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주요 사양

{% include kr/dxl/y/specifications_y.md %}

{% include kr/dxl/y/y_warning.md %}

성능 그래프

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

{% include kr/dxl/y/y_control_table.md %}

컨트롤 테이블 구성

주소	크기(Byte)	영역	명칭	접근	기본값	범위	단위
0	2	EEPROM	Model Number	R	4,140	-	-
2	4	EEPROM	Model Information	R	-	-	-
6	1	EEPROM	Firmware Version	R	-	-	-
7	1	EEPROM	ID	RW	1	0 ~ 252	-
8	1	RAM	Bus Watchdog	RW	0	0 ~ 127	-
10	1	EEPROM	Secondary(Shadow) ID	RW	255	0 ~ 252	-
11	1	EEPROM	Protocol Type	RW	2	2	-
12	1	EEPROM	Baud Rate (Bus)	RW	1	0 ~ 9	-
13	1	EEPROM	Return Delay Time	RW	250	0 ~ 254	2 [us]
15	1	RAM	Status Return Level	RW	2	0 ~ 2	-
16	1	RAM	Registered Instruction	R	0	0 ~ 1	-
32	1	EEPROM	Drive Mode	RW	0	0 ~ 77	-
33	1	EEPROM	Operating Mode	RW	3	0 ~ 3	-
34	1	EEPROM	Startup Configuration	RW	0	0 ~ 1	-
38	1	EEPROM	Position Limit Threshold	RW	0	0 ~ 32,767	1 [pulse]
40	1	EEPROM	In-Position Threshold	RW	19	0 ~ 2,147,483,647	1 [pulse]
44	1	EEPROM	Following Error Threshold	RW	0	0 ~ 2,147,483,647	1 [pulse]
48	4	EEPROM	Moving Threshold	RW	19	0 ~ 2,147,483,647	5 [pulse/ms]
52	4	EEPROM	Homing Offset	RW	0	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
56	4	EEPROM	Inverter Temperature Limit	RW	80	0 ~ 100	1 [°C]
57	2	EEPROM	Motor Temperature Limit	RW	60	0 ~ 100	1 [°C]
60	2	EEPROM	Max Voltage Limit	RW	320	240 ~ 400	0.1 [V]
62	2	EEPROM	Min Voltage Limit	RW	160	160 ~ 400	0.1 [V]
64	2	EEPROM	PWM Limit	RW	1,000	0 ~ 1,000	0.1 [%]
66	2	EEPROM	Current Limit	RW	2,080	0 ~ 2,080	0.01 [A]
68	4	EEPROM	Acceleration Limit	RW	313	0 ~ 418,352	10 [rev/min²]
72	4	EEPROM	Velocity Limit	RW	3,921	0 ~ 6,972	0.01 [rev/min]
76	4	EEPROM	Max Position Limit	RW	262,144	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
84	4	EEPROM	Min Position Limit	RW	-262,144	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
96	4	EEPROM	Electronic GearRatio Numerator	RW	51	1 ~ 1,045,576	1/R
100	4	EEPROM	Electronic GearRatio Denominator	RW	1	1 ~ 1,045,576	R
104	2	EEPROM	Safe Stop Time	RW	200	0 ~ 32,767	1 [ms]
106	2	EEPROM	Brake Delay	RW	0	0 ~ 32,767	1 [ms]
108	2	EEPROM	Goal Update Delay	RW	0	0 ~ 32,767	1 [ms]
110	1	EEPROM	Overexcitation Voltage	RW	100	0 ~ 100	1 [%]
111	1	EEPROM	Normal Excitation Voltage	RW	0	0 ~ 100	1 [%]
112	2	EEPROM	Overexcitation Time	RW	0	0 ~ 32,767	1 [ms]
132	2	EEPROM	Present Velocity LPF Frequency	RW	0	0 ~ 32,767	0.1 [Hz]
134	2	EEPROM	Goal Current LPF Frequency	RW	0	0 ~ 32,767	0.1 [Hz]
136	2	EEPROM	Position FF LPF Time	RW	0	0 ~ 512	0.2 [ms]
138	2	EEPROM	Velocity FF LPF Time	RW	0	0 ~ 512	0.2 [ms]
152	1	RAM	Controller State	R	-	-	-
154	1	RAM	Error Code History 1	R	-	-	-
155	1	RAM	Error Code History 2	R	-	-	-
...	...	...	...	...	...	...	...
168	1	RAM	Error Code History 15	R	-	-	-
169	1	RAM	Error Code History 16	R	-	-	-
170	1	RAM	Hybrid Save	RW	0	0 ~ 2	-
212	4	Hybrid	Velocity I Gain	RW	2,446,559	0 ~ 2,147,483,647	-
216	4	Hybrid	Velocity P Gain	RW	24,778	0 ~ 2,147,483,647	-
220	4	Hybrid	Velocity FF Gain	RW	0	0 ~ 2,147,483,647	-
224	4	Hybrid	Position D Gain	RW	9,090	0 ~ 2,147,483,647	-
228	4	Hybrid	Position I Gain	RW	0	0 ~ 2,147,483,647	-
232	4	Hybrid	Position P Gain	RW	6,283,185	0 ~ 2,147,483,647	-
236	4	Hybrid	Position FF Gain	RW	0	0 ~ 2,147,483,647	-
240	4	Hybrid	Profile Acceleration	RW	313	0 ~ Acceleration Limit(68)	10 [rev/min²]
244	4	Hybrid	Profile Velocity	RW	3,921	0 ~ Velocity Limit(72)	0.01 [rev/min]
248	4	Hybrid	Profile Acceleration Time	RW	400	0 ~ 262,144	0.2 [ms]
252	4	Hybrid	Profile Time	RW	800	0 ~ 524,288	0.2 [ms]
256	2	EEPROM	Indirect Address 1	RW	634	0 ~ 919	-
258	2	EEPROM	Indirect Address 2	RW	635	0 ~ 919	-
...	...	...	...	...	...	...	...
508	2	EEPROM	Indirect Address 127	RW	760	0 ~ 919	-
510	2	EEPROM	Indirect Address 128	RW	761	0 ~ 919	-
512	1	RAM	Torque Enable	RW	0	0 ~ 1	-
513	1	RAM	LED	RW	0	0 ~ 1	-
516	2	RAM	PWM Offset	RW	0	- Voltage(PWM)Limit(64) ~ Voltage(PWM)Limit(64)	0.1 [%]
518	2	RAM	Current Offset	RW	0	- Current Limit(66) ~ Current Limit(66)	0.01 [A]
520	2	RAM	Velocity Offset	RW	0	- Velocity Limit(72) ~ Velocity Limit(72)	0.01 [rev/min]
524	4	RAM	Goal PWM	RW	0	- Voltage(PWM) Limit(64) ~ Voltage(PWM)Limit(64)	0.1 [%]
526	4	RAM	Goal Current	RW	0	- Current Limit(66) ~ Current Limit(66)	0.01 [A]
528	4	RAM	Goal Velocity	RW	0	- Velocity Limit(72) ~ Velocity Limit(72)	0.01 [rev/min]
532	4	RAM	Goal Position	RW	0	Min Position Limit(84) ~ Max Position Limit(76)	1 [pulse]
541	1	RAM	Moving Status	R	-	-	-
542	2	RAM	Realtime Tick	R	-	-	1[ms]
544	2	RAM	Present PWM	R	-	-	0.1 [%]
546	2	RAM	Present Current	R	-	-	0.01 [A]
548	4	RAM	Present Velocity	R	-	-	0.01 [rev/min]
552	4	RAM	Present Position	R	-	-	1 [pulse]
560	4	RAM	Position Trajectory	R	-	-	1 [pulse]
564	4	RAM	Velocity Trajectory	R	-	-	1 [pulse/s]
568	2	RAM	Present Input Voltage	R	-	-	0.01 [V]
570	1	RAM	Present Inverter Temperature	R	-	-	1 [°C]
571	1	RAM	Present Motor Temperature	R	-	-	1 [°C]
634	1	RAM	Indirect Data 1	RW	0	0 ~ 255	-
635	1	RAM	Indirect Data 2	RW	0	0 ~ 255	-
...	...	...	...	...	...	...	...
760	1	RAM	Indirect Data 127	RW	0	0 ~ 255	-
761	1	RAM	Indirect Data 128	RW	0	0 ~ 255	-
919	1	RAM	Backup Ready	R	-	-	-

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)

{% include kr/dxl/y/control_table_0_model_number.md %}

Model Information(2)

{% include kr/dxl/y/control_table_2_model_information.md %}

Firmware Version(6)

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

ID(7)

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

Bus Watchdog(8)

{% include kr/dxl/y/control_table_8_bus_watchdog.md %}

Secondary(Shadow) ID(10)

{% include kr/dxl/y/control_table_10_secondary_id.md %}

Protocol Type(11)

{% include kr/dxl/y/control_table_11_protocol_type.md %}

Baud Rate (Bus)(12)

{% include kr/dxl/y/control_table_12_baud_rate.md %}

Return Delay Time(13)

{% include kr/dxl/y/control_table_13_return_delay_time.md %}

Status Return Level(15)

{% include kr/dxl/y/control_table_15_status_return_level.md %}

Registered Instruction(16)

{% include kr/dxl/y/control_table_16_registered_instruction.md %}

Drive Mode(32)

{% include kr/dxl/y/control_table_32_drive_mode.md %}

Operating Mode(33)

{% include kr/dxl/y/control_table_33_operating_mode.md %}

Startup Configuration(34)

{% include kr/dxl/y/control_table_34_startup_configuration.md %}

Position Limit Threshold(38)

{% include kr/dxl/y/control_table_38_position_limit_threshold.md %}

In-Position Threshold(40)

{% include kr/dxl/y/control_table_40_in_position_threshold.md %}

Following Error Threshold(44)

{% include kr/dxl/y/control_table_44_following_error_threshold.md %}

Moving Threshold(48)

{% include kr/dxl/y/control_table_48_moving_threshold.md %}

Homing Offset(52)

{% include kr/dxl/y/control_table_52_homing_offset.md %}

Inverter/Motor Temperature Limit(56, 57)

{% include kr/dxl/y/control_table_56_temperature_limit.md %}

Max/Min Voltage Limit(60, 62)

{% include kr/dxl/y/control_table_60_voltage_limit.md %}

PWM Limit(64)

{% include kr/dxl/y/control_table_64_pwm_limit.md %}

Current Limit(66)

{% include kr/dxl/y/control_table_66_current_limit.md %}

Acceleration Limit(68)

{% include kr/dxl/y/control_table_68_acceleration_limit.md %}

단위	범위
10 [rev/min²]	0 ~ 418,352

Velocity Limit(72)

{% include kr/dxl/y/control_table_72_velocity_limit.md %}

단위	범위	설명
0.01[RPM]	0 ~ 6,972	1,000 = 10[RPM]을 최고속도로 제한 6,972 = 69.72[RPM]을 최고속도로 제한

Max/Min Position Limit(76, 84)

{% include kr/dxl/y/control_table_76_position_limit.md %}

Electronic Gear Ratio Numerator/Denominator(96, 100)

{% include kr/dxl/y/control_table_96_electronic_gear_ratio_numerator.md %}

Torque ON-OFF Timing Chart

{% include kr/dxl/y/control_table_torque_on_off_timing_chart.md %}

Safe Stop Time(104)

{% include kr/dxl/y/control_table_104_safe_stop_time.md %}

Brake Delay(106), Goal Update Delay(108)

{% include kr/dxl/y/control_table_106_brake_delay.md %}

Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)

{% include kr/dxl/y/control_table_110_overexcitation_voltage.md %}

Present Velocity LPF Frequency(132)

{% include kr/dxl/y/control_table_132_present_velocity_lpf_frequency.md %}

Goal Current LPF Frequency(134)

{% include kr/dxl/y/control_table_134_goal_current_lpf_frequency.md %}

Position FF LPF Time(136)

{% include kr/dxl/y/control_table_136_position_ff_lpf_time.md %}

Velocity FF LPF Time(138)

{% include kr/dxl/y/control_table_138_velocity_ff_lpf_time.md %}

Controller State(152)

{% include kr/dxl/y/control_table_152_controller_state.md %}

Error Code(153)

{% include kr/dxl/y/control_table_153_error_code.md %}

Error Code History

{% include kr/dxl/y/control_table_error_code_history.md %}

Hybrid Save(170)

{% include kr/dxl/y/control_table_170_hybrid_save.md %}

Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)

{% include kr/dxl/y/control_table_212_velocity_gain.md %}

Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)

{% include kr/dxl/y/control_table_224_position_gain.md %}

Profile Acceleration(240), Profile Velocity(244)

{% include kr/dxl/y/control_table_240_profile_acceleration.md %}

Profile Acceleration Time(248), Profile Time(252)

{% include kr/dxl/y/control_table_248_profile_acceleration_time.md %}

Indirect Address, Indirect Data

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

Torque Enable(512)

{% include kr/dxl/y/control_table_512_torque_enable.md %}

LED(513)

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

PWM/Current/Velocity Offset(516, 518, 520)

{% include kr/dxl/y/control_table_516_pwm_current_veloctiy_offset.md %}

Goal PWM(524)

{% include kr/dxl/y/control_table_524_goal_pwm.md %}

Goal Current(526)

{% include kr/dxl/y/control_table_526_goal_current.md %}

Goal Velocity(528)

{% include kr/dxl/y/control_table_528_goal_velocity.md %}

Goal Position(532)

{% include kr/dxl/y/control_table_532_goal_position.md %}

Moving Status(541)

{% include kr/dxl/y/control_table_541_moving_status.md %}

Realtime Tick(542)

{% include kr/dxl/y/control_table_542_realtime_tick.md %}

Present PWM(544)

{% include kr/dxl/y/control_table_544_present_pwm.md %}

Present Current(546)

{% include kr/dxl/y/control_table_546_present_current.md %}

Present Velocity(548)

{% include kr/dxl/y/control_table_548_present_velocity.md %}

Present Position(552)

{% include kr/dxl/y/control_table_552_present_position.md %}

Position Trajectory(560)

{% include kr/dxl/y/control_table_560_position_trajectory.md %}

Velocity Trajectory(564)

{% include kr/dxl/y/control_table_564_velocity_trajectory.md %}

Present Input Voltage(568)

{% include kr/dxl/y/control_table_568_present_input_voltage.md %}

Present Inverter Temperature(570)

{% include kr/dxl/y/control_table_570_present_inverter_temperature.md %}

Present Motor Temperature(571)

{% include kr/dxl/y/control_table_571_present_motor_temperature.md %}

Backup Ready(919)

{% include kr/dxl/y/control_table_919_backup_ready.md %}

조립 예시

조립가이드

유지 보수

참고자료

Profile

{% include kr/dxl/y/y_profile_description.md %}

인증 획득

표기되지 않은 인증에 대해서는 별도 문의하시기 바랍니다.

FCC

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

커넥터 정보

{% include kr/dxl/y/connector_y080.md %}

통신 회로

{% include kr/dxl/y/uart_connection_y.md %}

케이블 연결

DYNAMIXEL-Y 커넥터의 핀 배열은 아래 그림과 같습니다.

도면

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

Moment of Inertia

TBD

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

Clear Packet

{% include kr/dxl/y/clear_packet.md %}

출력 베어링

{% include kr/dxl/y/output_bearing_y_r.md %}

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

Files

ym080-230-r051-rh.md

Latest commit

History

ym080-230-r051-rh.md

File metadata and controls

Indirect Address, Indirect Data