AMS XM540-W270-T/R User manual

XM540-W270-T/R
Specifications
Item
Specifications
MCU
ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32Bit)
Position Sensor
Contactless absolute encoder (12Bit, 360°)
Maker : ams(www.ams.com), Part No : AS5045
Motor
Coreless Motor
Baud Rate
9600 bps ~ 4.5 Mbps
Control Algorithm
PID control
Degree of
Precision
0.088°
Operating Modes
Current Control Mode
Velocity Control Mode
Position Control Mode (0°~ 360°)
Extended Position Control Mode
Current-based Position Control Mode
PWM Control Mode (Voltage Control Mode)
Weight
165g
Dimensions (W x H
x D)
33.5mm x 58.5mm x 44mm
Gear Ratio
272.5 : 1
Stall Torque
10.0N.m @ 11.1V, 4.2A
10.6Nm @ 12.0V, 4.4A
12.9Nm @ 14.8V, 5.5A
智能佳机器人

Item
Specifications
No Load Speed
28rpm @ 11.1V
30rpm @ 12.0V
37rpm @ 14.8V
Operating
Temperature
-5°C ~ +80°C
Input Voltage
10.0 ~ 14.8V (Recommended : 12.0V)
Standby Current
40mA
Command Signal
Digital Packet
Protocol Type
XM540-W270-T: Half Duplex Asynchronous Serial
Communication
XM540-W270-R: RS485 Asynchronous Serial
Communication
(8bit, 1stop, No Parity)
Physical
Connection
XM540-W270-T: TTL Level Multidrop BUS
XM540-W270-R: RS485 Multidrop BUS
ID
0 ~ 252
Feedback
Position, Velocity, Current, Realtime tick, Trajectory,
Temperature, Input Voltage, etc
Part Material
Full Metal Gear
Metal(Front, Middle), Engineering Plastic(Back)
DANGER
(May cause serious injury or death)
Never place items containing water, flammables, and solvents near product.
Never place fingers, arms, toes, and other body parts near product during
operation.
Cut power off if product emits strange odors or smoke.
Keep product out of reach of children.
Check the power polarity before wiring.
CAUTION
(May cause injury or damage to product)
Do not operate product at temperature below 5 degrees or above 55 degrees.
智能佳机器人

Do not insert sharp blades nor pins during product operation.
ATTENTION
(May cause injury or damage to product)
Do not disassemble or modify product.
Do not drop or apply strong shock to product.
Performance Graph
NOTE : The max torque measurement method for the Stall Torque and
Performance Graph is different. Stall torque is measured from the max torque
that it can reach. This is generally how RC servos measure their torque. For
the Performance graph with the N-T curves, it is measured with the load
gradually increasing. The motor operation environment is closer to the
performance graph, not stall torque method. This is probably why the
performance graph is being broadly used in the industrial market. This is why
the max torque of the performance grap can actually be less than the stall
torque.
CAUTION : When supplying power
It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL.
Do not connect or disconnect DYNAMIXEL when power is being supplied.
Control Table
The Control Table is a structure of data implemented in the
DYNAMIXEL. Users can read a specific Data to get status of the
DYNAMIXEL with Read Instruction Packets, and modify Data as well
to control DYNAMIXEL with WRITE Instruction Packets.
智能佳机器人

Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to
store status of the DYNAMIXEL or to control the DYNAMIXEL. Users
can check current status of the DYNAMIXEL by reading a specific
Data from the Control Table with Read Instruction Packets. WRITE
Instruction Packets enable users to control the DYNAMIXEL by
changing specific Data in the Control Table. The Address is a unique
value when accessing a specific Data in the Control Table with
Instruction Packets. In order to read or write data, users must
designate a specific Address in the Instruction Packet. Please refer
to Protocol 2.0 for more details about Instruction Packets.
NOTE : Two’s complement is applied for the negative value. For more
information, please refer to Two’s complement from Wikipedia.
Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is
reset to initial values when the power is reset(Volatile). On the other
hand, data in the EEPROM Area is maintained even when the
DYNAMIXEL is powered off(Non-Volatile). Data in the EEPROM
Area can only be written to if Torque Enable(64) is cleared to
‘0’(Off).
Size
The Size of data varies from 1 to 4 bytes depend on their usage.
Please check the size of data when updating the data with an
Instruction Packet. For data larger than 2 bytes will be saved
according to Little Endian.
Access
The Control Table has two different access properties. ‘RW’ property
stands for read and write access permission while ‘R’ stands for read
only access permission. Data with the read only property cannot be
changed by the WRITE Instruction. Read only property(‘R’) is
generally used for measuring and monitoring purpose, and read write
property(‘RW’) is used for controlling DYNAMIXEL.
Initial Value
Each data in the Control Table is restored to initial values when the
DYNAMIXEL is turned on. Default values in the EEPROM area are
initial values of the DYNAMIXEL (factory default settings). If any
values in the EEPROM area are modified by a user, modified values
will be restored as initial values when the DYNAMIXEL is turned on.
智能佳机器人

Initial Values in the RAM area are restored when the DYNAMIXEL is
turned on.
Control Table of EEPROM Area
Addres
s
Size
(Byte
)
Data Name
Description
Acces
s
Initial
Valu
e
0
2
Model Number
Model Number
R
1120
2
4
Model Information
Model Information
R
-
6
1
Firmware Version
Firmware Version
R
-
7
1
ID
DYNAMIXEL ID
RW
1
8
1
Baud Rate
Communication
Speed
RW
1
9
1
Return Delay Time
Response Delay
Time
RW
250
10
1
Drive Mode
Default Rotation
Direction
RW
0
11
1
Operating Mode
Operating Mode
RW
3
12
1
Secondary(Shado
w) ID
Secondary(Shado
w) ID
RW
255
13
1
Protocol Version
Protocol Version
RW
2
20
4
Homing Offset
Home Position
Offset
RW
0
24
4
Moving Threshold
Velocity Threshold
for Movement
Detection
RW
10
31
1
Temperature Limit
Maximum Internal
Temperature Limit
RW
80
32
2
Max Voltage Limit
Maximum Input
Voltage Limit
RW
160
34
2
Min Voltage Limit
Minimum Input
Voltage Limit
RW
95
智能佳机器人

Addres
s
Size
(Byte
)
Data Name
Description
Acces
s
Initial
Valu
e
36
2
PWM Limit
Maximum PWM
Limit
RW
885
38
2
Current Limit
Maximum Current
Limit
RW
2047
40
4
Acceleration Limit
Maximum
Accleration Limit
RW
3276
7
44
4
Velocity Limit
Maximum Velocity
Limit
RW
278
48
4
Max Position Limit
Maximum Position
Limit
RW
4,095
52
4
Min Position Limit
Minimum Position
Limit
RW
0
56
1
External Port Mode
1
External Port 1
Mode
RW
3
57
1
External Port Mode
2
External Port 2
Mode
RW
3
58
1
External Port Mode
3
External Port 3
Mode
RW
3
63
1
Shutdown
Shutdown Error
Information
RW
52
Control Table of RAM Area
Address
Size
(Byte)
Data Name
Description
Access
Initial
Value
64
1
Torque Enable
Motor Torque On/Off
RW
0
65
1
LED
Status LED On/Off
RW
0
68
1
Status Return
Level
Select Types of
Status Return
RW
2
69
1
Registered
Check Reception of
R
0
智能佳机器人

Address
Size
(Byte)
Data Name
Description
Access
Initial
Value
Instruction
Instruction
70
1
Hardware
Error Status
Hardware Error
Status
R
0
76
2
Velocity I Gain
I Gain of Velocity
RW
1920
78
2
Velocity P
Gain
P Gain of Velocity
RW
100
80
2
Position D
Gain
D Gain of Position
RW
0
82
2
Position I Gain
I Gain of Position
RW
0
84
2
Position P
Gain
P Gain of Position
RW
800
88
2
Feedforward
2nd Gain
2nd Gain of
Feed-Forward
RW
0
90
2
Feedforward
1st Gain
1st Gain of
Feed-Forward
RW
0
98
1
Bus Watchdog
DYNAMIXEL Bus
Watchdog
RW
0
100
2
Goal PWM
Desired PWM Value
RW
-
102
2
Goal Current
Desired Current Value
RW
-
104
4
Goal Velocity
Desired Velocity
Value
RW
-
108
4
Profile
Acceleration
Acceleration Value of
Profile
RW
0
112
4
Profile Velocity
Velocity Value of
Profile
RW
0
116
4
Goal Position
Desired Position
Value
RW
-
120
2
Realtime Tick
Count Time in
R
-
智能佳机器人

Address
Size
(Byte)
Data Name
Description
Access
Initial
Value
millisecond
122
1
Moving
Movement Status
R
0
123
1
Moving Status
Detailed Information
of Movement Status
R
0
124
2
Present PWM
Present PWM Value
R
-
126
2
Present
Current
Present Current Value
R
-
128
4
Present
Velocity
Present Velocity
Value
R
-
132
4
Present
Position
Present Position
Value
R
-
136
4
Velocity
Trajectory
Desired Velocity
Trajectory Generated
by Profile
R
-
140
4
Position
Trajectory
Desired Position
Trajectory Generated
by Profile
R
-
144
2
Present Input
Voltage
Present Input Voltage
R
-
146
1
Present
Temperature
Present Internal
Temperature
R
-
152
2
External Port
Data 1
The Data of External
Port 1
RW
-
154
2
External Port
Data 2
The Data of External
Port 2
RW
-
156
2
External Port
Data 3
The Data of External
Port 3
RW
-
168
2
Indirect
Address 1
Indirect Address 1
RW
224
智能佳机器人

Address
Size
(Byte)
Data Name
Description
Access
Initial
Value
170
2
Indirect
Address 2
Indirect Address 2
RW
225
172
2
Indirect
Address 3
Indirect Address 3
RW
226
218
2
Indirect
Address 26
Indirect Address 26
RW
249
220
2
Indirect
Address 27
Indirect Address 27
RW
250
222
2
Indirect
Address 28
Indirect Address 28
RW
251
224
1
Indirect Data 1
Indirect Data 1
RW
0
225
1
Indirect Data 2
Indirect Data 2
RW
0
226
1
Indirect Data 3
Indirect Data 3
RW
0
249
1
Indirect Data
26
Indirect Data 26
RW
0
250
1
Indirect Data
27
Indirect Data 27
RW
0
251
1
Indirect Data
28
Indirect Data 28
RW
0
578
2
Indirect
Address 29
Indirect Address 29
RW
634
580
2
Indirect
Address 30
Indirect Address 30
RW
635
582
2
Indirect
Address 31
Indirect Address 31
RW
636
628
2
Indirect
Address 54
Indirect Address 54
RW
659
630
2
Indirect
Address 55
Indirect Address 55
RW
660
智能佳机器人

Address
Size
(Byte)
Data Name
Description
Access
Initial
Value
632
2
Indirect
Address 56
Indirect Address 56
RW
661
634
1
Indirect Data
29
Indirect Data 29
RW
0
635
1
Indirect Data
30
Indirect Data 30
RW
0
636
1
Indirect Data
31
Indirect Data 31
RW
0
659
1
Indirect Data
54
Indirect Data 54
RW
0
660
1
Indirect Data
55
Indirect Data 55
RW
0
661
1
Indirect Data
56
Indirect Data 56
RW
0
CAUTION : Protocol 1.0 does not support addresses greater than 256.
Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be
accessed with Protocol 2.0.
Control Table Description
CAUTION : Data in the EEPROM Area can only be written when the value of
Torque Enable(64) is cleared to ‘0’.
Model Number(0)
This address stores model number of the DYNAMIXEL.
Firmware Version(6)
This address stores firmware version of the DYNAMIXEL.
ID(7)
The ID is a unique value in the network to identify each DYNAMIXEL
with an Instruction Packet. 0~252 (0xFC) values can be used as an ID,
and 254(0xFE) is occupied as a broadcast ID. The Broadcast ID(254,
0xFE) can send an Instruction Packet to all connected DYNAMIXELs
simultaneously.
智能佳机器人

NOTE : Please avoid using an identical ID for multiple DYNAMIXELs. You may
face communication failure or may not be able to detect Dynamixels with an
identical ID.
Baud Rate(8)
Baud Rate determines serial communication speed between a
controller and DYNAMIXELs.
Value
Baud Rate
Margin of Error
7
4.5M
0.000%
6
4M
0.000%
5
3M
0.000%
4
2M
0.000%
3
1M
0.000%
2
115,200
0.000%
1(Default)
57,600
0.000%
0
9,600
0.000%
NOTE : Less than 3% of the baud rate error margin will not affect to UART
communication.
Return Delay Time(9)
After the DYNAMIXEL receives an Instruction Packet, it delays
transmitting the Status Packet for Return Delay Time (9). For instance,
if the Return Delay Time(9) is set to ‘10’, the Status Packet will be
returned after 20[μsec] when the Instruction Packet is received.
Unit
Value Range
Description
2[μsec]
0 ~ 254
Default value ‘250’(500[μsec]), Maximum 508[μsec]
Drive Mode(10)
Drive Mode is availabe from the firmware version 38.
Bit
Item
Description
Bit
2(0x04)~7(0x80)
N/A
Unused, always ‘0’
Bit 1(0x02)
Master/Slave
Master mode(‘0’) : Operate as a
智能佳机器人

Bit
Item
Description
Configuration
(Dual Joint)
Master DYNAMIXEL
Slave mode(‘1’) : Operate as a
Slave DYNAMIXEL
Bit 0(0x01)
Direction of Rotation
Normal Mode(0): CCW(Positive),
CW(Negative)
Reverse Mode(1):
CCW(Negative), CW(Positive)
Drive Mode is availabe from the firmware version 38.
Bit
Item
Description
Bit 2 ~
7
N/A
Unused, always ‘0’
Bit 1
Master/Slave
Setting
(Dual Joint)
Master Mode(0): Operate as a Master
Dynamixel
Slave Mode(1): Operate as a Slave
Dynamixel
Bit 0
Direction of
Rotation
Normal Mode(0): CCW(Positive),
CW(Negative)
Reverse Mode(1): CCW(Negative),
CW(Positive)
NOTE : Setting Reverse mode(‘1’) for Direction of Rotation, DYNAMIXEL will
switch rotating direction. Therefore the direction of Position, Velocity, Current,
PWM will be affected. This feature can be very useful when configuring
symmetrical joint system or wheel system.
Master / Slave Configuration (Dual Joint) is intended to control two
DYNAMIXELs as a single module.
The Master DYNAMIXEL and the Slave DYNAMIXEL has to be
interconnected with a Synchronization cable.
The Slave DYNAMIXEL is controlled by the PWM signal sent from the
Master DYNAMIXEL via the synchronization cable.
Therefore, Goal Position, Goal Current, Goal PWM of the Slave
DYNAMIXEL will be ignored in this mode.
智能佳机器人

Sync Cable
Description
General Mode
The Slave DYNAMIXEL is controlled by the PWM signal
from the Master DYNAMIXEL.
Master / Slave DYNAMIXELs have an identical
rotational direction.
Reverse
Mode(Twisted)
The Slave DYNAMIXEL is controlled by inverted PWM
signal from the Master DYNAMIXEL.
Master / Slave DYNAMIXELs have opposite rotational
directions.
NOTE : If Master / Slave DYNAMIXELs are not mechanically connected to
each other, each DYNAMIXEL could have minor differences during operation.
Please mount both DYNAMIXELs as shown in the below image.
Operating Mode(11)
Value
Operating Mode
Description
0
Current Control
Mode
DYNAMIXEL only controls current(torque)
regardless of speed and position. This mode
is ideal for a gripper or a system that only
uses current(torque) control or a system that
has additional velocity/position controllers.
1
Velocity Control
Mode
This mode controls velocity. This mode is
identical to the Wheel Mode(endless) from
existing DYNAMIXELs. This mode is ideal
智能佳机器人

Value
Operating Mode
Description
for wheel-type robots.
3(Default)
Position Control
Mode
This mode controls position. This mode is
identical to the Joint Mode from existing
DYNAMIXELs. Operating position range is
limited by Max Position Limit(48) and Min
Position Limit(52). This mode is ideal for
articulated robots that each joint rotates less
than 360 degrees.
4
Extended Position
Control
Mode(Multi-turn)
This mode controls position. This mode is
identical to the Multi-Turn Mode from
existing DYNAMIXELs. 512 turns are
supported(-256[rev] ~ 256[rev]). This mode
is ideal for multi-turn wrists or conveyer
systems or a system that requires an
additional reduction gear.
5
Current-based
Position Control
Mode
This mode controls both position and
current(torque). Up to 512 turns are
supported(-256[rev] ~ 256[rev]). This mode
is ideal for a system that requires both
position and current control such as
articulated robots or grippers.
16
PWM Control
Mode (Voltage
Control Mode)
This mode directly controls PWM output.
(Voltage Control Mode)
NOTE : Switching Operating Mode will reset gains(PID, Feedfoward) properly
to the selected Operating Mode. The profile generator and limits will also be
reset.
1. Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’
2. Goal PWM(100), Goal Current(102) : Reset to PWM Limit(36), Current
Limit(38) respectively
3. Current-based Position Control Mode : Reset to Position Gain(PID) and
PWM Limit(36) values.
Changed Position Gain(PID) and PWM Limit(36) values can be read from the
Control Table.
NOTE : PWM is the abbreviation for Pulse Width Modulation that modulates
PWM Duty to control motors. The PWM Control Mode changes pulse width to
control average supply voltage to the motor and this technique is widely used
in the motor control field. Therefore, PWM Control Mode uses Goal PWM(100)
智能佳机器人

value to control supply voltage for DYNAMIXEL. PWM Control Mode is similar
to the Wheel Mode of DYNAMIXEL AX and RX series.
Secondary(Shadow) ID(12)
Set the Dynamixel’s Secondary ID. Secondary ID(12) is a value to
identify each Dynamixel, just like the ID(7). However, unlike ID(7),
Secondary ID(12) is not a unique value. Therefore, Dynamixels with
the same Secondary ID value form a group. The differences between
Secondary ID(12) and ID(7) are as follows :
1. Secondary ID(12) is not a unique value. i.e., a lot of Dynamixels may
have the same Secondary ID value.
2. ID(7) has a higher priority than Secondary ID(12). i.e., if Secondary
ID(12) and ID(7) are the same, ID(7) will be applied first.
3. The EEPROM area of the Control Table cannot be modified with
Secondary ID(12). Only the RAM area can be modified.
4. If Instruction Packet ID is the same as Secondary ID(12), the Status
Packet will not be returned.
5. If the value of Secondary ID(12) is 253 or higher, the Secondary ID
function is deactivated.
Values
Description
0 ~ 252
Activate Secondary ID function
253 ~ 255
Deactivate Secondary ID function, Default value ‘255’
The following are examples of operation when there are five
Dynamixels with ID (7) set from 1 to 5.
1. Set all five Dynamixels’ Secondary ID(12) to ‘5’.
2. Send Write Instruction Packet(ID = 1, LED(65) = 1).
3. Turn on LED of Dynamixel with ID ‘1’ and return the Status Packet.
4. Send Write Instruction Packet(ID = 5, LED(65) = 1).
5. Turn on LED on five Dynamixels. However, Status Packet of
Dynamixel with ID ‘5’ will be returned.
6. Set the Secondary ID(12) of all five Dynamixels to ‘100’.
7. Send Write Instruction Packet(ID = 100, LED(65) = 0).
8. Turn off LED on five Dynamixels. However, as there is no Dynamixel
with ID ‘100’, Status Packet is not returned.
Protocol Version(13)
智能佳机器人

Users can select Dynamixel protocol version (1.0 and 2.0). It is
recommended to use an identical protocol version for multiple
Dynamixels.
Value
Protocol
Version
Compatible Dynamixels
1
1.0
AX Series, DX Series, RX Series, EX Series, MX
Series with Firmware below v39
2(default)
2.0
MX-28/64/106 with Firmware v39 or above, X
Series, Pro Series
NOTE : The protocol 2.0 is greatly enhanced from the protocol 1.0. Accessing
some of the Control Table area might be denied if protocol 1.0 is selected. This
manual complies with protocol 2.0. Please refer to the Protocol section of
e-Manual for more details about the protocol.
Homing Offset(20)
Users can adjust the Home position by setting Home Offset(20). The
Homing Offset value is added to the Present Position(132). Present
Position(132) = Actual Position + Homing Offset(20).
Unit
Value Range
Description
about 0.088°
-1,044,479 ~ 1,044,479
(-255 ~ 255[rev])
4,096 resolution
NOTE : In case of the Position Control Mode(Joint Mode) that rotates less than
360 degrees, any invalid Homing Offset(20) values will be ignored(valid range :
-1,024 ~ 1,024).
Moving Threshold(24)
This value helps to determine whether the Dynamixel is in motion or
not.
When the absolute value of Present Velocity(128) is greater than the
Moving Threshold(24), Moving(122) is set to ‘1’, otherwise it is cleared
to ‘0’.
Values
Description
Unit
about 0.229 rpm
All velocity related Data uses the same unit
Range
0 ~ 1,023
-
Temperature Limit(31)
智能佳机器人

This value limits operating temperature.
When the Present Temperature(146) that indicates internal
temperature of Dynamixel is greater than the Temperature Limit(31),
the Over Heating Error Bit(0x04) and Hardware Error Bit(0x80) in the
Hardware Error Status(70) will be set.
If Overheating Error Bit(0x04) is configured in the Shutdown(63),
Torque Enable(64) is cleared to ‘0’ and Torque will be disabled.
For more details, please refer to the Shutdown(63) section.
Unit
Value Range
Description
About 1°
0 ~ 100
0 ~ 100°
CAUTION : Do not set the temperature higher than the default value. When
the temperature alarm shutdown occurs, wait 20 minutes to cool the
temperature before re-use. Keep using the product when the temperature is
high can cause severe damage.
Min/Max Voltage Limit(32, 34)
These values are maximum and minimum operating voltages. When
present input voltage acquired from Present Input Voltage(144)
exceeds the range of Max Voltage Limit(32) and Min Voltage Limit(34),
Input Voltage Error Bit(0x01) in the Hardware Error Status(70) are set.
If Input Voltage Error Bit(0x10) is configured in the Shutdown(63),
Torque Enable(64) is cleared to ‘0’ and Torque is disabled. For more
details, please refer to the Shutdown(63) section.
Unit
Value Range
Description
About 0.1V
95 ~ 160
9.5 ~ 16.0V
PWM Limit(36)
This value indicates maximum PWM output. Goal PWM(100) can’t be
configured with any values exceeding PWM Limit(36). PWM Limit(36)
is commonly used in all operating mode as an output limit, therefore
decreasing PWM output will result in decreasing torque and velocity.
For more details, please refer to the Gain section of each operating
modes.
Values
Description
0(0%) ~ 885(100%)
885 = 100[%] output
Current Limit(38)
智能佳机器人

This value indicates maximum current(torque) output limit. Goal
Current(102) can’t be configured with any values exceeding Current
Limit(38). The Current Limit(38) is used in Torque Control Mode and
Current-based Position Control Mode, therefore decreasing Current
Limit(38) will result in decreasing torque of DYNAMIXEL. For more
details, please refer to the Position PID Gain(80 ~ 84).
Unit
Value Range
about 2.69[mA]
0 ~ 2,047
NOTE : Current Limit(38) could be differ by each DYNAMIXEL so please
check the Control Table.
Acceleration Limit(40)
This value indicates maximum Profile Acceleration(108). Profile
Acceleration(108) can’t be configured with any values exceeding
Acceleration Limit(40). Profile Acceleration(108) is used in all
operating mode except PWM Control Mode in order to generate a
desired trajectory. For more details, please refer to the Profile
Velocity(112).
Unit
Value Range
214.577 Rev/min2
0 ~ 32,767
NOTE : Bit information of the Error field in the Status Packet is
different from protocol 1.0 and protocol 2.0. This manual complies
with protocol 2.0. Please refer to theProtocol section of e-Manual for
more details about the protocol.
Velocity Limit(44)
This value indicates maximum velocity of Goal Velocity(104) and
Profile Velocity(112). For more details, please refer to the Profile
Velocity(112).
Unit
Value Range
0.229rpm
0 ~ 1,023
Min/Max Position Limit(48, 52)
These values limit maximum and minimum desired positions for
Position Control Mode(Joint Mode) within the range of 1 rotation(0 ~
4,095). Therefore, Goal Position(116) should be configured within the
position limit range. These values are not used in Extended Position
Control Mode and Current-based Position Control Mode.
智能佳机器人

Unit
Value Range
0.088°
0 ~ 4,095(1 rotation)
NOTE : Max Position Limit(48) and Min Position Limit(52) are only used in
Position Control Mode with a single turn.
External Port Mode 1,2,3(56,57,58)
External ports that can be used for various purposes are provided.
The property of each port is configured by the External Port Mode and
data of external port is controlled by the External Port Data(152~157).
For more details, please refer to External Port Data(152~157).
External Port
Mode
Mode
Description
0
AI(Analogue Input)
Converts External Port signal to
12[bit] digital value
1
DO_PP(Digital Output
Push-Pull)
Use External Port as a digital
output port(3.3V level)
2
DI_PU(Digital Input
Pull-Up)
Use External Port as a digital
input port
Floating connection will be
considered as ‘1’
3(default)
DI_PD(Digital Input
Pull-Down)
Use External Port as a digital
input port
Floating connection will be
considered as ‘0’
Shutdown(63)
The Dynamixel can protect itself by detecting dangerous situations
that could occur during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore,
multiple options can be generated.
For instance, when ‘0x05’ (binary : 00000101) is defined as
Shutdown(63), Dynamixel can detect both Input Voltage Error(binary :
00000001) and Overheating Error(binary : 00000100).
If those errors are detected, Torque Enable(64) is cleared to ‘0’ and
the motor output becomes 0[%].
REBOOT is the only method to reset Torque Enable(64) to ‘1’(Torque
智能佳机器人

ON) after the shutdown.
The followings are detectable situations.
Bit
Item
Description
Bit
7
-
Unused, Always ‘0’
Bit
6
-
Unused, Always ‘0’
Bit
5
Overload
Error(default)
Detect persistent load that exceeds maximum
output
Bit
4
Electrical Shock
Error(default)
Detect electric shock on the circuit or
insufficient power to operate the motor
Bit
3
Motor Encoder Error
Detect malfunction of the motor encoder
Bit
2
OverHeating
Error(default)
Detect internal temperature exceeds the
configured operating temperature
Bit
1
-
Unused, Always ‘0’
Bit
0
Input Voltage Error
Detect input voltage exceeds the configured
operating voltage
NOTE : If Shutdown occurs, use below method to reboot Dynamixels.
1. H/W REBOOT : Turn off the power and turn on again
2. S/W REBOOT : Transmit REBOOT Instruction (For more details, please
refer to the [Reboot] section of Protocol e-Manual.)
If Shutdown occurs, LED will flicker every second.(Firmware v41 or above)
Torque Enable(64)
Controls Torque ON/OFF. Writing ‘1’ to this address will turn on the
Torque and all Data in the EEPROM area will be protected.
Value
Description
0(Default)
Torque OFF(Free-run) and the motor does not generate torque
1
Torque ON and all Data in the EEPROM area will be locked
NOTE : Present Position(132) can be reset when Operating Mode(11) and
Torque Enable(64) are updated. For more details, please refer to the Homing
Offset(20) and Present Position(132).
智能佳机器人