUFFER;

return 0;

}

}

}

return bLength;

}

/*

PrintBuffer() print data in Hex code.

PrintBuffer() needs two parameter; name of Pointer(gbpTxBuffer, gbpRxBuffer)

*/ void PrintBuffer(byte *bpPrintBuffer, byte bLength)

{

byte bCount;

for(bCount = 0; bCount < bLength; bCount++)

{

TxD8Hex(bpPrintBuffer[bCount]);

TxD8(' ');

}

TxDString("(LEN:");TxD8Hex(bLength);TxD8(')');

}

/*

32


Print value of Baud Rate.

*/ void PrintBaudrate(void)

{

TxDString("\r\n

RS232:");TxD32Dec((16000000L/8L)/((long)UBRR1L+1L) ); TxDString("

BPS,");

TxDString(" RS485:");TxD32Dec((16000000L/8L)/((long)UBRR0L+1L) );

TxDString(" BPS");

}

/*Hardware Dependent Item*/

#define TXD1_READY

#define TXD1_RESET

#define TXD1_DATA

#define RXD1_READY

#define RXD1_RESET

#define RXD1_DATA bit_is_set(UCSR1A,5) //(UCSR1A_Bit5)

(UDR1) bit_is_set(UCSR1A,7)

(UDR1)

#define TXD0_READY

#define TXD0_RESET

#define TXD0_DATA

#define RXD0_READY

#define RXD0_RESET bit_is_set(UCSR0A,5)

(UDR0) bit_is_set(UCSR0A,7)

#define RXD0_DATA

/*

(UDR0)

SerialInitialize() set Serial Port to initial state.

Vide Mega128 Data sheet about Setting bit of register.

SerialInitialize() needs port, Baud rate, Interrupt value.

*/ void SerialInitialize(byte bPort, byte bBaudrate, byte bInterrupt)

{

if(bPort == SERIAL_PORT0)

{

UBRR0H = 0; UBRR0L = bBaudrate;

UCSR0A = 0x02; UCSR0B = 0x18;

if(bInterrupt&RX_INTERRUPT) sbi(UCSR0B,7); // RxD interrupt enable

UCSR0C = 0x06; UDR0 = 0xFF;

sbi(UCSR0A,6);//SET_TXD0_FINISH; // Note. set 1, then 0 is read

}

else if(bPort == SERIAL_PORT1)

{

UBRR1H = 0; UBRR1L = bBaudrate;

UCSR1A = 0x02; UCSR1B = 0x18;

if(bInterrupt&RX_INTERRUPT) sbi(UCSR1B,7); // RxD interrupt enable

UCSR1C = 0x06; UDR1 = 0xFF;

sbi(UCSR1A,6);//SET_TXD1_FINISH; // Note. set 1, then 0 is read

}

}

/*

TxD8Hex() print data seperatly. ex> 0x1a -> '1' 'a'.

*/ void TxD8Hex(byte bSentData)

{

byte bTmp;

bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';

if(bTmp > '9') bTmp += 7;

TxD8(bTmp);

bTmp =(byte)(bSentData & 0x0f) + (byte)'0';

if(bTmp > '9') bTmp += 7;

TxD8(bTmp);

}

/*

TxD80() send data to USART 0.

*/ void TxD80(byte bTxdData)

{

while(!TXD0_READY);

TXD0_DATA = bTxdData;

}

/*

TXD81() send data to USART 1.

*/ void TxD81(byte bTxdData)

{

while(!TXD1_READY);

TXD1_DATA = bTxdData;

}

/*

TXD32Dex() change data to decimal number system

*/ void TxD32Dec(long lLong)

{

byte bCount, bPrinted;

long lTmp,lDigit;

bPrinted = 0;

if(lLong < 0)

{

lLong = -lLong;

TxD8('-');

}

lDigit = 1000000000L;

for(bCount = 0; bCount < 9; bCount++)

{

lTmp = (byte)(lLong/lDigit);

if(lTmp)

{

TxD8(((byte)lTmp)+'0');

bPrinted = 1;

}

else if(bPrinted) TxD8(((byte)lTmp)+'0');

lLong -= ((long)lTmp)*lDigit;

lDigit = lDigit/10;

}

lTmp = (byte)(lLong/lDigit);

/*if(lTmp)*/ TxD8(((byte)lTmp)+'0');

}

/*

TxDString() prints data in ACSII code.

*/ void TxDString(byte *bData)

{

while(*bData)

{

TxD8(*bData++);

}

}

/*

RxD81() read data from Port 1.

RxD81() return Read data.

*/ byte RxD81(void)

{

while(!RXD1_READY);

RXD1_RESET;

return(RXD1_DATA);

}

/*

SIGNAL() UART0 Rx Interrupt - write data to buffer

*/

SIGNAL (SIG_UART0_RECV)

{

gbpRxInterruptBuffer[(gbRxBufferWritePointer++)] = RXD0_DATA;

}

33


C Language Example : Dinamixel access with Am188ER CPU

#include <stdio.h>

#include <stdlib.h>

#include <conio.h>

#include <dos.h>

#include <mem.h>

#define MCS80

#include "..\..\base.h"

#include "..\lib188es.c"

#define RS485_DIRECTION_BIT 0x2000

#define RS485_TXD (SET_PORT1(RS485_DIRECTION_BIT))

#define RS485_RXD (RESET_PORT1(RS485_DIRECTION_BIT))

#define BROADCASTING_ID 0xfe

#define MEMORY_SPARE 10

#define ADDRESS_TORQUE_ENABLE 20

#define ADDRESS_OPERATING_MODE 19

#define ADDRESS_ID 3

#define ADDRESS_GOAL_POSITION 26

Definition area

#define INST_PING 0x01

#define INST_READ 0x02

#define INST_WRITE 0x03

#define INST_SET_SCHEDULE 0x04

#define INST_DO_SCHEDULE 0x05

#define INST_RESET 0x06

#define DIGITAL_MODE 0

//Gloval variable number byte gbpInterruptRxBuffer[256+MEMORY_SPARE]; //485 RxD Data Buffer byte gbRxBufferReadPointer,gbRxBufferWritePointer; //Pointers for access the gbpInterruptRxBuffer void static interrupt far Serial0Interrupt(void); void PrintBuffer(byte *bpPrintBuffer, byte bLength); byte TxPacket(byte *bpTxBuffer, byte bID, byte bInstruction, byte *bpParameter, byte bParameterLength); byte RxPacket(byte *bpRxBuffer);

void main(void)

{

byte bID,bPacketLength;

byte bpTxBuffer[20+MEMORY_SPARE];

byte bpRxBuffer[256+MEMORY_SPARE];

byte bpParameter[256+MEMORY_SPARE];

CLI; //Disable Interrupt

//PortInitialize();

InitPort(OUT, PDATA1, 0xe000); //Set Out(Port30,31:LED,Port29:485Direction)

InitPort(IN, PDATA1, 0x0004); //Set In(Port2:Push SW)

InitPort(NORMAL_USE, PDATA1, 0x00c0); //

RS485_RXD; //Set 485 Direction Select Port to 0

//UartInitialize();

outpw(SP0BAUD,5); //.2MBPS = 16MHz/16/5

outpw(SP1BAUD,17); //57600

outpw(SP0STS,0);

outpw(SP1STS,0);

//InterruptInitialize();

Major

Function

CPU dependent Initialize

34


SetInterrupt(INUM_SERIAL0,Serial0Interrupt,INT_ENABLE|INT_RX, 7/*Priority*/);

//Memory Initialize

gbRxBufferReadPointer = gbRxBufferWritePointer = 0;

STI; //Interrupt Enable

/*

*

* Example For Driving Dynamixel DX-116

*

*/

TxDString("\r\n\n Dynamixel Driving Sample Program");

//Set ID to 3

bpParameter[0] = ADDRESS_ID;

bpParameter[1] = 3;

bPacketLength = TxPacket(bpTxBuffer, BROADCASTING_ID, INST_WRITE, bpParameter, 2/*Length of Parameter*/);

bID = 3;

TxDString("\r\n ->[Dynamixel]: "); PrintBuffer(bpTxBuffer,bPacketLength);

bPacketLength = RxPacket(bpRxBuffer);

TxDString("\r\n <-[Dynamixel]: "); PrintBuffer(bpRxBuffer,bPacketLength);

//Set Motor Torque Enable

bpParameter[0] = ADDRESS_TORQUE_ENABLE;

bpParameter[1] = 1;

bPacketLength = TxPacket(bpTxBuffer, bID, INST_WRITE, bpParameter, 2/*Length of Parameter*/);




//Move to Position 0x0100 <-> 0x300

while(1)

{

bpParameter[0] = ADDRESS_GOAL_POSITION;

bpParameter[1] = 0x00; bpParameter[2] = 0x01;





MiliSec(1000);

bpParameter[0] = ADDRESS_GOAL_POSITION;

bpParameter[1] = 0x00; bpParameter[2] = 0x03;





MiliSec(1000);

}

}

//while(1); void static interrupt far Serial0Interrupt(void) //Serial RxD Interrupt routine

{

STI; //Enable Interrupt

gbpInterruptRxBuffer[gbRxBufferWritePointer++] = RXD_DATA0; //Reading Arrival Data

outpw(EOI, 0x14); //End of Interrupt

} byte RxPacket(byte *bpRxBuffer)

{

35


#define RX_TIMEOUT_COUNT2 10000L //10mSec

#define RX_TIMEOUT_COUNT1 (RX_TIMEOUT_COUNT2*10L) //1Sec

unsigned long ulCounter;

byte bCount;

ulCounter = 0;


{


{

return 0;

}

}

bCount = 0;

for(bCount = 0; bCount < 254; bCount++) //Maximum Data Length Limit : 255

{

ulCounter = 0;


{


{

return bCount;

}

}

bpRxBuffer[bCount] = gbpInterruptRxBuffer[gbRxBufferReadPointer++];

}

return bCount;

} byte TxPacket(byte *bpTxBuffer, byte bID, byte bInstruction, byte *bpParameter, byte bParameterLength)

{

byte bCount,bCheckSum,bPacketLength;

bpTxBuffer[0] = 0xff;

bpTxBuffer[1] = 0xff;

bpTxBuffer[2] = bID;

bpTxBuffer[3] = bParameterLength+2; //Length(Paramter,Instruction,Checksum)

bpTxBuffer[4] = bInstruction;

for(bCount = 0; bCount < bParameterLength; bCount++)

{

bpTxBuffer[bCount+5] = bpParameter[bCount];

}

bCheckSum = 0;

bPacketLength = bParameterLength+4+2;

for(bCount = 2; bCount < bPacketLength-1; bCount++) //except 0xff,checksum

{

bCheckSum += bpTxBuffer[bCount];

}

bpTxBuffer[bCount] = ~bCheckSum; //Writing Checksum with Bit Inversion

RS485_TXD; //Change 485 Direction to Transmission

Should wait until last data bit transmission is completed.

for(bCount = 0; bCount < bPacketLength; bCount++)

{

TxD80(bpTxBuffer[bCount]);

Note.:

Ready

‘Shift register empty’ is differ from ‘Tx

’. Tx Ready just means you can load the data to CPU UART TxD Register. There can be

}

while(!TXD_FINISH0); //Wait until TXD Shift register empty several Tx Buffering registers as what kind of

CPU

RS485_RXD;

return(bPacketLength);

} void PrintBuffer(byte *bpPrintBuffer, byte bLength)

{

byte bCount;

for(bCount = 0; bCount < bLength; bCount++)

36


{

TxD8Hex(bpPrintBuffer[bCount]);

TxD8(' ');

}

}

Result

Set ID to 3

Motor Torque Enable

0xFE is BROADCAST_ID, so Dynamixel does not return status packet.(First 2 Instruction Packet)

37


Connector

Female Connector

Male Connector

Company Name : Molex

Pin Number: 4

Male

Female

Molex Part Number

22-03-5045

50-37-5043

Temperature range : -40°C to +105°C

Old Part Number

5267-04

5264-04

Contact Insertion Force-max : 14.7N (3.30 lb)

Contact Retention Force-min : 14.7N (3.30 lb) www.molex.com or www.molex.co.jp for more detail information

Pin No.1

38


Dimension

Motor Curve(No reduction gear state)

39


Optional Frame Application Example

OF116H

OF116S

OF116B

Body to Body Mount

40


Full Option frame

The CM-2 Board

- A dedicated board designed for controlling Dynamixel actuators

- Available optional parts: Blue-tooth module, RS232 UART, and 6-button blue-tooth remote controller

- Can be directly mounted on a multi-degrees of freedom robot.

41


Dynamixel Application Example

42

CYCLOIDⅡ

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