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XH540-W270-T/R
xh540-w270
dxl_x540

XH540-W270-T/R

주요 사양

{% include kr/dxl/specifications_x.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 1,100 - -
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 167 0 ~ 1023 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 - -

RAM 영역

주소 크기(Byte) 명칭 접근 기본값 범위 단위
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 [msec]
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 -

주의: Address가 256보다 큰 경우 프로토콜 1.0으로 접근할 수 없습니다. 따라서 Indirect Address 29 ~ 56과 Indirect Data 29~56은 프로토콜 2.0으로만 접근이 가능합니다. {: .notice--warning}

[Address 기능 설명](#address 기능 설명)

주의 : EEPROM Area에 존재하는 모든 Data는 Torque Enable(64)의 값이 ‘0’일 때만 변경할 수 있습니다. {: .notice--warning}

Model Number(0)

장치의 모델 번호입니다.

Firmware Version(6)

장치의 펌웨어 버전입니다.

ID(7)

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

Baud Rate(8)

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

Return Delay Time(9)

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

Drive Mode(10)

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

Operating Mode(11)

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

Secondary(Shadow) ID(12)

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

Protocol Version(13)

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

Homing Offset(20)

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

Moving Threshold(24)

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

Temperature Limit(31)

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

Min/Max Voltage Limit(32, 34)

{% include kr/dxl/control_table_volt_limit_2.md %}

PWM Limit(36)

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

Current Limit(38)

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

단위 범위
약 2.69[mA] 0 ~ 2,047

주의: Current Limit(38)은 장치 별로 다를 수 있으니 Control Table을 확인하시기 바랍니다. {: .notice}

Velocity Limit(44)

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

Min/Max Position Limit(48, 52)

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

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

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

Shutdown(63)

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

Torque Enable(64)

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

LED(65)

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

Status Return Level(68)

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

Registered Instruction(69)

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

Hardware Error Status(70)

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

Velocity PI Gain(76, 78)

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

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

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

Bus Watchdog(98)

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

Goal PWM(100)

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

Goal Current(102)

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

단위 범위
약 2.69 [mA] -Current Limit(38) ~ Current Limit(38)

주의: 높은 전류를 장시간 사용할 경우, 모터가 손상될 수 있습니다. {: .notice}

Goal Velocity(104)

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

Profile Acceleration(108)

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

Profile Velocity(112)

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

Goal Position(116)

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

Realtime Tick(120)

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

Moving(122)

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

Moving Status(123)

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

Present PWM(124)

현재 PWM 값입니다. 자세한 사항은 [Goal PWM(100)]을 참고하세요.

Present Current(126)

현재 전류 값입니다. 자세한 사항은 [Goal Current(102)]를 참고하세요

Present Velocity(128)

현재 속도 값입니다. 자세한 사항은 [Goal Velocity(104)]를 참고하세요

Present Position(132)

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

Velocity Trajectory(136)

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

Position Trajectory(140)

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

Present Input Voltage(144)

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

Present Temperature(146)

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

External Port Data 1,2,3

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

Indirect Address, Indirect Data

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

조립 예시

배선 예시

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

옵션프레임 조립

유지보수

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

참고자료

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

인증 획득

표기되지 않은 인증에 대해서는 별도 문의하시기 바랍니다.

FCC

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

퀵스타트

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

커넥터 정보

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

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

도면

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

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

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