User`s Manual

User’s Manual 2006-06-14

Closer to Real,

Sensor Module

A X-S1

DYNAMIXEL AX-S1

Contents

1. Summary

1-1. Overview and Characteristics of AX-S1 Page 2

2-2. Connector Assembly Page 5

Dynamixel Page

3-1. Communication Overview

3-2. Instruction Packet

Page 9

Page 10

4. Instruction Set and Examples

4-3. REG WRITE and ACTION Page 26

` 5. Example

Page 30

` Appendix

Page 36

1

DYNAMIXEL AX-S1

1. Dynamixel AX-S1

1-1. Overview and Characteristics of AX-S1

Dynamixel AX-S1 Dynamixel Sensor Module ‘AX-S1’ is a Smart Sensor Module that integrates the functions of sound sensor, infrared remote control receiver, infrared distance sensor, light sensor, buzzer, as well as the driver, control unit and network. Compact in size,

AX-S1 has various functions and it is made up of special materials that can withstand even the extreme external force. In addition, it can readily recognize subtle changes such as internal temperature, service voltage and other internal conditions and has built-in capability to resolve the situations at hand. Followings are the strengths of the

Dynamixel Sensor Module AX-S1.

Precision Control

Feedback

Capability to read sensor that has been detected through 1024 steps resolution

Feedback capabilities for the values of infrared distance sensor, light sensor, sound sensor.

Alarm System Alarm system that detects out of the range values of internal temperature, torque, service voltage were preset by users (Alarming)

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.

Frames Hinge and side mount frame are included as basics. AX-S1 is compatible with AX-12 frames 100%, making it possible to use in various ways. Be cautious as unlike AX-12,

Horn part of AX-S1 does not turn, so assemble frame in correct angle with the usage purpose in mind.

2

DYNAMIXEL AX-S1

Infra-red Sensor

It is embedded with three directions infrared sensor, making it possible to detect left/center/right distance angle as well as the light.

Remocon Sensor

It has built-in remote control sensor in center, making it possible to transmit and receive infrared data between sensor modules.

Internal Mic

It has built-in micro internal microphone, making it possible not only to detect current sound level and maximum loudness but also an ability to count the number of sounds, for instance, the numbers of handclapping

Buzzer

Built-in buzzer allows the playback of musical notes and other special note effects.

1-2. Main Specifications

Dynamixel

Networked Sensor Module AX-S1 for Robot Application

Weight 37g

Voltage 7V~10V (Recommended voltage: 9.6V)

Supply Current 40mA

Operate Temperature -5

℃

~ +85

℃

Command Signal

Protocol Type

Link (Physical)

ID

Digital Packet

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

TTL Level Multi Drop (daisy chain type Connector)

254 ID (0~253)

Communication Speed 7343bps ~ 1 Mbps

Feedback Infra-red Sensor, Internal Mic, Temperature, Input Voltage,

IR Remocon Tx/Rx Data, etc.

3

DYNAMIXEL AX-S1

2. Dynamixel Operation

2-1. Mechanical Assembly

Frames Provided

The two frames provided with AX-S1 are shown below.

OF-12SH

OF-12S

OF-12SH Installation The OF-12SH (hinge frame) can be installed on the AX-12 as the following.

Exploded view

Assembled

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

Exploded view

Exploded view

Assembled

Assembled

4

DYNAMIXEL AX-S1

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.

5

DYNAMIXEL AX-S1

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-S1 can be operated with only one connector attached.

Wiring

PIN1: GND

PIN2: VDD

PIN3: Data

PIN1: GND

PIN2: VDD

PIN3: Data

Connect the AX-2 actuators pin to pin as shown below. Many AX-S1 andAX-12 actuators can be controlled with a single bus in this manner.

Main Controller

Control Box “CM-5”

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

RS232

Level

Level

CM-5

PC Dynamixels

6

DYNAMIXEL AX-S1

Bioloid A robot can be built using only the CM-5 controller, a number of AX-12 actuators and

AX-S1. An edutainment robotic kit named “Bioloid” is available which is based on the

CM-5 controller, the AX-12 actuators and AX-S1

An example of a robot built with Bioloid

For details, please refer to the Bioloid manual.

Connection to UART To control the Dynamixel actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.

DIRECTION_PORT

5V

74HC126

10K

TXD

74HC126

DATA

DATA(PIN3)

RXD

9.6V

GND

VDD(PIN2)

GND(PIN1)

74HC04

CM-5 internal circuit (HALF DUPLEX UART)

The power is supplied to the Dynamixel actuator from the main controller through

Pin 1 and Pin 2 of the Molex3P connector. (The circuit shown above is presented only to explain the use of half duplex UART. The CM-5 controller already has the above circuitry built in, thus the Dynamixel actuators can be directly connected to it)

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

DIRECTION_PORT level as the following.

7

DYNAMIXEL AX-S1

• When the DIRECTION_PORT level is High: the signal TxD is output as Data

• When the DIRECTION_PORT level is Low: the signal Data is input as RxD

Half Duplex UART A multi-drop method of connecting multiple Dynamixel actuators to a single node is possible by using the half duplex UART. Thus a protocol that does not allow multiple transmissions at the same time should be maintained when controlling the Dynamixel actuators.

Main

Controller

[Multi Drop Link]

Caution

Please ensure that the pin assignments are correct when connecting the Dynamixel actuators. Check the current consumption when powering on. 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, then check the connector pin assignment and the voltage/current limit of the power supply.

8

DYNAMIXEL AX-S1

3. Communication Protocol

Unique ID

3-1. Communication Overview

Packet The main controller communicates with the Dynamixel units by sending and receiving data packets. There are two types of packets; the “Instruction Packet” (sent from the main controller to the Dynamixel actuators) and the “Status Packet” (sent from the

Dynamixel actuators to the main controller.)

Communication

Main

Controller

Instruction Packet

Status Packet

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

Instruction Packet(ID=N)

Main

Controller

ID=0 ID=1

Status Packet(ID=N)

ID=N

If multiple Dynamixel units have the same ID value, multiple packets sent simultaneously collide, resulting in communication problems. Thus, it is imperative that no Dynamixel units share the same ID in a network node.

Protocol The Dynamixel actuators communicate through asynchronous serial communication with 8 bit, 1 stop bit and no parity.

9

DYNAMIXEL AX-S1

3-2. Instruction Packet

The Instruction Packet is the packet sent by the main controller to the Dynamixel units to send commands. The structure of the Instruction Packet is as the following.

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

SUM

0XFF 0XFF

ID

The meanings of each packet byte definition are as the following.

The two 0XFF bytes indicate the start of an incoming packet.

The unique ID of a Dynamixel unit. There are 254 available ID values, ranging from

0X00 to 0XFD.

Broadcasting ID ID 0XFE is the Broadcasting ID which indicates all of the connected Dynamixel units.

Packets sent with this ID apply to all Dynamixel units on the network. Thus packets sent with a broadcasting ID will not return any status packets.

LENGTH

INSTRUCTION

PARAMETER0…N

CHECK SUM

The length of the packet where its value is “Number of parameters (N) + 2”

The instruction for the Dynamixel actuator to perform.

Used if there is additional information needed to be sent other than the instruction itself.

The computation method for the ‘Check Sum’ is as the following.

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

If the calculated value is larger than 255, the lower byte is defined as the checksum value.

~ represents the NOT logic operation.

10

DYNAMIXEL AX-S1

3-3. Status Packet(Return Packet)

The Status Packet is the response packet from the Dynamixel units to the Main

Controller after receiving an instruction packet. The structure of the status packet is as the following.

OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N

CHECK SUM

The meanings of each packet byte definition are as the following.

0XFF 0XFF

ID

LENGTH

ERROR

The two 0XFF bytes indicate the start of the packet.

The unique ID of the Dynamixel unit returning the packet.

The length of the packet where its value is “Number of parameters (N) + 2”

The byte representing ERROR sent from the Dynamixel unit. The meaning of each bit is as the following.

Bit

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Name

0

Instruction

Error

0

Checksum

Error

Range Error

Overheating

Error

Angle Limit

Error

Details

-

Set to 1 if an undefined instruction is sent or an action instruction is sent without a Reg_Write instruction.

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

Set to 1 if the instruction sent is out of the defined range

Set to 1 if the internal temperature of the Dynamixel unit is above the operating temperature range as defined in the control table.

Set as 1 if the Goal Position is set outside of the range between CW Angle Limit and CCW Angle Limit.

Input Voltage

Error

Set to 1 if the voltage is out of the operating voltage range as defined in the control table.

11

DYNAMIXEL AX-S1

PARAMETER0…N

CHECK SUM

Used if additional information is needed

The computation method for the ‘Check Sum’ is as the following.

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

If the calculated value is larger than 255, the lower byte is defined as the checksum value. ~ represents the NOT logic operation.

12

3-4. Control

Table

EEPROM

Area

RAM

Area

DYNAMIXEL AX-S1

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)

31(0X1F)

32(0X20)

33(0X21)

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)

14(0X0E)

15(0X0F)

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)

50[0x32)

51[0x33)

52[0x34)

53[0x35)

Item

Model Number(L)

Model Number(H)

Version of Firmware

ID

Baud Rate

Return Delay Time

(Reserved)

(Reserved)

(Reserved)

(Reserved)

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

(Reserved)

(Reserved)

Status Return Level

(Reserved)

(Reserved)

(Reserved)

Obstacle Detected Compare Value

Light Detected Compare Value

(Reserved)

(Reserved)

(Reserved)

(Reserved)

Left IR Sensor Data

Center IR Sensor Data

Right IR Sensor Data

Left Luminosity

Center Luminosity

Right Luminosity

Obstacle Detection Flag

Luminosity Detection Flag

(Reserved)

Sound Data

Sound Data Max Hold

Sound Detected Count

Sound Detected Time(L)

Sound Detected Time(H)

Buzzer Index

Buzzer Time

Present Voltage

Present Temperature

Registered Instruction

(Reserved)

IR Remocon Arrived

Lock

IR Remocon RX Data 0

IR Remocon RX Data 1

IR Remocon TX Data 0

IR Remocon TX Data 1

Obstacle Detected Compare

Light Detected Compare

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD

RD,WR

RD,WR

RD

RD

RD

RD

RD

RD

RD

RD

Access

RD

RD

RD

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

-

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

-

RD

RD,WR

RD

RD

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD,WR

RD

RD

?

0

?

?

?

?

?

?

?

?

2(0x02)

4(0x04)

4(0x04)

0(0x00)

32(0x20)

32(0x20)

32(0x20)

3(0x03)

0(0x00)

0(0x00)

Initial Value

13(0x0D)

0(0x00)

?

100(0x64)

1(0x01)

250(0xFA)

255(0xFF)

3(0x03)

255(0xFF)

3(0x03)

0(0x00)

100(0x64)

60(0X3C)

190(0xBE)

255(0XFF)

3(0x03)

0(0x00)

0(0x00)

0(0x00)

0(0x00)

?

?

?

?

?

?

?

?

?

?

?

?

?

?

13

DYNAMIXEL AX-S1

Control Table The Control Table contains information on the status and operation of the Dynamixel actuator. The Dynamixel actuator is operated by writing values to its control table and its status is checked by reading values off its control table.

RAM and EEPROM The data values for the RAM area will be set to the default initial values whenever the power is turned on. However, the data values for the EEPROM area are non-volatile and will still remain even after the power is turned off.

Initial Value The Initial Value column on the right side of the control table shows the Factory Default

Values for the case of EEPROM area data, and shows the initial value when the power is turned on for the case of RAM area data.

The following explains the meaning of data stored in each of the addresses in the control table.

Address 0x00,0x01 Model Number. For AX-S1, the value is 0X000D(13).

Address 0x02 Firmware Version.

Address 0x03 ID. The unique ID number assigned to each Dynamixel actuators for identifying them.

Different IDs are required for each Dynamixel actuators that are on the same network.

Address 0x04 Baud Rate. Determines the communication speed. The computation is done by the following formula.

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

Data Value for each Major Baud Rate

Address4

1

3

4

7

9

16

34

103

207

Set BPS

1000000.0

500000.0

400000.0

250000.0

200000.0

117647.1

57142.9

19230.8

9615.4

Goal 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 tolerance of UART communication.

14

DYNAMIXEL AX-S1

Address 0x05

Address 0X10

Return Delay Time. The time it takes for the Status Packet to return after the Instruction

Packet is sent. The delay time is given by 2uSec * Address5 value.

Address 0x0B the Highest Limit Temperature. The upper limit of the Dynamixel actuator’s operating temperature. If the internal temperature of the Dynamixel actuator gets higher than this value, the Over Heating Error Bit (Bit 2 of the Status Packet) will return the value 1, and an alarm will be set by Address 17, 18. The values are in Degrees Celsius

Address 0x0C,0x0D the Lowest (Highest) Limit Voltage. The upper and lower limits of the Dynamixel actuator’s operating voltage. If the present voltage (Address 42) is out of the specified range, a Voltage Range Error Bit (Bit 0 of the Status Packet) will return the value 1, and an alarm will be set by Address 17, 18. The values are 10 times the actual voltage value. For example, if the Address 12 value is 80, then the lower voltage limit is set to

8V.

Status Return Level. Determines whether the Dynamixel actuator will return a Status

Packet after receiving an Instruction Packet.

Address16

0

1

2

Returning the Status Packet

Do not respond to any instructions

Respond only to READ_DATA instructions

Respond to all instructions

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

Address 0x14

Obstacle Detected Compare Value Dynamixel Sensor Module sets the standard value for the object detection that is in the direct line of object sensor parameter. If the infrared sensor value is greater than a standard value, as it indicates an obstacle within the set distance, the bit is set to a value of “1” in corresponding to sensor of IR Obstacle

Detected, Address 0x20, and conversely, when the sensor value is lower than a standard value, it is set to “0.”

15

DYNAMIXEL AX-S1

The Obstacle Detected Compare Value is allocated in the ROM (Address 0x14) and

RAM (Address 0x34) and when the power switched on, the value of EEPROM is copied to RAM.

Address 0x15

Light Detected Compare Value Dynamixel Sensor Module sets the standard value for the light detection that is in the direct line of infrared sensor parameter. If the light sensor value is greater than a standard value, as it indicates a light that is brighter than set light parameter, the bit is set to a value of “1” in corresponding to sensor of Light Detected, and conversely, it is set to “0” when it is lower than a standard value.

The Light Detected Compare Value is allocated in the ROM (Address 0x15) and RAM

(Address 0x35) and when the power switched on, the value of EEPROM is copied to

RAM.

Subsequent Address 0x18 is in RAM domain.

Address 0x1A~0x1C Infrared Sensor Data (Left/Center/Right) It is the infrared sensor value of the

Dynamixel Sensor Module for measuring distance. The infrared sensor of AX-S1 emits high frequency Infrared and the emitted ray bounces off an object or wall to return to the

IR sensor. The Infrared receiver of AX-S1 measures amount of infrared returned. High value will be acquired when an object or wall is near the sensor. Measured value ranges from 0~255. Only 255 will be acquired until a certain distance. Due to the innate properties of infrared measurement method, value of reflected Infrared ray amount might differ depending on the color of an object or surface texture.

Address 0x1D~0x1F

Luminosity (Left/Center/Right) It is the light sensor value of the Dynamixel Sensor

Module. The technological concept is similar to the infrared sensor. However, this sensor only measures amount of infrared ray emitted from source of illumination. Therefore, light sensor value can be measured from illuminations, such as incandescent bulb, emitting large amount of infrared. Lighter or candle light can be measured from short distance as well. Measured value ranges from 0~255.

16

DYNAMIXEL AX-S1

Address 0x20

Address 0x21

Obstacle Detection Flag When the value of infrared distance sensor becomes larger than the Obstacle Detected Compare Value, the AX-S1 recognizes existence of an object and sets object detection bit to 1. Refer to the below table for bit representation of each sensor.

Bit Representation

Bit 2 An object is detected on the Right Sensor /Light

Detected

Bit 1

Bit 0

An object is detected on the Center Sensor /Light

Detected

An object is detected on the Left Sensor /Light

Detected

Luminosity Detection Flag When the value of light sensor becomes larger than the light detected compare value, the AX-S1 recognizes existence of source of illumination and sets luminosity detection flag bit to 1. Bit representation of each sensor is the same with bit representation of object detection flag setting. (Refer to Address 0x20)

Address 0x23

Sound Data It represents intensity of sound waves detected through the microphone of

AX-S1. As shown in the illustration below, the magnitude of sound wave fluctuates.

Value measured during noiseless state is around 127~128 (0x7F~0x80) and value ranging from 0 to 255 (0xFF) will be measured for noisy state. Sound wave will be measured at the frequency of 3800 input per second.

Sound level

Time

17

DYNAMIXEL AX-S1

Address 0x24

Sound Data Max Hold AX-S1 has put aside a value for loudest sound. That is, when the present sound data exceeds the Sound Data Max Hold value, the present sound data will be copied as the Sound Data Max Hold.

Therefore, sound data less than 128 will be ignored and loudest sound intensity will be updated. Below illustration explains the details.

Sound level

Sound Data Max Hold

Time

Be cautious as the Sound Data Max Hold is 255 (0xFF) and there is no value that can represent intensity of loudness greater than the optimal loudness, and thus, 255 (0xFF) will be maintained as the Sound Data Max Hold.

Therefore, value of the Sound Data Max Hold sho uld be set at “0” for measuring the value of maximum loudness,

A ddress 0x25 Sound Detected Count

AX-S1 has a counter that counts occurrence of loud sound

18

DYNAMIXEL AX-S1 exceeding standard level. As an example, number of handclap can be counted by using this.

Howe ver, the counter will not count for next 80msec after counting once to prevent a single handclap to be recognized as multiple claps. 800msec after the last count, the value of sound detection frequency counter will be saved.

Timeline of sound detection frequency will be counted interna lly and then the value of sound detection frequency will be saved after 800msec. After saving, the sound detection frequency value will reset to 0. Below illustration explains the details.

Clap Clap Clap Clap

800msec 800msec

Sound Detected Count : 0 0 1 1 1 2 2

Internal count : 0 1 0 1 2 0 1

A ddress 0x26, 0x27 Sound Detected Time

Anytime Sensor Module AX-S1 counts of sound detection, it saves the time of sound occurrences. This function exists to detect the direction of sound, and thus, it needs at least two AX-S1s; and by using speed of sound (around

343m/sec in 20℃) it uses the time differences of sound arrival in microphone of two AX-

S1s.

Sound Detected Time is internally counted (counts 0~65535 repeatedly) and anytime

Sound Detected Count is increased, it saves the counted value. Therefore, by placing the two AX-S1s in appropriate distance, and by simultaneously using broadcasting command and initializing to 0 value, the time differenced sound occurs corresponding to sound direction.

If the placement is face to face, the time differences will be almost simultaneous,

19

DYNAMIXEL AX-S1 however, for the placement that has been set in side angle, the time differences will be influenced by the distances of AX-S1s .

With this concept, it can estimate the direction of the sound. Below are detailed illustrations.

Sound source Sound source

Time difference as much as distance

AX-S1 AX-S1

(1) Sound from angle (2) Sound from front

It counts completely every 4.096msec and it recounts again from 0. Therefore, in calculating the sound of speed, for every count, sound moves 0.02mm and two AX-S1’s distance must be within 70cm.

For example, when two AX-S1s is 10cm apart, by using above method estimation, two

AX-S1s’ sound detected time difference can be maximum of 5,000. (If it is 5,000, it signifies that sound source is completely from the 90 angle or from the right side.)

A

ddress 0x28

Buzzer index

Buzzer Inde

x All AX-S1 has built-in buzzer and thus, can playback the simple notes.

Buzzer can play up to 52 notes and as it has whole and semitone in each octave, it can playback various melody sounds. The buzzer index value is assigned as follows.

Melody notes

Buzzer index

Melody notes

Buzzer index

Melody notes

Buzzer index

Me lody notes

3

4

5

6

0

1

2

7

8

9 la la# si do do# re re# mi fa fa#

13

14

15

16

17

18

19

20

21

22 la# si do do# re re# mi fa fa# sol

26

27

28

29

30

31

32

33

34

35 si do do# re re# mi fa fa# sol s ol#

39

40

41

42

43

44

45

46

47

48 do do# re re# mi fa fa# sol s ol# la

20

DYNAMIXEL AX-S1

Address 0x29

10

11

12 sol sol# la

23

24

25 sol# la la#

36

37

38 la la# si

49

50

51 la# si do

Buzze r Ti me

AXS1 h as a c apabil ity tha t con trols the tim e interv al o f buzze r soun d.

Controllable within 0.1 second unit, the minimum length of time is 0.3 second and the maximum length of time is 5.0 seconds. That is, if user inputs the value of 0~3, the buzzer goes off in 0.3 second, whereas, if the input value is 50 or above, it goes off in 5 second. When the buzzer sound completes, the value automatically initializes back to 0.

There are two special features of AX-S1 buzzer time.

First is the function that sets the buzzer to sound cons tantly. If user inputs value of 254 on buzzer time and input the melody note number on buzzer index, the buzzer sounds the note constantly. To stop the buzzer, input 0 on buzzer time.

The second function plays back the special notes. If user inputs valu e of 255 on buzzer time and value between 0~26 on buzzer index, 27 various melodies is replayed corresponding to each number. When the melody playback is finished, the value automatically initializes back to 0.

A ddress 0x2A Present Voltage

. Currently authorized voltage of Dynamixel AX-S1. It reality, it is multiple of 10 of actual voltage. That is, if 10V, it is read as 100(0x64).

A ddress 0x2B

A ddress 0x2C

Present Temperature

. Inner Celsius temperature of Dynamixel AX-S1

Registered Instruction

. If it is registered by the command of REG_WRITE, it is set to 1, and if it is registered by Action command, it is changed to 0 after command is completed .

A ddress 0x2E

I

IR Remocon Arrived

AX-S1 Sensor Module has infrared sensor module built-in in center and thus, it allows infrared remocon communication between AX-S1’s. 2 byte transmission is possible.

Be cautious, however, as the infrared emitter is built into left/center/right, it can transmit infrared remocon in all directions, but, as infrared remocon sensor is built in only in center, its remocon data transmission is limited to certain angle.

When Infrared remocon data is received by sensor, IR Remocon Arrived value changes to 2, signaling 2 byte transmission. If you read IR Remocon RX data, the IR Remocon

21

DYNAMIXEL AX-S1 and automatically initializes back to 0.

A ddress 0x2F Lock.

If the setting is set to 1, it can only write in range from Address 0X18 to

Address0x23 and writing to other ranges is forbidden. Once it is locked, it can be unlocked only after power off. (power down)

A ddress 0x30,0x31 IR Remocon RX Data

Address where data from infrared remocon sensor is saved. It reads the value and the IR Remocon Arrived value automatically initializes back to 0.

A ddress 0x32,0x33 IR Remocon TX Data

Address where remocon data that will be transmitted via infrared emitter is written to. Upon writing of 2 byte value, remocon data is immediately transmitted.

A ddress 0x34 Obstacle Detected Compare Value

Control Table RAM Range where obstacle detected compare value of Address 0x14 is saved.

The IR sensors of AX-S1 emit powerful i nfrared rays to detect an object at a long distance. It is impossible to detect an object in a short distance around 5cm since

it always has maximum value in short distance

To prevent this, AX-S1 support low sensitive mod e to detect precise value in a short distance. If the Obstacle Detected Compare Value is 0, it converts to low sensitive mode.

The low sensitive mode has very weak long-distance sensing capability but it is possible to detect precise and sensitive short-distance detection not to saturate maximum value.

A ddress 0x35 Light Detected Compare Value

Control Table RAM Range where light detected compare value of Address 0x15 is saved

22

DYNAMIXEL AX-S1 write command will return Error. Below table indicates the length for writing and its range.

16 bit data is indicated (L) and (H) and as 2 byte. This 2 byte must be written as one in instruction packet.

Write

Address

3(0X03)

4(0X04)

5(0X05)

11(0X0B)

12(0X0C)

13(0X0D)

16(0X10)

17(0X11)

18(0X12)

19(0X13)

20(0X14)

21(0X15)

36(0X24)

37(0X25)

38(0X26)

40(0X28)

41(0X29)

44(0X2C)

47(0X2F)

50(0X32)

Writing Item

ID

Baud Rate

Return Delay Time the Highest Limit Temperature the Lowest Limit Voltage the Highest Limit Voltage

Status Return Level

Alarm LED

Alarm Shutdown

(Reserved)

Obstacle Detected Compare

Light Detected Compare

Sound Data Max Hold

Sound Detected Count

Sound Detected Time

Buzzer Index

Buzzer Time

Registered Instruction

Lock

IR Remocon TX Data

Length

(bytes)

1

1

1

1

2

1

1

1

1

1

1

2

1

1

1

1

1

1

1

1

Min

0

0

0

0

0

0

0

0

0

0

0

0

50(0x32)

50(0x32)

0

0

0

0

1

0

Max

253(0xfd)

254(0xfe)

254(0xfe)

150(0x96)

250(0xfa)

250(0xfa)

2

127(0x7f)

127(0x7f)

1

255(0xff)

255(0xff)

255(0xff)

255(0xff)

65535(0xffff)

255(0xff)

255(0xff)

1

1

65535(0xffff)

[Control Table Data Range and Length for Writing]

23

DYNAMIXEL AX-S1

4. Instruction Set and Examples

The following Instructions are available.

Function

Length

Instruction

Parameter1

Parameter2

Parameter3

Parameter N+1

Instruction Function

PING No action. Used for obtaining a Status Packet

READ DATA Reading values in the Control Table

WRITE DATA Writing values to the Control Table

REG WRITE

ACTION

RESET

4-1. WRITE_DATA

SYNC WRITE

Similar to WRITE_DATA, but stays in standby mode until the ACION instruction is given

Triggers the action registered by the

REG_WRITE instruction

Changes the control table values of the

Dynamixel actuator to the Factory Default Value settings

Used for controlling many Dynamixel actuators at the same time

To write data into the control table of the Dynamixel actuator

N+3 (N is the number of data to be written)

0X03

Starting address of the location where the data is to be written

1st data to be written

2nd data to be written

Nth data to be written

Value

Number of

Parameter

0x01

0x02

0x03

0x04

0x05

0x06

0x83

0

2

2 ~

2 ~

0

0

4~

24

DYNAMIXEL AX-S1

Example 1

Setting the ID of a connected Dynamixel actuator to 1

Example 2

Write 1 to address 3 of the control table. The ID is transmitted using the Broadcasting ID

(0xFE).

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

ID LENGTH INSTRUCTION PARAMETERS CHECKSUM

Function

Length

Instruction

Parameter1

Parameter2

Because it was transmitted with a Broadcast ID (0XFE), no status packets are returned.

4-2. READ_DATA

Read data from the control table of a Dynamixel actuator

0X04

0X02

Starting address of the location where the data is to be read

Length of the data to be read

Reading the internal temperature of the Dynamixel actuator with an ID of 1

Read 1 byte from address 0x2B 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 the following.

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

ID LENGTH ERROR PARAMETER1 CHECKSUM

The data read is 0x20. Thus the current internal temperature of the Dynamixel actuator is approximately 32°C (0X20).

25

DYNAMIXEL AX-S1

4-3. REG_WRITE과 ACTION

4-3-1. REG_WRITE

Function The 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 stored in the Buffer and the Write instruction is under a standby status. At this time, the

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

Packet is received, the registered Write instruction is finally executed.

Length

Instruction

N+3 (N is the number of data to be written)

0X04


1st data to be written

2nd data to be written

Nth data to be written

Parameter1

Parameter2

Parameter3

Parameter N+1

4-3-2. ACTION

Function

Length

Instruction

Parameter

Triggers the action registered by the REG_WRITE instruction

0X02

0X05

NONE

The ACTION instruction is useful when multiple Dynamixel actuators need to move simultaneously. When controlling multiple Dynamixel actuator units, slight time delays can occur between the 1st and last units to receive an instruction. The Dynamixel actuator handles this problem by using the ACTION instruction.

Broadcasting The Broadcast ID (0XFE) is used when sending ACTION instructions to more than two

Dynamixel actuators. Note that no packets are returned by this operation.

26

DYNAMIXEL AX-S1

4-4. PING

Function Does not command any operations. Used for requesting a status packet or to check the existence of a Dynamixel actuator with a specific ID.

Length

0X02

Instruction 0X01

NONE

Parameter

Example 3 Obtaining the status packet of the Dynamixel actuator with an ID of 1

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

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as the following

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

ID LENGTH ERROR CHECKSUM

Regardless of whether the Broadcasting ID is used or the Status Return Level (Address

16) is 0, a Status Packet is always returned by the PING instruction.

4-5. RESET

Function

Length

Instruction

Parameter

Changes the control table values of the Dynamixel actuator to the Factory Default Value settings

0X02

0X06

NONE

27

DYNAMIXEL AX-S1

Resetting the Dynamixel actuator with an ID of 0

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

ID LENGTH INSTRUCTION CHECKSUM

The returned Status Packet is as the following

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

ID LENGTH ERROR CHECKSUM

Note the ID of this Dynamixel actuator is now changed to 1 after the RESET instruction

4-6. SYNC WRITE

Function Used for controlling many Dynamixel actuators at the same time. The communication time decreases by the Synch Write instruction since many instructions can be transmitted by a single instruction. However, you can use this instruction only when the lengths and addresses of the control table to be written to are the same. Also, the broadcasting ID needs to be used for transmitting.

ID

Length

Instruction

Parameter1

Parameter2

0XFE

(L + 1) * N + 4 (L: Data length for each Dynamixel actuator, N: The number of Dynamixel actuators)

0X83


The length of the data to be written (L)

Parameter3

Parameter4

Parameter5

…

Parameter L+3

Parameter L+4

The ID of the 1st Dynamixel actuator

The 1st data for the 1st Dynamixel actuator

The 2nd data for the 1st Dynamixel actuator

The Lth data for the 1st Dynamixel actuator

The ID of the 2nd Dynamixel actuator

Parameter L+5 The 1st data for the 2nd Dynamixel actuator

Parameter L+6

The 2nd data for the 2nd Dynamixel actuator

…

Parameter 2L+4 The Lth data for the 2nd Dynamixel actuator

Data for the 1st Dynamixel actuator

Data for the 2nd Dynamixel actuator

28

DYNAMIXEL AX-S1

Example 5 Setting the following positions and velocities for 4 Dynamixel actuators

Dynamixel actuator with an ID of 0: to position 0X010 with a speed of 0X150




Instruction Packet : 0XFF 0XFF 0XFE 0X18 0X83 0X1E 0X04 0X00 0X10 0X00 0X50

0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80

0X03 0X12

No status packets are returned since the Broadcasting ID was used.

29

DYNAMIXEL AX-S1

5. Example

We will give an example of Dynamixel AX-S1 with following setup parameter. Reset state ID=100, Baudrate = 1MBPS

.

Example 6 Dynamixel AX-S1 that has ID 100 reads the Model Number and Firmware Version

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

Communication ->[Dynamixel]:FF FF 64 04 02 00 03 95 (LEN:008)

<-[Dynamixel]:FF FF 64 05 00 0D 00 12 77 (LEN:009)

Status Packet Result Model Number = 13(0x0D)(in case of AX-S1) Firmware Version = 0x12

Example 7 Dynamixel AX-S1 that has ID 100 changes ID to 0.

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


<-[Dynamixel]:FF FF 64 02 00 99 (LEN:006)

Example 8 Change the Baud Rate of Dynamixel to 57600 bps.


Communication ->[Dynamixel]:FF FF 64 04 03 04 22 6E (LEN:008)


30

DYNAMIXEL AX-S1

Example 9 Dynamixel that has ID 100 resets the Return Delay Time to 4uSec

Return Delay Time Value of 1 is applicable to 2uSec.


Communication ->[Dynamixel]:FF FF 64 04 03 05 02 8D (LEN:008)


It is good idea to set the Return Delay Time to minimum value within allowable range in the main controller.

Example 10 Dynamixel that has ID 100 resets the distance sensor standard value to 60.

Instruction Packet Instruction = WRITE_DATA, Address = 0x34, DATA = 0x3C

Communication ->[Dynamixel]:FF FF 64 04 03 34 3C 24 (LEN:008)


Example 11 Dynamixel that has ID 100 resets the maximum value of temperature to 80°

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

Communication ->[Dynamixel]:FF FF 64 04 03 0B 50 39 (LEN:008)


Example 12 Dynamixel that has ID 100 sets the voltage to 10V ~ 17V.

10V is represented by 100 (0x64), and 17V by 170 (0xAA).

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

Communication ->[Dynamixel]:FF FF 64 05 03 0C 64 AA 79 (LEN:009)


31

DYNAMIXEL AX-S1

Example 13 Dynamixel that has ID 100 changes the light sensor standard value to 10..

Instruction Packet Instruction = WRITE_DATA, Address = 0x35, DATA = 0x0A

Communication ->[Dynamixel]:FF FF 64 04 03 35 0A 55 (LEN:08)


Example 14

Dynamixel that has ID 100 sets the parameter so that status packet is never returned.




Status packet is not returned from next instruction.

Example 15 Dynamixel AX-S1 that has ID100 reads the right distance sensor value

Instruction Packet Instruction = READ_DATA, Address = 0x1C, DATA = 0x01

Communication

->[Dynamixel]:FF FF 64 04 02 1C 01 78 (LEN:008)

<-[Dynamixel]:FF FF 64 03 00 21 77 (LEN:007)

The right distance sensor value is 0x21

32

DYNAMIXEL AX-S1

Example 16 Dynamixel AX-S1 that has ID 100 reads the center light sensor value

Instruction Packet Instruction = READ_DATA, Address = 0x1E, DATA = 0x01

Communication

->[Dynamixel]:FF FF 64 04 02 1E 01 76 (LEN:008)


The center light sensor value is 0x00

Example 17

Dynamixel AX-S1 that has ID 100 reads the sound loudness

Instruction Packet Instruction = READ_DATA, Address = 0x23, DATA = 0x01

Communication

->[Dynamixel]:FF FF 64 04 02 23 01 71 (LEN:08)

<-[Dynamixel]:FF FF 64 03 00 7E 1A (LEN:007)

The sound loudness value is 0x7E (126)

Example 18 Dynamixel AX-S1 that has ID 100 reads the numbers of sound detect frequency

Instruction Packet Instruction = READ_DATA, Address = 0x25, DATA = 0x01

Communication

->[Dynamixel]:FF FF 64 04 02 25 01 6F (LEN:008)


The number of sound detect frequency is 2.

Example 19 Dynamixel AX-S1 that has ID 100 playbacks special melody 5 times through buzzer

.

Case 1.

After writing 0xFF(255) on buzzer sound interval, it writes No. 5 on buzzer note melody.

Instruction Packet ID=100, Instruction = WRITE_DATA, Address = 0x29, DATA = 0xFF

33

DYNAMIXEL AX-S1

Communication

ID=100, Instruction = WRITE_DATA, Address = 0x28, DATA = 0x05

->[Dynamixel]:FF FF 64 04 03 29 FF 6C (LEN:008)


->[Dynamixel]:FF FF 64 04 03 28 05 67 (LEN:008)


Case 2.

Writes buzzer note and buzzer sound interval simultaneously

Instruction Packet ID=100, Instruction = WRITE_DATA, Address = 0x28, DATA = 0x05, 0xFF

Communication

->[Dynamixel]:FF FF 64 05 03 28 05 FF 67 (LEN:009)


Example 20 Dynamixel that has ID 0 sets the parameter so that it cannot write anywhere except in

Address0x18 ~ Address0x23

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

Communication

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

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

Once locked, the only way to unlock it is to remove the power.

If an attempt is made to access any locked data, an error is returned.

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

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

Range Error

34

DYNAMIXEL AX-S1

Example 21 Dynamixel that has ID 0 sets the minimum output value (punch) to 0x40

Instruction Packet Instruction = WRITE_DATA, Address = 0x30, DATA = 0x40, 0x00

Communication

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

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

35

DYNAMIXEL AX-S1

Appendix

Half duplex UART

Half duplex UART is a serial communication protocol where both TxD and RxD cannot be used at the same time. This method is generally used when many devices need to be connected to a single bus. Since more than one device are connected to the same bus, all the other devices need to be in input mode while one device is transmitting. The

Main Controller that controllers the Dynamixel actuators sets the communication direction to input mode, and only when it is transmitting an Instruction Packet, it changes the direction to output mode.

RS485 Direction Output Duration

Return Delay Time

Tx,Rx Direction

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 Direction Port to input mode during the Return Delay Time after sending an instruction packet.

For Half Duplex UART, the transmission ending timing is important to change the direction to receiving mode. 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

}

36

DYNAMIXEL AX-S1

LINE 1

LINE 2

LINE 3

LINE 4

LINE 5

LINE 6

LINE 7

LINE 8

LINE 9

LINE 10

LINE 11

LINE 12

When changing the direction, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked.

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

DIRECTION_PORT = 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

DIRECTION_PORT = RX_DIRECTION; //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.

37

DYNAMIXEL AX-S1

C Language Example : Dinamixel access with Atmega128

/*

* The Example of Dynamixel Evaluation with Atmega128

* Date : 2005.5.11

* Author : BS KIM

*/

/*

* included files

*/

#define ENABLE_BIT_DEFINITIONS

//#include <io.h>

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/signal.h>

#define cbi(REG8,BITNUM) REG8 &= ~(_BV(BITNUM))

#define sbi(REG8,BITNUM) REG8 |= _BV(BITNUM) 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

////// For CM-5

#define RS485_TXD PORTE &= ~_BV(PE3),PORTE |= _BV(PE2)

//PORT_485_DIRECTION = 1

#define RS485_RXD PORTE &= ~_BV(PE2),PORTE |= _BV(PE3)

//PORT_485_DIRECTION = 0

/*

////// For CM-2

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

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

*/

//#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 BIT_RS485_DIRECTION0 0x08 //Port E

#define BIT_RS485_DIRECTION1 0x04 //Port E

#define BIT_ZIGBEE_RESET PD4 //out : default 1 //PORTD

#define BIT_ENABLE_RXD_LINK_PC PD5 //out : default 1

#define BIT_ENABLE_RXD_LINK_ZIGBEE PD6 //out : default 0

#define BIT_LINK_PLUGIN PD7 //in, no pull up 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 --- 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.

SerialInitialize(SERIAL_PORT0,1,RX_INTERRUPT);//RS485

Initializing(RxInterrupt)

SerialInitialize(SERIAL_PORT1,DEFAULT_BAUD_RATE,0); //RS232

38

DYNAMIXEL AX-S1

Initializing(None Interrupt)

gbRxBufferReadPointer = gbRxBufferWritePointer = 0; //RS485 RxBuffer

Clearing.

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);

bRxPacketLength =

RxPacket(DEFAULT_RETURN_PACKET_SIZE+gbpP arameter[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 Continue.");

RxD8();

gbpParameter[0] = 0; //Reading Address

gbpParameter[1] = 49; //Read Length

bTxPacketLength = TxPacket(bID,INST_READ,2);

bRxPacketLength =

RxPacket(DEFAULT_RETURN_PACKET_SIZE+gbpP arameter[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


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);

} 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

DDRE |= (BIT_RS485_DIRECTION0|BIT_RS485_DIRECTION1); //set output the bit RS485direction

DDRD |=

(BIT_ZIGBEE_RESET|BIT_ENABLE_RXD_LINK_PC|

BIT_ENABLE_RXD_LINK_ZIGBEE);

PORTD &= ~_BV(BIT_LINK_PLUGIN); // no pull up

PORTD |= _BV(BIT_ZIGBEE_RESET);

PORTD |= _BV(BIT_ENABLE_RXD_LINK_PC);

PORTD |= _BV(BIT_ENABLE_RXD_LINK_ZIGBEE);

}

/*

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] = bParameterLength+2;

//Length(Paramter,Instruction,Checksum)

39

DYNAMIXEL AX-S1

gbpTxBuffer[4] = bInstruction;

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);

}

/*

RxPacket() read data from buffer.

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

RxPacket() return Length of Return Packet.

*/ byte RxPacket(byte bRxPacketLength)

{

#define RX_TIMEOUT_COUNT2 3000L

#define RX_TIMEOUT_COUNT1 (RX_TIMEOUT_COUNT2*10L)

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(')');

}

/*

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 bit_is_set(UCSR1A,5)

//(UCSR1A_Bit5)

#define TXD1_DATA (UDR1)

#define RXD1_READY

#define RXD1_DATA bit_is_set(UCSR1A,7)

(UDR1)

#define TXD0_READY

#define TXD0_DATA

#define RXD0_READY

#define RXD0_DATA

/* bit_is_set(UCSR0A,5)

(UDR0) bit_is_set(UCSR0A,7)

(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';

40

DYNAMIXEL AX-S1

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 UART1.

RxD81() return Read data.

*/ byte RxD81(void)

{

while(!RXD1_READY);

return(RXD1_DATA);

}

/*

SIGNAL() UART0 Rx Interrupt - write data to buffer

*/

SIGNAL (SIG_UART0_RECV)

{

gbpRxInterruptBuffer[(gbRxBufferWritePointer++)] = RXD0_DATA;

}

41

DYNAMIXEL AX-S1

Connector

Female Connector

Male Connector

Company Name : Molex

Pin Number: 3

Male

F emale

Molex Part Number Old Part Number

22-03-5045 5267-03

50 -37-5043 5264-03

Temperature range : -40°C to +105°C

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

42

DYNAMIXEL AX-S1

Dimension

CM-5

Dedicated AX-12, AX-S1 control box. Able to control 30 AX-12 actuators, 10 AX-S1.

6 push buttons (5 for selection, 1 for reset)

Optional installable wireless devices available

Battery compartment (AA x 8) with recharging capability (when connected to an external

SMPS)

CM-5

43

User`s Manual

Contents

1. Summary

4. Instruction Set and Examples

` 5. Example

` Appendix

1. Dynamixel AX-S1

1-1. Overview and Characteristics of AX-S1

1-2. Main Specifications

2. Dynamixel Operation

2-1. Mechanical Assembly

2-2. Connector Assembly

2-3. Dynamixel Wiring

CM-5 internal circuit (HALF DUPLEX UART)

Main

Controller

3. Communication Protocol

3-1. Communication Overview

Main

Controller

Main

Controller

3-2. Instruction Packet

3-3. Status Packet(Return Packet)

3-4. Control

Table

Address16

4. Instruction Set and Examples

4-1. WRITE_DATA

4-2. READ_DATA

4-3. REG_WRITE과 ACTION

4-3-1. REG_WRITE

4-3-2. ACTION

4-4. PING

4-5. RESET

4-6. SYNC WRITE

5. Example

Appendix

CM-5

Related manuals

User`s Manual

Contents

1. Summary

4. Instruction Set and Examples

` 5. Example

` Appendix

1. Dynamixel AX-S1

1-1. Overview and Characteristics of AX-S1

1-2. Main Specifications

2. Dynamixel Operation

2-1. Mechanical Assembly

2-2. Connector Assembly

2-3. Dynamixel Wiring

CM-5 internal circuit (HALF DUPLEX UART)

Main

Controller

3. Communication Protocol

3-1. Communication Overview

Main

Controller

Main

Controller

3-2. Instruction Packet

3-3. Status Packet(Return Packet)

3-4. Control

Table

Address16

4. Instruction Set and Examples

4-1. WRITE_DATA

4-2. READ_DATA

4-3. REG_WRITE과 ACTION

4-3-1. REG_WRITE

4-3-2. ACTION

4-4. PING

4-5. RESET

4-6. SYNC WRITE

5. Example

Appendix

CM-5

Related manuals

Axis Communications

Dynamixel AX-12

Robotis

Dynamixel RX-28

Robotis

Dynamixel RX-64

Robotis

DX-113

Robotis

Dynamixel DX-116

Robotis

Dynamixel RX-64