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XM540-W270-T/R
xm540-w270

XM540-W270-T/R

Specifications

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

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

Performance Graph

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

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

Control Table of EEPROM Area

Address Size
(Byte)
Data Name Access Default
Value
Range Unit
0 2 Model Number R 1,120 - -
2 4 Model Information R - - -
6 1 Firmware Version R - - -
7 1 ID RW 1 0 ~ 253 -
8 1 Baud Rate RW 1 0 ~ 7 -
9 1 Return Delay Time RW 250 0 ~ 254 2 [μsec]
10 1 Drive Mode RW 0 0 ~ 2 -
11 1 Operating Mode RW 3 0 ~ 16 -
12 1 Secondary(Shadow) ID RW 255 0 ~ 252 -
13 1 Protocol Version RW 2 1 ~ 2 -
20 4 Homing Offset RW 0 -1,044,479 ~
1,044,479
1 [pulse]
24 4 Moving Threshold RW 10 0 ~ 1,023 0.229 [rev/min]
31 1 Temperature Limit RW 80 0 ~ 100 1 [°C]
32 2 Max Voltage Limit RW 160 95 ~ 160 0.1 [V]
34 2 Min Voltage Limit RW 95 95 ~ 160 0.1 [V]
36 2 PWM Limit RW 885 0 ~ 885 0.113 [%]
38 2 Current Limit RW 2,047 0 ~ 2,047 2.69 [mA]
44 4 Velocity Limit RW 128 0 ~ 1,023 0.229 [rev/min]
48 4 Max Position Limit RW 4,095 0 ~ 4,095 1 [pulse]
52 4 Min Position Limit RW 0 0 ~ 4,095 1 [pulse]
56 1 External Port Mode 1 RW 3 0 ~ 3 -
57 1 External Port Mode 2 RW 3 0 ~ 3 -
58 1 External Port Mode 3 RW 3 0 ~ 3 -
63 1 Shutdown RW 52 - -

Control Table of RAM Area

Address Size
(Byte)
Data Name Access Default
Value
Range Unit
64 1 Torque Enable RW 0 0 ~ 1 -
65 1 LED RW 0 0 ~ 1 -
68 1 Status Return Level RW 2 0 ~ 2 -
69 1 Registered Instruction R 0 0 ~ 1 -
70 1 Hardware Error Status R 0 - -
76 2 Velocity I Gain RW 1,920 0 ~ 16,383 -
78 2 Velocity P Gain RW 100 0 ~ 16,383 -
80 2 Position D Gain RW 0 0 ~ 16,383 -
82 2 Position I Gain RW 0 0 ~ 16,383 -
84 2 Position P Gain RW 800 0 ~ 16,383 -
88 2 Feedforward 2nd Gain RW 0 0 ~ 16,383 -
90 2 Feedforward 1st Gain RW 0 0 ~ 16,383 -
98 1 Bus Watchdog RW 0 1 ~ 127 20 [μsec]
100 2 Goal PWM RW - -PWM Limit(36) ~
PWM Limit(36)
-
102 2 Goal Current RW - -Current Limit(38) ~
Current Limit(38)
2.69 [mA]
104 4 Goal Velocity RW - -Velocity Limit(44) ~
Velocity Limit(44)
0.229 [rev/min]
108 4 Profile Acceleration RW 0 0 ~ 32,767
0 ~ 32,737
214.577 [rev/min2]
1 [ms]
112 4 Profile Velocity RW 0 0 ~ 32,767 0.229 [rev/min]
116 4 Goal Position RW - Min Position Limit(52) ~
Max Position Limit(48)
1 [pulse]
120 2 Realtime Tick R - 0 ~ 32,767 1 [msec]
122 1 Moving R 0 0 ~ 1 -
123 1 Moving Status R 0 - -
124 2 Present PWM R - - -
126 2 Present Current R - - 2.69 [mA]
128 4 Present Velocity R - - 0.229 [rev/min]
132 4 Present Position R - - 1 [pulse]
136 4 Velocity Trajectory R - - 0.229 [rev/min]
140 4 Position Trajectory R - - 1 [pulse]
144 2 Present Input Voltage R - - 0.1 [V]
146 1 Present Temperature R - - 1 [°C]
152 2 External Port Data 1 RW - - -
154 2 External Port Data 2 RW - - -
156 2 External Port Data 3 RW - - -
168 2 Indirect Address 1 RW 224 64 ~ 661 -
170 2 Indirect Address 2 RW 225 64 ~ 661 -
172 2 Indirect Address 3 RW 226 64 ~ 661 -
- -
218 2 Indirect Address 26 RW 249 64 ~ 661 -
220 2 Indirect Address 27 RW 250 64 ~ 661 -
222 2 Indirect Address 28 RW 251 64 ~ 661 -
224 1 Indirect Data 1 RW 0 0 ~ 255 -
225 1 Indirect Data 2 RW 0 0 ~ 255 -
226 1 Indirect Data 3 RW 0 0 ~ 255 -
- -
249 1 Indirect Data 26 RW 0 0 ~ 255 -
250 1 Indirect Data 27 RW 0 0 ~ 255 -
251 1 Indirect Data 28 RW 0 0 ~ 255 -
578 2 Indirect Address 29 RW 634 64 ~ 661 -
580 2 Indirect Address 30 RW 635 64 ~ 661 -
582 2 Indirect Address 31 RW 636 64 ~ 661 -
- -
628 2 Indirect Address 54 RW 659 64 ~ 661 -
630 2 Indirect Address 55 RW 660 64 ~ 661 -
632 2 Indirect Address 56 RW 661 64 ~ 661 -
634 1 Indirect Data 29 RW 0 0 ~ 255 -
635 1 Indirect Data 30 RW 0 0 ~ 255 -
636 1 Indirect Data 31 RW 0 0 ~ 255 -
- -
659 1 Indirect Data 54 RW 0 0 ~ 255 -
660 1 Indirect Data 55 RW 0 0 ~ 255 -
661 1 Indirect Data 56 RW 0 0 ~ 255 -

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)

Drive Mode is availabe from the firmware version 38.

Bit Item Description
Bit 2(0x04)~7(0x80) N/A Unused, always '0'
Bit 1(0x02) Master/Slave Configuration
(Dual Joint)
Master mode('0') : Operate as a Master DYNAMIXEL
Slave mode('1') : Operate as a Slave DYNAMIXEL
Bit 0(0x01) Direction of Rotation Normal Mode(0): CCW(Positive), CW(Negative)
Reverse Mode(1): CCW(Negative), CW(Positive)

{% include en/dxl/control_table_x_dual_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_2.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 2.69[mA] 0 ~ 2,047

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

Velocity Limit(44)

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

Min/Max Position Limit(48, 52)

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

External Port Mode 1,2,3(56,57,58)

{% include en/dxl/control_table_externalport_x.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 2.69[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)

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

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 current 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 current 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 %}

External Port Data 1,2,3

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

Indirect Address, Indirect Data

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

How to Assemble

Wiring through Back Case

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

Option Frame Assembly

Maintenance

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

Reference

NOTE : Compatibility Guide {: .notice}

Quick Start

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

Connector Information

{% include en/dxl/jst_485_ttl_ext_dual.md %}

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

Drawings

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