Axis-communications Dynamixel AX-12 User Manual

User’s Manual 2006-06-14 A Dynamixel X-12 Closer to Real,

DYNAMIXEL AX-12 3. Communication Protocol 3-1. Communication Overview Packet The main controller communicates with the Dynamixel units by sending

DYNAMIXEL AX-12 3-2. Instruction Packet The Instruction Packet is the packet sent by the main controller to the Dynamixel units to send commands. Th

DYNAMIXEL AX-12 The meanings of each packet byte definition are as the following. 0XFF 0XFF The two 0XFF bytes indicate the start of the packet.

DYNAMIXEL AX-12 3-4. Control Table Address Item Access Initial Value0(0X00) Model Number(L) RD12(0x0C)1(0X01) Model Number(H) RD0(0x00)2(0X02) Vers

DYNAMIXEL AX-12 Control Table The Control Table contains information on the status and operation of the Dynamixel actuator. The Dynamixel actuator i

DYNAMIXEL AX-12 Address 0x05 Return Delay Time. The time it takes for the Status Packet to return after the Instruction Packet is sent. The delay ti

DYNAMIXEL AX-12 In the case of an instruction which uses the Broadcast ID (0XFE) the Status Packet will not be returned regardless of the Address 0x1

DYNAMIXEL AX-12 Address 0x18 Torque Enable. When the power is first turned on, the Dynamixel actuator enters the Torque Free Run condition (zero tor

DYNAMIXEL AX-12 Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position. Setting this value to its maxim

DYNAMIXEL AX-12 Goal Speed Setting BIT 15~11 10 9876543210Value 0 Turn Direction Speed ValueTurn Direction = 0 : CCW Direction Turn, Load Dir

DYNAMIXEL AX-12 Contents 1. Summary 1-1. Overview and Characteristics of AX-12 Page 2 1-2. Main Specifications

DYNAMIXEL AX-12 4. Instruction Set and Examples The following Instructions are available. Instruction Function ValueNumber ofParameterPING No acti

DYNAMIXEL AX-12 Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6` ID LENGTH INSTRUCTION PARAMETERS CHECKS

DYNAMIXEL AX-12 execution timing is different. When the Instruction Packet is received the values are stored in the Buffer and the Write instruction

DYNAMIXEL AX-12 Example 3 Obtaining the status packet of the Dynamixel actuator with an ID of 1 Instruction Packet : 0XFF 0XFF 0X01 0X02 0X01 0XF

DYNAMIXEL AX-12 4-6. SYNC WRITE Function Used for controlling many Dynamixel actuators at the same time. The communication time decreases by the Sy

DYNAMIXEL AX-12 5. Example For the following examples, we assume a Dynamixel actuator with an ID of 1 in Reset status and that the Baud rate is 57

DYNAMIXEL AX-12 Instruction Packet Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02 Communication ->[Dynamixel]:FF FF 00 04 03 05 02 F

DYNAMIXEL AX-12 Example 13 Setting the maximum torque to 50% of its maximum possible value for a Dynamixel actuator with an ID of 0 Set the MAX Tor

DYNAMIXEL AX-12 Communication ->[Dynamixel]:FF FF 00 05 03 18 01 01 DD (LEN:009) <-[Dynamixel]:FF FF 00 02 00 FD (LEN:006) Status Packet

DYNAMIXEL AX-12 Instruction Packet Instruction = WRITE_DATA, Address = 0x1A, DATA = 0x01, 0x01, 0x40, 0x40 Communication ->[Dynamixel]:FF

DYNAMIXEL AX-12 1. Dynamixel AX-12 1-1. Overview and Characteristics of AX-12 Dynamixel AX-12 The Dynamixel series robot actuator is a smart, modu

DYNAMIXEL AX-12 Example 20 Lock all addresses except for Address 0x18 ~ Address0x23 for a Dynamixel actuator with an ID of 0 Set Address 0x2F (Lock

DYNAMIXEL AX-12 Appendix Half duplex UART Half duplex UART is a serial communication protocol where both TxD and RxD cannot be used at the same time

DYNAMIXEL AX-12 When changing the direction, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked. The following is an example program that sends an

DYNAMIXEL AX-12 C Language Example : Dinamixel access with Atmega128 /* * The Example of Dynamixel Evaluation with Atmega128 * Date : 2005.5.11 *

DYNAMIXEL AX-12 // --- Gloval Variable Number --- volatile byte gbpRxInterruptBuffer[256]; byte gbpParameter[128]; byte gbRxBufferReadPointer; byte

DYNAMIXEL AX-12 while(1); } void PortInitialize(void) { DDRA = DDRB = DDRC = DDRD = DDRE = DDRF = 0; //Set all port to input dir

DYNAMIXEL AX-12 } /* Print value of Baud Rate. /* */ TXD81() send data to USART 1. void PrintBaudrate(void) */ { void TxD81(byte bTxdData)

DYNAMIXEL AX-12 Connector Company Name : Molex Pin Number: 4 Model Number Molex Part Number Old Part NumberMale 22-03-5045 5267-03Female 50

DYNAMIXEL AX-12 Dimension CM-5 Dedicated AX-12 control box. Able to control 30 AX-12 actuators. 6 push buttons (5 for selection, 1 fo

DYNAMIXEL AX-12 1-2. Main Specifications AX-12 Weight (g) 55 Gear Reduction Ratio 1/254 Input Voltage (V) at 7V at 10V Final Max Holding Torq

DYNAMIXEL AX-12 2. Dynamixel Operation 2-1. Mechanical Assembly Frames Provided The two frames provided with AX-12 are shown below. OF-12SH

DYNAMIXEL AX-12 2-2 . Connector Assembly Assemble the connectors as shown below. Attach the wires to the terminals using the correct crimping tool

DYNAMIXEL AX-12 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixel are

DYNAMIXEL AX-12 bioloid A robot can be built using only the CM-5 controller and a number of AX-12 actuators. An edutainment robotic kit named “Biolo

DYNAMIXEL AX-12 • When the DIRECTION_PORT level is High: the signal TxD is output as Data • When the DIRECTION_PORT level is Low: the signal Data is