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DX-117
dx-117

DX-117

WARNING : DX-117 has been discontinued. {: .notice--warning}

Specifications

Item Specifications
Baud Rate 7343 bps ~ 1 Mbps
Resolution 0.29°
Running Degree 0° ~ 300°
Weight 66g
Dimensions (W x H x D) 31mm x 46mm x 37mm
Gear Ratio 192.6 : 1
Stall Torque 3.7 N*m (at 18.5V, 1.9A)
No Load Speed 85 RPM (at 18.5V)
Operating Temperature -5°C ~ +80°C
Input Voltage 12 ~ 18.5V (Recommended : 14.8V)
Command Signal Digital Packet
Protocol Type Half Duplex Asynchronous Serial Communication
(8bit, 1stop, No Parity)
Physical Connection RS485 Multi Drop Bus(Daisy Chain Type Connector)
ID 0 ~ 253
Feedback Position, Temperature, Load, Input Voltage, etc
Material Full Metal Gear, Engineering Plastic Body

{% include en/dxl/warning.md %}

{% include en/dxl/control_table_protocol1.md %}

Control Table of EEPROM Area

Address Size
(Byte)
Data Name Description Access Initial
Value
0 2 Model Number Model Number R 117
2 1 Firmware Version Firmware Version R -
3 1 ID DYNAMIXEL ID RW 1
4 1 Baud Rate Communication Speed RW 34
5 1 Return Delay Time Response Delay Time RW 250
6 2 CW Angle Limit Clockwise Angle Limit RW 0
8 2 CCW Angle Limit Counter-Clockwise Angle Limit RW 1023
11 1 Temperature Limit Maximum Internal Temperature Limit RW 80
12 1 Min Voltage Limit Minimum Input Voltage Limit RW 60
13 1 Max Voltage Limit Maximum Input Voltage Limit RW 190
14 2 Max Torque Maximun Torque RW 1023
16 1 Status Return Level Select Types of Status Return RW 2
17 1 Alarm LED LED for Alarm RW 36
18 1 Shutdown Shutdown Error Information RW 36

Control Table of RAM Area

Address Size
(Byte)
Data Name Description Access Initial
Value
24 1 Torque Enable Motor Torque On/Off RW 0
25 1 LED Status LED On/Off RW 0
26 1 CW Compliance Margin CW Compliance Margin RW 1
27 1 CCW Compliance Margin CCW Compliance Margin RW 1
28 1 CW Compliance Slope CW Compliance Slope RW 32
29 1 CCW Compliance Slope CCW Compliance Slope RW 32
30 2 Goal Position Target Position RW -
32 2 Moving Speed Moving Speed RW -
34 2 Torque Limit Torque Limit(Goal Torque) RW ADD 14&15
36 2 Present Position Present Position R -
38 2 Present Speed Present Speed R -
40 2 Present Load Present Load R -
42 1 Present Voltage Present Voltage R -
43 1 Present Temperature Present Temperature R -
44 1 Registered If Instruction is registered R 0
46 1 Moving Movement Status R 0
47 1 Lock Locking EEPROM RW 0
48 2 Punch Minimum Current Threshold RW 32

Control Table Description

Model Number (0)

This address stores model number of the DYNAMIXEL.

Firmware Version (2)

This address stores firmware version of the DYNAMIXEL.

ID (3)

{% include en/dxl/control_table_id.md %}

Baud Rate (4)

{% include en/dxl/control_table_baudrate.md %}

Return Delay Time (5)

{% include en/dxl/control_table_return_delay_time.md %}

CW/CCW Angle Limit(6, 8)

{% include en/dxl/control_table_angle_limit.md %}

CAUTION : DX-117 does not support Wheel Mode. {: .notice--warning}

Temperature Limit (11)

{% include en/dxl/control_table_temp_limit.md %}

Min/Max Voltage Limit (12, 13)

{% include en/dxl/control_table_volt_limit_rx.md %}

Max Torque (14)

{% include en/dxl/control_table_max_torque.md %}

Status Return Level (16)

{% include en/dxl/control_table_status_return_lv.md %}

Alarm LED(17), Shutdown(18)

{% include en/dxl/control_table_alarm_shutdown.md %}

Torque Enable (24)

{% include en/dxl/control_table_torque_enable.md %}

LED (25)

{% include en/dxl/control_table_led.md %}

Compliance Margin (26, 27)

{% include en/dxl/control_table_compliance_margin.md %}

Compliance Slope (28, 29)

{% include en/dxl/control_table_compliance_slope.md %}

Goal Position (30)

{% include en/dxl/control_table_dx_goal_position.md %}

Moving Speed (32)

It is a moving speed to Goal Position. The range and the unit of the value may vary depending on the operation mode.

  • Join Mode 0~1023 (0X3FF) can be used, and the unit is about 0.111rpm. If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. If it is 1023, it is about 114rpm. For example, if it is set to 300, it is about 33.3 rpm.

    NOTE : Please check the maximum rpm of relevant model in Joint Mode. Even if the motor is set to more than maximum rpm, it cannot generate the torque more than the maximum rpm. {: .notice}

Torque Limit (34)

{% include en/dxl/control_table_torque_limit.md %}

Present Position (36)

{% include en/dxl/control_table_dx_present_position.md %}

Present Speed (38)

It is the current moving speed. 02047 (0X7FF) can be used. If a value is in the rage of 01023, it means that the motor rotates to the CCW direction. If a value is in the rage of 1024~2047, it means that the motor rotates to the CW direction. That is, the 10th bit becomes the direction bit to control the direction, and 0 and 1024 are equal. The unit of this value varies depending on operation mode.

  • Joint Mode The unit is about 0.111rpm. For example, if it is set to 300, it means that the motor is moving to the CCW direction at a rate of about 33.3rpm.

Present Load (40)

{% include en/dxl/control_table_present_load.md %}

Present Voltage (42)

{% include en/dxl/control_table_present_volt.md %}

Present Temperature (43)

{% include en/dxl/control_table_present_temp.md %}

Registered Instruction (44)

{% include en/dxl/control_table_reg_instruction.md %}

Moving (46)

{% include en/dxl/control_table_moving.md %}

Lock (47)

{% include en/dxl/control_table_lock.md %}

Punch (48)

{% include en/dxl/control_table_punch.md %}

How to Assemble

  • OF-116B Option Frame

  • OF-116H Option Frame

  • OF-116S Option Frame

  • Combination Structure of option frames and horns

Maintenance

{% include en/dxl/horn_bearing_replacement.md %}

Reference

NOTE : Compatibility Guide {: .notice}

Connector Information

{% include en/dxl/molex_485.md %}

Drawings

{% include en/dxl/download_center_notice.md %}

{% include en/dxl/485_ttl_connection.md %}