Robotis Dynamixel RX-64 User manual

Closer to Real,
Dynamixel RX-64
v1.10
ROBOTIS CO.,LTD. www.robotis.com
User’s Manual

RX-64
Contents
1. Introduction··································································································2
1-1. What is Dynamixel ? ······················································································································· 3
1-2. Strong Points of Dynamixel ············································································································ 5
1-3. Specifications of RX-64 ·················································································································· 6
2. Installation·····································································································7
2-1. How to Assemble Frames··············································································································· 8
2-2. Assembling Connector·················································································································· 10
2-3. Wiring ··········································································································································· 11
2-4. Connection of Main Controller ······································································································ 12
3. Communication with RX-64 ·······································································14
3-1. Overview of Communication········································································································· 15
3-2. Instruction Packet ························································································································· 16
3-3. Status Packet (Return Packet) ····································································································· 18
3-4. Control Table ································································································································20
3-5. How to Use Packet ······················································································································· 32
4. Appendix·······································································································44
1

RX-64
1. Introduction
What is Dynaimxel?
Strong Points of Dynamixel
Specifications of RX-64
2

RX-64
1-1. What is Dynamixel ?
New Concept Dynamixel is a robot-only Smart Actuator with a new concept integrating speed reducer,
controller, driver, network function, etc. into one module.
Dynamixel
Reduction
Gear Controller Driver Network
LINE UP We have Line up of several kinds of Dynamixel applicable numerously according to the
kinds and characteristics of robots
3

RX-64
All-round Combining Dynamixel is built up with all-round combining structure and it is possible to connect one
Structure another with various forms. You can design a robot easily as if assembling a block toy by
using option frame for Dynamixel
Convenient Wiring Dynamixel is connected with Daisy Chain and it is easy to wire one another.
Network Dynamixel with a unique ID is controlled by Packet communication on a BUS and
supports networks such as TTL, RS485, and CAN depending on the type of model.
4

RX-64
1-2. Strong Points of Dynamixel
Torque In spite of the compact size, it generates relatively big Torque by way of the efficient
speed reduction.
Close Control It can control location and speed with the resolution of 1024.
Elasticity Setting It can set up the extent of elasticity when controlling position with Compliance Driving.
Position, Speed It can read the current position and speed.
Communication It is easy to wire since it is connected with Daisy chain, and up to 1M BPS of
communication speed is supported.
Distribution Control Since the main processor can set speed, position, compliance, torque, etc.
simultaneously with a single command packet, it can control several Dynamixels with a
little resource
Physical Intensity The main body is made of engineering plastic to withstand against strong external force.
Efficiency against Since a bearing is used at the last axis of the gear, the amount of efficiency reduction is
External Force minimal even if strong external force is applied to the axis.
Safety Device It has the [Alarming] function, which notifies when internal temperature, torque, supplied
voltage, etc. deviate from what the user has set, and the [Shut down] function, which
allows it to cope with situation by itself.
Status Indicator It informs the user of ERROR status via LED.
5

RX-64
1-3. Specifications of RX-64
RX-64
Weight (g) 125
Dimension (mm) 40.2 x 61.1 x 41.0
Gear Reduction Ratio 1/200
Applied Voltage (V) at 15V at 18V
Final Reduction Stopping Torque
(kgf.cm)
64.4 77.2
Speed (Sec/60 degrees) 0.188 0.157
Resolution 0.29°
Running Degree 300°, Endless Turn
Voltage 12V~21V (Recommended voltage: 18V)
Max Current 1200mA
Running Temperature -5℃~ +85℃
Command Signal Digital Packet
Protocol RS485 Asynchronous Serial Communication (8bit,1stop, No Parity)
Link (Physical) RS485 Multi Drop Bus
ID 254 ID (0~253)
Communication Speed 7343bps ~ 1 Mbps
Sensing & Measuring Position, Temperature, Load, Input Voltage, etc.
Material Quality Full Metal Gear, Engineering Plastic Body
Motor Maxon RE-MAX
Standby Current 50 mA
6

RX-64
2. Installation
1. How to Assemble Fames
2. Assembling Connectors
3. Wiring
4. Connection of Main Controller
7

RX-64
2-1. How to Assemble Frames
Optional Frames Rx-64 has the following optional frames.optional frames.
OF-64B OF-64S2
OF-64H OF-64S
8

RX-64
Horn RX-64 has the following kinds of Horns.
Device Combination The below picture shows examples of combinations by using optional frames and horns.
Horn-64I Horn-64THorn-64N
Basic Supply
Ball Bearing Trust Bearing
9

RX-64
10
2-2. Assembling Connector
Connector is assembled in the following order.
1) Striping
2) Inserting
3) Forming
4) Formed Wire
5) Assembling
6) Complete
Peel the coating of cable to the extent of 5mm
approx.
Put the cable on the terminal like the left
picture.
Press the cable and terminal by using Wire
Former.
Combine the terminal to the cable tightly like
the left picture. Solder the terminal and cable
after Forming to get the more solid
combination.
Insert the terminal into 4P Molex connector.
When inserting the
terminal, be careful with
the direction of the Molex
connector.
Terminals should be
inserted in the same way
as the left picture

RX-64
11
2-3. Wiring
Pin Assignment The pin assignment of a connector is as shown below. RX-64 can be run by linking with
any one of two 4P connectors of RX-64 since they are connected Pin2Pin internally.
Wiring Wiring should be done Pin2Pin as shown below. By connecting as such, several RX-64s
can be controlled on a BUS.
PIN1: GND
PIN2: VDD (12V~21V)
PIN3: D+
PIN4: D-
PIN1: GND
PIN2: VDD(12V~21V)
PIN3: D+
PIN4: D-
4
3
2
1
4
3
2
1
Caution
Please pay special attention to avoid incorrect pin assignments in wiring.
Otherwise, RX-64 may be damaged.
4
3
2
14
3
2
1
4
3
2
1 4
3
2
1

RX-64
12
2-4. Connection of Main Controller
Main Controller RX-64 uses the Multi-Drop Link method which connects several RX-64s to a Node by
using Half Duplex UART. Thus, a Main Controller to run RX-64 must support RS485
UART. You can also design and use Main Controller by yourself.
(Refer to the website www.robotis.com )
Connection with PC If you want to control RX-64 with PC, you may control it via the Dynamixel-only controller
or using the USB2Dynmixel. For further information, refer to the Dynamixel-only
controller manual or the USB2Dynmixel manual.
Connection with UART To control RX-64 with a personally made Main Controller, the signal of Main Controller
UART should be converted into RS485 type signal. The following is a recommended
circuit diagram.
Serial
cable Dynamixel-only
Controller
Power line
USB PORT
Power line
USB2Dynamixel

RX-64
13
The power of RX-64 is supplied via Pin1(-), Pin2(+).
(The above circuit is built into Dynamixel-only controller.)
In the above circuit diagram, the direction of data signal of TxD and RxD in the TTL Level
is determined according to the level of DIRECTION 485 as follows:
In case of DIRECTION485 Level = High: The signal of TxD is output to D+ and D-.
In case of DIRECTION485 Level = Low: The signal of D+ and D- is output to RxD.
Confirmation of The LED of RX-64 flickers once if the power is supplied to RX-64 properly via wiring.
Connection
Checking If the above steps are not performed successfully, recheck the pin assignment of the
connector. If the pin assignment is right, check the allowable voltage and current of the
power supply.
Note
Please check the current consumption when applying the power for the first
time. The current consumption of RX-64 in the standby state is 50mA or
less.

RX-64
3. Communication with RX-64
1. Overview of Communication
2. Instruction Packet
3. Status Packet
4. Control Table
5. How to Use Packet
14

RX-64
15
3-1. Overview of Communication
To control RX-64, communication should be established according to the protocol of RX-
64. RX-64 is driven by receiving binary data. Examples of programs for the transmission
of this kind of data are described in detail in the User’s Manual of the Dynamixel-only
controller or the USB2Dynamixel.
Thus, this manual describes only the method and protocol of communication used in
RX-64 on the assumption that Main Controller can transfer binary data.
Packet Main Controller and R-64 communicate each other by sending and receiving data called
Packet. Packet has two kinds: Instruction Packet, which Main Controller sends to control
RX-64, and Status Packet, which RX-64 responses to Main Controller.
Role of ID ID is a specific number for distinction of each RX-64 when several RX-64s are linked to
one bus. By giving IDs to Instruction and Status Packets, Main Controller can control
only the RX-64 that you want to control
Protocol RX-64 does the Asynchronous Serial Communication with 8 bit, 1 Stop bit, and None
Parity.
Instruction Packet
Status Packet
Main
Controller
Caution
If RX-64 with the same ID is connected, packet will collide and network
problem will occur. Thus, set ID as such that there is no RX-64 with the
same ID.
Note
ID of RX-64 is changeable.
For this change, please refer to ‘Changing IDs of Ex.2 and Ex.7’. The
factory default setting ID is 1.

RX-64
3-2. Instruction Packet
Instruction Packet is command data that Main Controller sends to RX-64. The structure
of Instruction Packet is as follows:
OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK SUM
The meaning of each byte composing packet is as follows:
0XFF 0XFF This signal notifies the beginning of the packet
ID It is the ID of RX-64 which will receive Instruction Packet. It can use 254 IDs from 0 to
253 (0X00~0XFD).
Note
Broadcasting ID : ID = 254 (0XFE)
If Broadcast ID is used, all linked RX-64s execute command of
Instruction Packet, and Status Packet is not returned.
LENGTH It is the length of the packet. The length is calculated as “the number of Parameters (N)
+ 2”.
INSTRUCTION This command gives an instruction to RX-64 and has the following types.
Value Name Function No. of
Parameters
0x01 PING No execution. It is used when controller is ready to
recevie Status Packet 0
0x02 READ DATA This command reads data from RX-64 2
0x03 WRITE DATA This command writes data to RX-64 2 or more
0x04 REG WRITE
It is similar to WRTE_DATA, but it remains in the
standby state without being executed until the
ACTION command arrives.
2 or more
0x05 ACTION This command initiates motions registered with REG
WRITE 0
0x06 RESET This command restores the state of RX-64 to the
factory default setting. 0
0x83 SYNC WRITE This command is used to control several RX-64s
simultaneously at a time. 4 or more
16

RX-64
PARAMETER0…N Parameter is used when Instruction requires ancillary data. For the usage of parameters,
refer to “3-5 How to Use Packet”
CHECK SUM It is used to check if packet is damaged during communication. Check Sum is calculated
according to the following formula.
Check Sum = ~ ( ID + Length + Instruction + Parameter1 + … Parameter N )
Where, “~” is the Not Bit operator.
When the calculation result of the parenthesis in the above formula is larger than 255
(0xFF), use only lower bytes.
For example, when you want to use Instruction Packet like the below
ID=1 (0x01), Length= 5 (0x05), Instruction= 3 (0x03),
Parameter1= 12 (0x0C), Parameter2= 100 (0x64), Parameter3= 170 (0xAA)
Check Sum = ~ ( ID + Length + Instruction + Parameter1 + … Parameter 3 )
= ~ [ 0x01 + 0x05 + 0x03 + 0x0C + 0x64 + 0xAA ]
= ~ [ 0x123 ] // Only the lower byte 0x23 executes the Not operation.
= 0xDD
Thus, Instruction Packet should be 0x01, 0x05, 0x03, 0x0C, 0x64, 0xAA, 0xDD.
17

RX-64
18
3-3. Status Packet (Return Packet)
RX-64 executes command received from the Main controller and returns the result to
the Main Controller. The returned data is called Status Packet. The structure of Status
Packet is as follows:
OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2…PARAMETER N
CHECK SUM
Each byte composing the packet means as below.
0XFF 0XFF This signal notifies the beginning of the packet.
ID It is the ID of RX-64 which transfers Status Packet.
LENGTH It is the length of Status Packet, the value of which is“the number of Parameters (N) + 2”.
ERROR It displays the error status occurred during the operatio of RX-64. The meaning of each
bit is described in the below table.
Bit Name Contents
Bit 7 0 -
Bit 6 Instruction Error
In case of sending an undefined instruction or delivering
the action command without the reg_write command, it is
set as 1.
Bit 5 Overload Error When the curren load cannot be controlled by the set
Torque, it is set as 1.
Bit 4 Checksum Error When the Checksum of the transmitted Instruction
Packet is incorrect, it is set as 1.
Bit 3 Range Error
Wh
en a comman
d
i
s ou
t
o
f
th
e range
f
or use,
it
i
s se
t
as
1
Bit 2 Overheating Error
When internal temperature of Dynamixel is out of the
range of operating temperature set in the Control table, it
is set as 1.
Bit 1 Angle Limit Error When Goal Position is written out of the range from CW
Angle Limit to CCW Angle Limit , it is set as 1.
Bit 0 Input Voltage Error When the applied voltage is out of the range of operating
voltage set in the Control table, it is as 1.

RX-64
For example, when Status Packet is returned as below
0xFF 0xFF 0x01 0x02 0x24 0xD8
It means that the error of 0x24 occurs from RX-64 whose ID is 01. Since 0x24 is
00100100 as binary, Bit5 and Bit2 become 1. In order words, Overload and Overheating
Errors have occurred.
PARAMETER0…N It returns data except ERROR. For the usage of parameters, refer to “3-5 How to Use
Packet".
CHECK SUM It is used to check if packet is damaged during communication. The below formula
defines Check Sum. This formula is constructed in the same way as the Check Sum of
Instruction Packet.
Check Sum = ~ ( ID + Length + Error + Parameter1 + … Parameter N )
19