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H42P-020-S300-R
h42p-020-s300-r
dxl_pro_plus

H42P-020-S300-R

주요 사양

{% include kr/dxl/pro_plus/specifications_pro_plus.md %}

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

성능 그래프

그래프 자세히 보기{: .popup}

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

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

EEPROM 영역

주소 크기
(Byte)
명칭 접근 초기값 범위 단위
0 2 Model Number R 2,000 - -
2 4 Model Information R - - -
6 1 Firmware Version R - - -
7 1 ID RW 1 0 ~ 252 -
8 1 Baud Rate RW 1 0 ~ 9 -
9 1 Return Delay Time RW 250 0 ~ 254 2 [μsec]
10 1 Drive Mode RW 0 0 ~ 1 -
11 1 Operating Mode RW 3 0, 1, 3, 4, 16 -
12 1 Sencondary(Shadow) ID RW 255 0 ~ 255 -
20 4 Homing Offset RW 0 -2,147,483,648 ~
2,147,483,647
1 [pulse]
24 4 Moving Threshold RW 20 0 ~ 2,920 0.01 [rev/min]
31 1 Temperature Limit RW 80 0 ~ 100 1 [°C]
32 2 Max Voltage Limit RW 350 0 ~ 350 0.1 [V]
34 2 Min Voltage Limit RW 150 0 ~ 350 0.1 [V]
36 2 PWM Limit RW 2,009 0 ~ 2,009 -
38 2 Current Limit RW 4,500 0 ~ 4,500 1 [mA]
40 4 Acceleration Limit RW 10,765 0 ~ 4,306,173 1 [rev/min2]
44 4 Velocity Limit RW 2,920 0 ~ 2,920 0.01 [rev/min]
48 4 Max Position Limit RW 303,454 -303,750 ~
303,750
1 [pulse]
52 4 Min Position Limit RW -303,454 -303,750 ~
303,750
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 -
59 1 External Port Mode 4 RW 3 0 ~ 3 -
63 1 Shutdown RW 52 0 ~ 255 -
168 2 Indirect Address 1 RW 634 512 ~ 1,023 -
170 2 Indirect Address 2 RW 635 512 ~ 1,023 -
172 2 Indirect Address 3 RW 636 512 ~ 1,023 -
... ... ... ... ... ... ...
422 2 Indirect Address 128 RW 761 512 ~ 1,023 -

RAM 영역

주소 크기
(Byte)
명칭 접근 기본값 범위 단위
512 1 Torque Enable RW 0 0 ~ 1 -
513 1 LED Red RW 0 0 ~ 255 -
514 1 LED Green RW 0 0 ~ 255 -
515 1 LED Blue RW 0 0 ~ 255 -
516 1 Status Return Level RW 2 0 ~ 2 -
517 1 Registered Instruction R 0 - -
518 1 Hardware Error Status R 0 - -
524 2 Velocity I Gain RW - 0 ~ 32,767 -
526 2 Velocity P Gain RW - 0 ~ 32,767 -
528 2 Position D Gain RW - 0 ~ 32,767 -
530 2 Position I Gain RW - 0 ~ 32,767 -
532 2 Position P Gain RW - 0 ~ 32,767 -
536 2 Feedforward 2nd Gain RW - 0 ~ 32,767 -
538 2 Feedforward 1st Gain RW - 0 ~ 32,767 -
546 1 Bus Watchdog RW - 0 ~ 127 20 [msec]
548 2 Goal PWM RW - -PWM Limit(36) ~
PWM Limit(36)
-
550 2 Goal Current RW - -Current Limit(38) ~
Current Limit(38)
1 [mA]
552 4 Goal Velocity RW - -Velocity Limit(44) ~
Velocity Limit(44)
0.01 [rev/min]
556 4 Profile Acceleration RW - 0 ~
Acceleration Limit(40)
1 [rev/min2]
560 4 Profile Velocity RW - 0 ~
Velocity Limit(44)
0.01 [rev/min]
564 4 Goal Position RW - Min Position Limit(52) ~
Max Position Limit(48)
1[pulse]
568 2 Realtime Tick R - 0 ~ 32,767 1 [msec]
570 1 Moving R - - -
571 1 Moving Status R - - -
572 2 Present PWM R - - -
574 2 Present Current R - - 1 [mA]
576 4 Present Velocity R - - 0.01 [rev/min]
580 4 Present Position R - - 1 [pulse]
584 4 Velocity Trajectory R - - 0.01 [rev/min]
588 4 Position Trajectory R - - 1 [pulse]
592 2 Present Input Voltage R - - 0.1 [V]
594 1 Present Temperature R - - 1 [°C]
600 2 External Port Data 1 R/RW 0 0 ~ 4,095 -
602 2 External Port Data 2 R/RW 0 0 ~ 4,095 -
604 2 External Port Data 3 R/RW 0 0 ~ 4,095 -
606 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 -
... ... ... ... ... ... ...
761 1 Indirect Data 128 RW 0 0 ~ 255 -

컨트롤 테이블 설명

주의: EEPROM Area에 존재하는 모든 Data는 Torque Enable(512)의 값이 ‘0’일 때만 변경할 수 있습니다. {: .notice--warning}

Model Number(0)

모델 번호입니다.

모델명 Model Number
H42P-020-S300-R 2,000 (0x07D0)

Firmware Version(6)

{% include kr/dxl/pro_plus/control_table_6_firmware_version.md %}

ID(7)

{% include kr/dxl/pro_plus/control_table_7_id.md %}

Baud Rate(8)

{% include kr/dxl/pro_plus/control_table_8_baud_rate.md %}

Return Delay Time(9)

{% include kr/dxl/pro_plus/control_table_9_return_delay_time.md %}

Drive Mode(10)

{% include kr/dxl/pro_plus/control_table_10_drive_mode.md %}

Operating Mode(11)

{% include kr/dxl/pro_plus/control_table_11_operating_mode.md %}

Secondary ID(12)

{% include kr/dxl/pro_plus/control_table_12_secondary_id.md %}

Homing Offset(20)

{% include kr/dxl/pro_plus/control_table_20_homing_offset.md %}

{% capture homing_offset %}
참고 : 위치제어 모드(관절 모드)의 경우, Homing Offset(20)은 (-90 ~ 90 [°]) 범위보다 클 경우 무시됩니다.

{% endcapture %}

{{ homing_offset | markdownify }}

Moving Threshold(24)

{% include kr/dxl/pro_plus/control_table_24_moving_threshold.md %}

단위 범위
0.01 [rev/min] 0 ~ 2,920

Temperature Limit(31)

{% include kr/dxl/pro_plus/control_table_31_temperature_limit.md %}

Max/Min Voltage Limit(32, 34)

{% include kr/dxl/pro_plus/control_table_32_voltage_limit.md %}

PWM Limit(36)

{% include kr/dxl/pro_plus/control_table_36_pwm_limit.md %}

Current Limit(38)

{% include kr/dxl/pro_plus/control_table_38_current_limit.md %}

단위 범위
1 [mA] 0 ~ 4,500

Acceleration Limit(40)

{% include kr/dxl/pro_plus/control_table_40_acceleration_limit.md %}

단위 범위
1 [rev/min2] 0 ~ 4,306,173

Velocity Limit(44)

{% include kr/dxl/pro_plus/control_table_44_velocity_limit.md %}

단위 범위
0.01 [rev/min] 0 ~ 2,920

Max/Min Position Limit(48, 52)

위치 제어 모드에서 목표 위치의 제한 값으로써, 1회전(-303,750 ~ 303,750) 범위 내에서 목표 위치를 제한 합니다.
따라서 위치 제어 모드에서 Goal position(564)은 이 값보다 클 수 없습니다. 이 값보다 큰 값을 쓰려 하면, 값이 써지지 않고, Status packet의 error 에 Limit error bit가 set 됩니다.

단위 기본값 값의 범위
1 [pulse] -303,454 ~ 303,454 -303,750 ~ 303,750

주의: 동작 모드가 확장 위치 제어 모드일 때는 Position Limit이 적용되지 않습니다. {: .notice}

External Port Mode, External Port Data

{% include kr/dxl/pro_plus/control_table_56_external_port.md %}

Shutdown(63)

{% include kr/dxl/pro_plus/control_table_63_shutdown.md %}

Indirect Address, Indirect Data

{% include kr/dxl/pro_plus/control_table_168_indirect.md %}

Torque Enable(512)

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

RGB LED(513)

{% include kr/dxl/pro_plus/control_table_513_led.md %}

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

Status Return Level(516)

{% include kr/dxl/pro_plus/control_table_516_status_return_level.md %}

Registered Instruction(517)

{% include kr/dxl/pro_plus/control_table_517_registered_instruction.md %}

Hardware Error Status(518)

{% include kr/dxl/pro_plus/control_table_518_hardware_error_status.md %}

Velocity PI Gain(524, 526), Feedforward 2nd Gains(536)

{% include kr/dxl/pro_plus/control_table_524_velocity_gain.md %}

Position PID Gain(528, 530, 532), Feedforward 1st Gains(538)

{% include kr/dxl/pro_plus/control_table_528_position_gain.md %}

Bus Watchdog(546)

{% include kr/dxl/pro_plus/control_table_546_bus_watchdog.md %}

Goal PWM(548)

{% include kr/dxl/pro_plus/control_table_548_goal_pwm.md %}

Goal Current(550)

{% include kr/dxl/pro_plus/control_table_550_goal_current.md %}

Goal Velocity(552)

{% include kr/dxl/pro_plus/control_table_552_goal_velocity.md %}

Profile Acceleration(556)

{% include kr/dxl/pro_plus/control_table_556_profile_acceleration.md %}

Profile Velocity(560)

{% include kr/dxl/pro_plus/control_table_560_profile_velocity.md %}

Goal Position(564)

{% include kr/dxl/pro_plus/control_table_564_goal_position.md %}

각도 위치값 방향
-180 [°] ~ 180 [°] -303,750 ~ 303,750

Realtime Tick(568)

{% include kr/dxl/pro_plus/control_table_568_realtime_tick.md %}

Moving(570)

{% include kr/dxl/pro_plus/control_table_570_moving.md %}

Moving Status(571)

{% include kr/dxl/pro_plus/control_table_571_moving_status.md %}

Present PWM(572)

{% include kr/dxl/pro_plus/control_table_572_present_pwm.md %}

Present Current(574)

{% include kr/dxl/pro_plus/control_table_574_present_current.md %}

Present Velocity(576)

{% include kr/dxl/pro_plus/control_table_576_present_velocity.md %}

Present Position(580)

{% include kr/dxl/pro_plus/control_table_580_present_position.md %}

Velocity Trajectory(584)

{% include kr/dxl/pro_plus/control_table_584_velocity_trajectory.md %}

Position Trajectory(588)

{% include kr/dxl/pro_plus/control_table_588_position_trajectory.md %}

Present Input Voltage(592)

{% include kr/dxl/pro_plus/control_table_592_present_input_voltage.md %}

Present Temperature(594)

{% include kr/dxl/pro_plus/control_table_594_present_temperature.md %}

조립 예시

옵션프레임 조립

  • FRP42-H120K Set

유지보수

참고자료

주의
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/pro_plus/jst_485_pro_plus.md %}

통신 회로

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

도면

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

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

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

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