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MX-64(2.0)
mx-64-2

MX-64AR, MX-64AT (Protocol 2.0)

Specifications

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

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

Performance Graph

Stall torque Peak stall torque read from transient state {: .notice}

Performance Graph(N-T Curve) A graph shows torque measured in stable condition while increasing load. Normally, stall torque is bigger than maximum torque on performance graph. {: .notice}

CAUTION : When connecting to power supply:

  • For the stable power supply, we recommend using ROBOTIS controller or SMPS2Dynamixel.
  • Connect your DYNAMIXEL to power supply while it’s off and turn on/off with the power switch. {: .notice--warning}

{% include en/dxl/control_table_protocol2.md %}

Control Table of EEPROM Area

Address Size
(Byte)
Data Name Description Access Initial
Value
0 2 Model Number Model Number R 311
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 Baud Rate RW 1
9 1 Return Delay Time Response Delay Time RW 250
10 1 Drive Mode Drive Mode RW 0
11 1 Operating Mode Operating Mode RW 3
12 1 Secondary(Shadow) ID Secondary 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
36 2 PWM Limit Maximum PWM Limit RW 885
38 2 Current Limit Maximum Current Limit RW 1941
40 4 Acceleration Limit Maximum Acceleration Limit RW 32767
44 4 Velocity Limit Maximum Velocity Limit RW 285
48 4 Max Position Limit Maximum Position Limit RW 4,095
52 4 Min Position Limit Minimum Position Limit RW 0
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 Instruction REG_WRITE Instruction Flag R 0
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 850
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 RW -
120 2 Realtime Tick Count Time in Millisecond R -
122 1 Moving Movement Flag 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 from Profile R -
140 4 Position Trajectory Desired Position Trajectory from Profile R -
144 2 Present Input Voltage Present Input Voltage R -
146 1 Present Temperature Present Internal Temperature R -
168 2 Indirect Address 1 Indirect Address 1 RW 224
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
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. {: .notice--warning}

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(64) is cleared to ‘0’. {: .notice--warning}

Model Number(0)

This address stores model number of the DYNAMIXEL.

Firmware Version(6)

This address stores firmware version of the DYNAMIXEL.

ID(7)

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

Baud Rate(8)

{% include en/dxl/control_table_baudrate_2.md %}

Return Delay Time(9)

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

Drive Mode(10)

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

Operating Mode(11)

{% include en/dxl/control_table_opmode_six_2.md %}

Secondary(Shadow) ID(12)

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

Protocol Version(13)

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

Homing Offset(20)

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

Moving Threshold(24)

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

Temperature Limit(31)

{% include en/dxl/control_table_temp_limit_2.md %}

Min/Max Voltage Limit(32, 34)

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

PWM Limit(36)

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

Current Limit(38)

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

Unit Value Range
about 3.36[mA] 0 ~ 1,941

NOTE : Current Limit(38) could be differ by each DYNAMIXEL so please check the Control Table. {: .notice}

Acceleration Limit(40)

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

Velocity Limit(44)

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

Min/Max Position Limit(48, 52)

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

Shutdown(63)

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

Torque Enable(64)

{% include en/dxl/control_table_torque_enable_2.md %}

LED(65)

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

Status Return Level(68)

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

Registered Instruction(69)

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

Hardware Error Status(70)

This value indicates hardware error status. {% include en/dxl/control_table_shutdown.md %}

Velocity PI Gain(76, 78)

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

Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90)

{% include en/dxl/control_table_position_pid_gain.md %} {% include en/dxl/control_table_current_position_pid_gain.md %}

BUS Watchdog(98)

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

Goal PWM(100)

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

Goal Current(102)

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

Unit Value Range
about 3.36[mA] -Current Limit(38) ~ Current Limit(38)

NOTE : Applying high current to the motor for long period of time might damage the motor. {: .notice}

Goal Velocity(104)

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

Profile Acceleration(108)

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

Profile Velocity(112)

The Maximum velocity of Profile can be set with this value.
Profile Velocity(112) is applied only in Position Control Mode and Extended Position Control Mode.
Profile Velocity(112) cannot exceed Velocity Limit(44).
Velocity Control Mode only uses Profile Acceleration(108) instead of Profile Velocity(112).

Unit Value Range Description
0.229 rpm 0 ~ Velocity Limit(44) '0' stands for an infinite velocity

The Profile is an acceleration/deceleration control method to reduce vibration, noise and load of the motor by controlling dramatically changing velocity and acceleration.
It is also called Velocity Profile as it controls acceleration and deceleration based on velocity.
DYNAMIXEL provides 3 different types of Profile.
The following explains 3 Profiles.
Profiles are usually selected by a combination of Profile Velocity(112) and Profile Acceleration(108).

When given Goal Position(116), Dynamixel's profile creates desired velocity trajectory based on present velocity(initial velocity of the Profile).
When Dynamixel receives updated desired position from a new Goal Position(116) while it is moving toward the previous Goal Position(116), velocity smoothly varies for the new desired velocity trajectory.
Maintaining velocity continuity while updating desired velocity trajectory is called Velocity Override.
For a simple calculation, let's assume that the initial velocity of the Profile is '0'.
The following explains how Profile processes Goal Position(116) instruction in Position Control mode, Extended Position Control Mode, Current-based Position Control Mode.

  1. An Instruction from the user is transmitted via Dynamixel bus, then registered to Goal Position(116).
  2. Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
  3. Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and total travel distance(ΔPos, the distance difference between desired position and present position).
  4. Selected Profile type is stored at Moving Status(123).(Refer to the Moving Status(123))
  5. Dynamixel is driven by the calculated desired trajectory from Profile.
  6. desired velocity trajectory and desired position trajectory from Profile are stored at Velocity Trajectory(136) and Position Trajectory(140) respectively.
Condition Types of Profile
VPRFL(112) = 0 Profile not used
(Step Instruction)
(VPRFL(112) ≠ 0) & (APRF(108) = 0) Rectangular Profile
(VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) Trapezoidal Profile

{% capture group_notice_03 %} NOTE : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override are supported as well. Acceleration time(t1) can be calculated as below equation.
t1 = 64 * {Goal Velocity(104) / Profile Acceleration(108)} {% endcapture %}

{{ group_notice_03 | markdownify }}

Goal Position(116)

{% include en/dxl/control_table_goal_position_2.md %}

Realtime Tick(120)

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

Moving(122)

{% include en/dxl/control_table_moving_2.md %}

Moving Status(123)

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

Present PWM(124)

This value indicates present PWM. For more details, please refer to the Goal PWM(100).

Present Current(126)

This value indicates current Current. For more details, please refer to the Goal Current(102).

Present Velocity(128)

This value indicates present Velocity. For more details, please refer to the Goal Velocity(104).

Present Position(132)

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

Velocity Trajectory(136)

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

Position Trajectory(140)

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

Present Input Voltage(144)

{% include en/dxl/control_table_present_volt_2.md %}

Present Temperature(146)

{% include en/dxl/control_table_present_temp_2.md %}

Indirect Address, Indirect Data

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

How to Assemble

Optional Frames

  • FR05-B101

  • FR05-F101 and FR05-X101

  • FR05-H101

  • FR05-S101

Horns

  • HN05-I102

  • HN05-N101

Combination Structures

Maintenance

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

Reference

NOTE : Compatibility Guide {: .notice}

Connector Information

{% include en/dxl/molex_485_ttl.md %}

Videos

<iframe width="560" height="315" src="https://www.youtube.com/embed/aO4XNlP94q8" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>

Drawings

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

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