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/docs/kr/dxl/pro/m54-40-s250-r/
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M54-40-S250-R
m54-40-s250-r
dxl_pro

M54-40-S250-R

주요 사양

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

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

성능 그래프

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

{% include kr/dxl/control_table.md %}

EEPROM 영역

주소 크기(Byte) 명칭 접근 기본값 범위 단위
0 2 Model Number R 46,096 - -
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 0, 1, 3, 4 -
13 4 Homing Offset RW 0 -2,147,483,648 ~
2,147,483,647		 1 [pulse]
17 4 Moving Threshold RW 50 0 ~ 2,147,483,647 0.00397746 [rev/min]
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 58,000 [rev/min2]
30 2 Torque Limit RW 120 0 ~ 360 16.11328 mA]
32 4 Velocity Limit RW 8,000 0 ~ 2,147,483,647 0.00397746 [rev/min]
36 4 Max Position Limit RW 125,708 -2,147,483,648 ~
2,147,483,647		 1 [pulse]
40 4 Min Position Limit RW -125,708 -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 58 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 -

RAM 영역

주소 크기(Byte) 명칭 접근 기본값 범위 단위
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 16 0 ~ 65535 -
588 2 Velocity P Gain RW 256 0 ~ 65535 -
594 2 Position P Gain RW 32 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)		 0.00397746 [rev/min]
604 2 Goal Torque RW 0 -Torque Limit(30) ~
Torque Limit(30)		 16.11328 mA]
606 4 Goal Acceleration RW 0 0 ~
Acceleration Limit(26)		 58,000 [rev/min2]
610 1 Moving R - - -
611 4 Present Position R - - 1 [pulse]
615 4 Present Velocity R - - 0.00397746 [rev/min]
621 2 Present Current R - - 16.11328 mA]
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 - -

컨트롤 테이블 설명

주의: EEPROM Area에 존재하는 모든 Data는 Torque Enable(562)의 값이 ‘0’일 때만 변경할 수 있습니다. {: .notice--warning}

Model Number(0)

장치의 모델 번호입니다.

모델명 Model Number
M54-40-S250-R 46,096 (0xB410)

Firmware Version(6)

장치의 펌웨어 버전입니다.

ID(7)

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

Baud Rate(8)

{% include kr/dxl/control_table_8_baudrate_pro.md %}

Return Delay Time(9)

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

Operating Mode(11)

{% include kr/dxl/control_table_11_opmode_pro.md %}

Homing Offset(13)

{% include kr/dxl/control_table_13_homingoffset_pro.md %}

Moving Threshold(17)

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

Temperature Limit(21)

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

Min/Max Voltage Limit(22, 24)

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

Acceleration Limit(26)

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

Torque Limit(30)

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

Velocity Limit(32)

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

Min/Max Position Limit(36, 40)

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

External Port Mode, External Port Data

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

Shutdown(48)

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

Indirect Address, Indirect Data

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

Torque Enable(562)

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

RGB LED(563)

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

Velocity PI Gain(586, 588)

{% include kr/dxl/control_table_586_velocitypigain_pro.md %}

Position P Gain(594)

{% include kr/dxl/control_table_594_positionpidgain_pro.md %}

Goal Position(596), Present Position(611)

{% include kr/dxl/control_table_596_goalposition_pro.md %}

Goal Velocity(600)

{% include kr/dxl/control_table_600_goalvelocity_pro.md %}

Goal Torque(604)

{% include kr/dxl/control_table_604_goaltorque_pro.md %}

Goal Acceleration(606)

{% include kr/dxl/control_table_606_goalaccel_pro.md %}

Moving(610)

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

Present Velocity(615)

이 값은 현재 속도를 나타냅니다. 더 자세한 정보는 Goal Velocity(600)를 참조하세요.

Present Current(621)

이 값은 현재 전류를 나타냅니다. 더 자세한 정보는 Goal Torque(604)를 참조하세요.

Present Input Voltage(623)

이 값은 현재 입력전류를 나타냅니다. 더 자세한 정보는 Min/Max Voltage Limit(24, 22)를 참조하세요.

Present Temperature(625)

이 값은 다이나믹셀의 내부온도를 나타냅니다. 더 자세한 정보는 Temperature Limit(21)을 참조하세요.

Registered Instruction(890)

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

Status Return Level(891)

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

Hardware Error Status(892)

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

조립 예시

옵션프레임 조립

  • FRP54-H110K, FRP54-H120K Set

  • FRP54-H210K, FRP54-H220K Set

유지보수

참고자료

참고
호환성 가이드{: .blank}
[케이블 호환성]{: .popup} {: .notice}

인증 획득

표기되지 않은 인증에 대해서는 별도 문의하시기 바랍니다.

FCC

{% include kr/dxl/fcc_class_a.md %}

커넥터 정보

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

통신 회로

{% include kr/dxl/communication_circuit_pro.md %}

도면

다운로드 PDF{: .blank}, DWG{: .blank}, STEP{: .blank}, IGES{: .blank}

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

{% include kr/dxl/common_link.md %}