Dongbu Robot HERKULEX DRS-0101 User manual

User Manual
DRS -
0201
DRS -
0101 /
Version 1.00

1. Safety Instructions
1-1. Meaning of Symbols
1-2. Operating Precautions
1-3. Safe Battery Handling
1-4. Safe Storage
2. Introduction
2-1. Parts List
2-2. Product Overview
2-3. Specification
3. Assembly Instructions
3-1. Joint Assembly
3-2. Joint Assembly (Optional Bracket and Bolt Required)
3-3. Connector Pin & System Assembly
4. Operation
4-1. Communication Protocol
4-2. Register Map
5. Command Set
5-1. [To Servo Module] - Request Packet
5-2. [To Controller(ACK)] - ACK Packet
5-3. CMD(Command) Details
6. Command Examples
Referenace
CONTENT
2
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09p
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17p
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21p
40p
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51p

Thank you for purchasing our HerkuleX.
For your safety, please read the instruction manual before using the HerkuleX
with particular attention to the safety instructions below.
1. Safety Instructions
Danger
Any sections within the manual with the following symbols require special attention to safety.
Do not disassemble or modify the servo.
Do not use power sources other than the recommended battery.
Do not touch the servo casing immediately after the operation.
Ignoring the instructions with this symbol can lead to serious bodily
injury or death to the user and to those near by and high possibility
of damage to the property and equipment.
Ignoring the instructions with this symbol can lead to possible bodily
injury and death to the user and to those near by and high possibility
of damage to the property and equipment.
Ignoring instructions with this symbol may risk bodily injury.
Strictly Prohibited
Compulsory requirement
1-2. Operating Precautions
Warning
Caution
Caution
1-1. Meaning of Symbols
3

Keep away from water, sand, and dust.
Do not use the servo for purposes other than installation in the indoor robot.
Do not use overt force to turn the servo horn.
Servo should not be left if locked position.
Alwasy use the appropriate battery charger to charge the battery pack.
Do not connect the battery packs in parallel configuration.
Never disassemble or modify the battery pack.
Do not use the battery pack with apparent external damage.
1-3. Safe Battery Handling
Warning
1-4. Safe Storage
Caution
To prevent accidents and damage, do not store the servo under the conditions
listed below
Location with temperatures above 60 degree celsius or below 20 degree celsius.
Location with direct sunlight.
Location with high humidity.
Area with vibration.
Dusty area.
Area with possible electrostatic electricity,
Area within easy reach of children.
4

2. Introduction
2-1. Parts List
Servo : 1ea
Horn : 1ea
Horn Bolt(BHT 2.6X8) : 1ea
Wheel Horn Bushing : 1ea
Wheel Horn Washer : 1ea
Wheel Horn Bolt(PHM 3X8) : 1ea
Cable Guard : 2ea
I-type Joint : 2ea
L-type Joint : 2ea
L-type Joint(Single Nut) : 4ea
Bracket Bolt(PHT 2X5) : 4ea (※ DRS-0201 replaced by PHM 2X5)
Joint Bolt(PHM 2X5) : 12ea
Wire Harness(200mm) : 1ea
1
2
3
4
5
6
7
8
9
10
11
12
13
5
1
4 5 6
7 8 9
32
13
10 11 12

2-2. Product Overview
DRS-0101 and DRS-0201 are state of the art modular smart servos incorporating motor,
gear reducer, control circutry and communications capability in one single package.
Both servos are capable of detecting and responding to internal changes in termerature
and voltage supply.
Smart Servo
Small, light, and easy to assemble structure. Ours sevos make joint assembly an easy job with
an added advantage of simple wiring. Two connectors attached to each servo allows serial
connection as well as parallel connection if required.
Simple Assembly and Wiring
In relation to size, weight, and power requirement, our servos have the highest stall torque
in its class.
Highest Stall Torque in relation to Size and Power
Once the servo receives a movement command, it automatically creates a trapezoidal type speed
profile like the diagram below to control the position. With the servo operating according to the
acceleration/deceleration profile, it suppresses vibrations caused by the sudden acceleratiion and
deceleration as found in the square type speed profile and increases the energy efficiency while
leading to smoother movement. The servo chooses the trapezoidal type speed profile as a default
but profile could be changed according to usage to trapezoidal type, square type or triangle type.
Smooth Movement
By introducing two different models of the same size but with different torque and speed, our
customers have the choice to choose and mix and match the servos to assemble custom joints.
DRS-0101 : Stall Torque 12kgf.cm @7.4DCV [166.8 ozf.in.], Speed 0.166s/60˚ @7.4DCV
DRS-0201 : Stall Torque 24kgf.cm @7.4DCV [333.6 ozf.in.], Speed 0.147s/60˚@7.4DCV
Versatility from Two Different Models
6
Position
Time
Velocity
Time
Increasing
Accelated Period
Increasing
Accelated Period

Position Control Mode : 0 ~ 320˚ possible but recommended range is within 0 ~ 300˚
Speed Control Mode : Continuous rotation possible with rotation speed control
Manufactured using Super Engineering Plastic, our servos are highly durable, impact resistant
and designed to withstand even the high torque stress levels that go beyond the tolerance
specs of Engineering Plastic Gears.
Durability
Using Multi Drop TTL Full Duplex UART Serial communications protocol with maxium speed
of 0.667Mbps, single command can set the speed, position, LED, operational compliance,
stop and operational status of up to 254 servos simultaneoulsy at once.
Communication
Operational parameters such as speed, calibration, compliance to external force, LED could be
set by writing directly to the register, by using the Servo Manager downloaded from the web site
or by using the Servo Manager Kit sold separately.
54 Operating Parameters
By controlling the torque according to the discrepancy between the goal position and the
actual position, Compliance Control provides certain measure of elasticity to absorb the shock
from the external force.
Compliance Control
Data feedback from the internal temperature, position, and overload sensors.
Data Feedback
Maximum Operating Angle
Internal temperature sensor monitors the motor and the circuit temperature and issues Overheating
Protection Error if the temperature moves beyond set value.
Overload Protection Error is issued when the load stress on the servo goes beyond the set value.
These safety features protec the sevo from the potential damage and prolongs the servo life.
Protection Features
0.325 degrees resolution provides very accurate smooth control and minimal vibration.
Resolution
7

User has direct control the three independently controlled LEDs Red/Green/Blue which are used for
diagnostics and decorative purposes. LED commands are sent together with the Operation command.
※ In case of an error, diagnostics function ignores all LED commands and the Red LED starts to blink periodically
according to the setting.
Servos are capable of diagnosing seven different types of errors which are then indicated by the
LED. Servo UI is used to set the function and timing of the Overload Protection.
( protects the servo when the overload occurs by releasing the torque )
Self Diagnosis
Expandable Multi Drop type Network with 1:n configuration.
(single controller connected to multiple “n” number of servos).
Multi Drop Network
Multi Function LED
Ball bearing installed on the 4th gear shaft will prevent wear, sloping and provide protection from external
shocks that can bend the shaft or throw the gear out of mesh.
※ DRS-0101 : Plastic Bushing
※ DRS-0201 : Metal Ball Bearing
Metal Ball Bearing (DRS-0201)
TXD
RXD
ID : 0
Communication
BUS
ID : 1 ID : n ID : 253
Controller
or
232 Gender
8

2-3. Specification
45mm(W) x 24.0mm(D) x 31mm(H) / 45g [1.59 oz]
45mm(W) x 24.0mm(D) x 31mm(H) / 60g [2.12 oz] (DRS-0201)
[1.77 in.(W) x 0.94 in.(D) x 1.22 in.(H)]
1 : 266
Super Engineering Plastic, Heavy Duty Metal (DRS-0201)
7~12VDC(Optimized 7.4V)
450mA @ 7.4V : 1.7kgf.cm, 670mA @ 7.4V : 2.2kgf.cm (DRS-0201)
Carbon Brush Cored DC, Metal Brush Coreless DC (DRS-0201)
12kgf.cm [166.8 ozf.in.] / 0.166s/60˚@7.4V
24kgf.cm [333.6 ozf.in.] / 0.147s/60˚@7.4V (DRS-0201)
320˚, Continuous Rotation
0 ~ 85℃ [32℉~185℉]
Full Duplex Asynchronous Serial(TTL Level),
Binary Packet, Multi Drop
0 ~ 253, 254(Broadcast only)
0.67Mbps
Position, Speed, Temperature, Load, Voltage etc.
PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override,
Torque Saturator & Offset, Overload Protection,
Neutral Calibration, Dead Zone
54 Selectable Setting Parameters(※ Servo Manager Kit Required)
0.325˚
Dimension / Weight
Reduction Ratio
Gear Material
Input Voltage
Rated Current Motor
Stall Torque /
Maximum Speed
Resolution
Operating Angle
Temperature
Communication Link
ID, Maximum Baud Rate
Feedback
Control Algorithm
9
※ Refer to Pages 51 and 52 for connector specs.
18mm [1.42 in.] 29mm [1.14 in.]
31mm [1.22 in.]
Ø19mm [Ø0.75 in.]
30.0°
45mm [1.77 in.]
24mm [0.94 in.]
10.7mm
[0.42 in.]
28.3mm [1.11 in.]
9.7mm
[0.38 in.]
3mm
[0.11 in.]
33.6mm [1.32 in.]
Horn
Ø14mm [Ø0.55 in.]

3. Assembly Instructions
3-1. Joint Assembly
TYPE 1
TYPE 2
10
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
8
8
8
8
8
8
8
8
8
12
12
12
12
12 12
12
12
12
12
12
12 12
12
12 12
12

TYPE 3
TYPE 4
TYPE 5
11
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
10
10
10
10
10
10
10
10
9
9
9
9
PHM 2X4 (Option)
PHM 2X4
(Option)
Bracket
(not included)
Bracket
(not included)
Bracket
(not included)
Bracket
(not included)

3-2. Joint Assembly (Optional Brcket and Bolt Required)
TYPE 1
12
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
10
10
10
12
12
12
12
12
12
12
12
11
11
11
11
11
11
11
11
10
PHM 2X4 (Option)
별매

TYPE 2
TYPE 3
13
Assembled Unit
Assembled Unit
Assembled Unit
10
10
10
10
10
10
9
9
10
10
10
10
12
12
12
12
12
12
12
12
12
12
12
12
12
12 12
12
11
11
11
11
PHM 2X4 (Option)
PHM 2X6 (Option)
Assembly Diagram
Assembled UnitAssembly Diagram
Assembly Diagram
Assembly Diagram

TYPE 4
14
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
Assembled UnitAssembly Diagram
10
10
10
10
9
9
9
9
12
12
12
12 12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
PHM 2X6 (Option)

TYPE 5
15
Assembled Unit
Assembled Unit
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
10
10
10
9
9
9
9
PHM 2X6 (Option)
Assembled UnitAssembly Diagram
Assembly Diagram
Assembly Diagram

TYPE 6
TYPE 7
16
Assembled Unit
Assembled Unit
Assembled Unit
10
10
10
9
9
9
9
12
12
12
12
12
12
12
12
9
9
9
9
PHM 2X6
(Option)
PHM 2X6
(Option)
Assembly Diagram
Assembly Diagram
Assembly Diagram

All the Servo to Servo connectors have same Pin assingment as the diagram below.
Multi Drop Network makes expansion easy.
Servos must be cross connected to the PC or Motion Controller. Examples of cross connection
would be Servo TXD to PC or Motion Controlller RXD, Servo RXD to PC or Motion Controller TXD.
3-3. Connector Pin & System Assembly
Caution
Do not connect the servo directly to the PC without using the Motion Controller or Signal Converter.
Even though both PC and the servo uses serial protocol (TXD, RXD ) they are not directly compatible
due to electrical difference.
Caution
If using custom made Wire Harness, make sure to check that connector pin assingments are in correct
order. Servo LED will blink once if it is receiving power properly. If the LED does not blink, check the
connector pin assignment and the power supply Voltage and Amp.
Caution
GND
VDD
TXD
RXD
Pin # Description
1
2
3
4
17
Controller
Controller
232 Gender
RS232
Cable
RS232
Cable

0xFF
1
0xFF
1
7~223
1
0~0xFE
1
1~9
1
Refer to Detail
1
Refer to Detail
1
Refer to Detail
MAX 216
HeaderType
Value
Byte
Packet Size pID CMD Check Sum1 Check Sum2 Data[n]
4. Operation
4-1. Communications Protocol
Servo Controller communicates with the servos in the network by sending a Request Packet and
receiving ACK Packet back from the servo. The example below shows the controller sending a
Request Packet to the Servo n and receiving ACK packet back from the Servo n. Regardless
of the number of servos in the network, only the servo with correct ID (n) will acknowledge the
Request Packet and send the ACK Packet to the controller.
※ The communications speed of the PC communication ports or USB to Serial Cable can be limited by the
hardware or by the device driver. If problem occurs, check the Baud Rate of the involved port of peripheral to
make sure it supports 115,200bps. If the supported Baud Rate can not found, set the Baud Rate to 115,200bps
or 57,600bps and try again. The default factory setting for DRS-0101 and DRS-0201 is 115,200bps.
Introduction
Packet
Data Bit : 8
Stop Bit : 1
Parity : None
Flow Control : None
Baud Rate : 57,600 / 115,200 / 0.2M / 0.25M / 0.4M / 0.5M / 0.667M
Communication
Protocol
TX : Request Packet
RX : ACK Packet
ID : 0 ID : n
Controller
or
PC
18

0xFF
1
0xFF
1
HeaderType
Value
Byte
0 ~ 0xFE
1
pIDType
Value
Byte
Indicates start of the Packet.
Header
Refers to total Packe size ( in Bytes ) from Header to Data. The maximum Packet Size 233, if the
packet size is larger than 223 Bytes, packet may not be recognized. Minimum packet size is 7
which is packet without any data.
Packet Size
Unique pID value can range from 0 ~ 253 which is total number of servos in the network.
Care must be taken when using pID value of “0xFE” which is a special value that affects all the
servos in the network.
※ To avoid confusion with Servo ID, ID within the packet is deonoted pID
pID
0x01 ~ 0x09 : Request Packet
0x41 ~ 0x49 : ACK Packet
1
CMDType
Value
Byte
CMD is actual instructions for the servo to perfom when packet is received. There are 9 types of
CMD in Request Packet EEP_WRITE(0x01), EEP_READ(0x02), RAM_WRITE(0x03), RAM_READ(0x04),
I_JOG(0x05), S_JOG(0x06), STAT(0x07), ROLLBACK(0x08), REBOOT(0x09). ACK Packet also has
equivalent set of CMD, but to distinquish from the Request CMD, ACK Packet adds 0x40.
For example, ACK Packet CMD for Request Packet EEP_WRITE(0x01)would be 0x41.
CMD
19

Check Sum1 is used to check for errors in the Packet. Check Sum1 is calculated as follows,
Check Sum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ …… ^ Data[n]) & 0xFE.
Header, Check Sum1, Check Sum2 are not included in the calculation.
※ ‘A ^ B’ : Bit Exclusive OR Operator, A is different from B 1(True), same 0(False)
Check Sum1
(~CheckSum1) & 0xFE
1
Check Sum2Type
Value
Byte
Checksum2 is also used to check for errors in the Packet. Check sum2 is calculated as follows,
Check Sum2 = ( ~CheckSum1) & 0xFE
※ ~ A’ : Bit Not Operator, A = 0 1(True), A = 1 0(False)
Check Sum2
Refer to CMD for details
Max216
DataType
Value
Byte
Number of Data depends on CMD and some CMD may not have Data field.
Refer to CMD for details.
Data[n]
20
(PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ …… ^ Data[n])&0xFE
1
Check Sum1Type
Value
Byte