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L42-10-S300-R
l42-10-s300-r

L42-10-S300-R

Specifications

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

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

Performance Graph

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

{% include en/dxl/control_table_protocol2_pro.md %}

Control Table of EEPROM Area

Address Size
(Byte)
Data Name Access Default
Value
Range Unit
0 2 Model Number R 35,072 - -
2 4 Model Information R - - -
6 1 Firmware Version R - - -
7 1 ID RW 1 0 ~ 252 -
8 1 Baud Rate RW 1 0 ~ 13 -
9 1 Return Delay Time RW 250 0 ~ 255 -
11 1 Operating Mode RW 3 1, 3 -
13 4 Homing Offset RW 0 -2,147,483,648 ~
2,147,483,647
1 [pulse]
17 4 Moving Threshold RW 10 0 ~ 2,147,483,647 -
21 1 Temperature Limit RW 80 0 ~ 100 1 [°C]
22 2 Max Voltage Limit RW 400 0 ~ 400 0.1 [V]
24 2 Min Voltage Limit RW 150 0 ~ 400 0.1 [V]
26 4 Acceleration Limit RW - 0 ~ 2,147,483,647 -
30 2 Torque Limit RW 987 0 ~ 987 -
32 4 Velocity Limit RW - 0 ~ 2,147,483,647 -
36 4 Max Position Limit RW 2048 -2,147,483,648 ~
2,147,483,647
1 [pulse]
40 4 Min Position Limit RW -2047 -2,147,483,648 ~
2,147,483,647
1 [pulse]
44 1 External Port Mode 1 RW 0 0 ~ 3 -
45 1 External Port Mode 2 RW 0 0 ~ 3 -
46 1 External Port Mode 3 RW 0 0 ~ 3 -
47 1 External Port Mode 4 RW 0 0 ~ 3 -
48 1 Shutdown RW 30 0 ~ 255 -
49 2 Indirect Address 1 RW 634 562 ~ 949 -
51 2 Indirect Address 2 RW 635 562 ~ 949 -
53 2 Indirect Address 3 RW 636 562 ~ 949 -
... 2 Indirect Address N RW ... 562 ~ 949 -
559 2 Indirect Address 256 RW 889 562 ~ 949 -

Control Table of RAM Area

Address Size
(Byte)
Data Name Access Default
Value
Range Unit
562 1 Torque Enable RW 0 0 ~ 1 -
563 1 LED Red RW 0 0 ~ 255 -
564 1 LED Green RW 0 0 ~ 255 -
565 1 LED Blue RW 0 0 ~ 255 -
586 2 Velocity I Gain RW 40 0 ~ 65535 -
588 2 Velocity P Gain RW 440 0 ~ 65535 -
594 2 Position P Gain RW 64 0 ~ 65535 -
596 4 Goal Position RW - Min Position Limit(40) ~
Max Position Limit(36)
1 [pulse]
600 4 Goal Velocity RW 0 -Velocity Limit(32) ~
Velocity Limit(32)
-
604 2 Goal Torque RW 0 -Torque Limit(30) ~
Torque Limit(30)
-
606 4 Goal Acceleration RW 0 0 ~
Acceleration Limit(26)
-
610 1 Moving R - - -
611 4 Present Position R - - 1 [pulse]
615 4 Present Velocity R - - -
621 2 Present Current R - - -
623 2 Present Input Voltage R - - 0.1 [V]
625 1 Present Temperature R - - 1 [°C]
626 2 External Port Data 1 R/RW 0 0 ~ 4,095 -
628 2 External Port Data 2 R/RW 0 0 ~ 4,095 -
630 2 External Port Data 3 R/RW 0 0 ~ 4,095 -
632 2 External Port Data 4 R/RW 0 0 ~ 4,095 -
634 1 Indirect Data 1 RW 0 0 ~ 255 -
635 1 Indirect Data 2 RW 0 0 ~ 255 -
636 1 Indirect Data 3 RW 0 0 ~ 255 -
... 1 Indirect Data N RW 0 0 ~ 255 -
889 1 Indirect Data 256 RW 0 0 ~ 255 -
890 1 Registered Instruction R 0 - -
891 1 Status Return Level RW 2 0 ~ 2 -
892 1 Hardware Error Status R 0 - -

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(562) is cleared to ‘0’. {: .notice--warning}

Model Number(0)

This address stores model number of the DYNAMIXEL.

Model Name Model Number
L42-10-S300-R 35072 (0x8900)

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_8_baudrate_pro.md %}

Return Delay Time(9)

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

Operating Mode(11)

Value Operating Mode Description
1 Velocity Control Mode This mode controls Velocity and Torque. Position will not be controlled.
3(Default) Position Control Mode This mode controls Position, Velocity and Torque.

Moving Threshold(17)

{% include en/dxl/control_table_17_movingthreshold_pro.md %}

Temperature Limit(21)

{% include en/dxl/control_table_21_templimit_pro.md %}

Min/Max Voltage Limit(22, 24)

{% include en/dxl/control_table_22_voltlimit_pro.md %}

Acceleration Limit(26)

{% include en/dxl/control_table_26_acclimit_pro.md %}

Torque Limit(30)

{% include en/dxl/control_table_30_torquelimit_pro.md %}

Velocity Limit(32)

{% include en/dxl/control_table_32_vellimit_pro.md %}

Min/Max Position Limit(36, 40)

{% include en/dxl/control_table_36_positionlimit_pro.md %}

External Port Mode, External Port Data

{% include en/dxl/control_table_44_externalport_pro.md %}

Shutdown(48)

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(48), Dynamixel can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). If those errors are detected, Torque Enable(562) is cleared to ‘0’ and the motor output becomes 0[%]. In order to reuse Dynamixel Pro in shutdown status, REBOOT has to be done. The followings are detectable situations.

Bit Item Description
Bit 7 - -
Bit 6 - -
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 Detect internal temperature exceeds the configured operating temperature
Bit 1 Motor Hall Sensor Error Motor hall sensor value exceeds normal range
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 Protocol section of e-Manual.)

Indirect Address, Indirect Data

{% include en/dxl/control_table_49_indirectdata_pro.md %}

Torque Enable(562)

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

RGB LED(563)

{% include en/dxl/control_table_563_led_pro.md %}

Position PID Gain(594, 592, 590)

These Gains are used in Position Control Mode. Below figure is a block diagram describing the Position Control Mode. KPD, KPI, KPP stands for Position D Gain, Position I Gain and Position P Gain respectively.

Gain Value Range
0 ~ 32,767

Goal Position(596)

Desired position can be set with Goal Position(596). This value can't be smaller than the Min Position Limit(40) or larger than Max Position Limit(36). When CW/CCW Angle Limit are exceeded the status packet sends an Angle limit error bit (bit 1) to 1. The alarm LED is triggered and initiate shutdown.

Model Angle Range Position Range Description
L42-10-S300-R 0° ~ 360 ° 0 ~ 4,095

Goal Velocity(600)

  • Position Control Mode Speed for Goal Position. Range is from 0 ~ 1,023 (0x3FF) and 0.114rpm is a RPM conversion unit. If Goal Velocity is set to '0', maximum rpm will be used. For example, if Goal Velocity is set to '1,023', 1,023 * 0.114rpm = 116.62rpm

  • Speed Control Mode It is a velocity to a desired direction. -1,023 ~ 1,023 (0x3FF) can be used, and the conversion unit is about 0.114rpm. If a value in the range of 0 ~ 1,023 is used, rotating direction is CCW and '0' will stop rotation. If a value in the range of -1,023 ~ 0 is used, rotating direction is CW and '0' will stop rotation.

    NOTE : Please check the maximum rpm of the Dynamixel. The motor cannot exceed the maximum rpm with the higher Moving Speed value. {: .notice}

Goal Torque(604)

It is the value of the maximum torque limit. 0 ~ 1,023(0x3FF) is available, and the unit is about 0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. If the power is turned on, the value of Torque Limit(30) is used as an initial value.

Goal Acceleration(606)

Goal Acceleration(606) can be used to set a desired acceleration. This value is used in Velocity Control Mode and Position Control Mode. The profile control will be enabled when both Goal Acceleration(606) and Goal Velocity(600) are not '0'. Please refer to the Goal Velocity(600) for RPM conversion constant.

Value Range Unit
-2,147,483,647 ~ 2,147,483,647 214 RPM2 @ Core Motor

Moving(610)

{% include en/dxl/control_table_610_moving_pro.md %}

Present Position(611)

This value indicates present Position. For more details, please refer to the Goal Position(596).

Present Velocity(615)

This value indicates present Velocity. It is a velocity to a desired direction. -1,023 ~ 1,023 (0x3FF) can be used, and the conversion unit is about 0.114rpm. For more details, please refer to the Goal Velocity(600).

Present Current(621)

Formula
A = V * 8,250 / 2,048
A : Current[mA]
V : Present Current/Goal Torque

Present Input Voltage(623)

This value indicates present voltage that is being supplied. For more details, please refer to the Min/Max Voltage Limit(24, 22).

Present Temperature(625)

This value indicates present internal Temperature. For more details, please refer to the Temperature Limit(21).

Registered Instruction(890)

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

Status Return Level(891)

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

Hardware Error Status(892)

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

How to Assemble

Option Frame Assembly

  • FRP42-H110K, FRP42-H120K Set

Maintenance

Reference

NOTE : Pro Compatibility Guide {: .notice}

Connector Information

{% include en/dxl/molex_485_pro.md %}

Drawings

Download PDF, DWG, STEP, IGES

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