Dynamixel EX-106
Contents
1. LI 4 1 1 10 2 502. CW i c 491 507 512 51 7 X axis Position CW Y axis Output Torque From the current position 200 to 491 512 16 5 491 movement is made with appropriate torque to reach the set speed from 491 to 507 512 5 507 torque is continuously reduced to the Punch value from 507 through 517 512 5 517 no torque is generated 28 MGM EX1068_ ROBOTS Goal Position Address 30 31 OX1E 0x1F is the value for the desired location values from 0 to 4095 OxFFF are available The location values for data value are described in the figure below Goal Position shall be within the range of CW Angle Limit lt Goal Potion lt CCW Angle Limit and otherwise Angle Limit Error takes place As to Reverse Mode the data values and location values reverse as in the figure below For example when the data values are 4095 the location value is 0 and when the data value is O the location values are changed to 280 6 140 3 Goal Position 0x800 CCW 280 6 280 6 360 0 Goal Position Oxfff Invalid Angle Goal Position 0 Moving Speed Address 32 33 0x20 0x21 Itis a moving speed to Goal Position 0 to 1023 OX3FF can be set for the speed Present Speed Address 38 39 0x26 0x27 It is the current moving speed of EX 106 0 to 1023 OX3FF can be measured Moving Speed and Present Speed can be converted into RPM when data value is multiplied by 0 111 For example Data 1023 is 114RPM 1023x
3. TOB the Highest Limit Temperature 1 1060 00063 12 0 00 the Lowest Lmt votas 1 50682 25006 18 0 00 the Highest Limit votas 1 50082 250063 moa er 0 oe Kc a A a O wamo o are KEIN KN I CM ORO Teen E E a 20X18 COW Compliance Maran 1 0 540 E cw comptes pn ane SHORE Goa Peston 2 oon s2 0x20 Moving Spee 2 o oao 4682 Torem 2 0 02865 AAOC Registered natu 1 01 wo wa 1 o p o Punch 2 0 086 46 MGM EX1068_ ROBOTS RS485 UART RS485 UART is a serial communication method that TxD and RxD cannot be executed simultaneously It is usually used when connecting several communication equipments to one BUS Since multiple devices are connected to the same BUS all other devices should be in the input state while a device transmits The communication direction of Main Controller controlling EX 106 is set as input and is changes to output only in the course of transferring Instruction Packet RS485 Direction Output Duration Instruction Packet Status Packet Return Delay Time Return Delay Time It is the time that takes to returns Status Packet after EX 106 receives Instruction Packet Default value is 160uSec Return Delay Time can be changed by changing the data of Control Table Address 5 Main Controller should convert Direction Port into the input state within the Return Delay Time frame after sending Instruction Packet Tx Rx Direction Rs485 UART sh
4. 1 Introduction What is Dynaimxel Strong Points of Dynamixel Specifications of EX 106 Ova EX 106 Recep 1 1 What is Dynamixel New Concept Dynamixel is a robot only Smart Actuator with a new concept integrating speed reducer controller driver network function etc into one module Reduction Gear LINE UP We have Line up of several kinds of Dynamixel applicable numerously according to the kinds and characteristics of robots MGM EX106_ ROBOTS All round Combining Dynamixel is built up with all round combining structure and it is possible to connect one Structure another with various forms You can design a robot easily as if assembling a block toy by using option frame for Dynamixel Convenient Wiring Dynamixel is connected with Daisy Chain and it is easy to wire one another Network Dynamixel with a unique ID is controlled by Packet communication on a BUS and supports networks such as TTL RS485 and CAN depending on the type of model Instruction Packet ID N Main Controller Status Packet ID N MGM EX106_ ROBOTS 1 2 Strong Points of Dynamixel Torque Close Control Elasticity Setting Position Speed Communication Distribution Control In spite of the compact size it generates relatively big Torque by way of the efficient speed reduction It can control location and speed with the resolution of 4096 It can set up the extent of elasticity when controlling
5. DATA 0x00 0x00 ID 1 Instruction REG_WRITE Address Ox1E DATA Oxff 0x03 ID 0xfe Broadcasting ID Instruction ACTION Communication Instruction Packet FF FF 00 05 04 1E 00 00 D8 Status Packet FF FF 00 02 00 FD Instruction Packet FF FF 01 05 04 1E FF 03 D5 Status Packet FF FF 01 02 00 FC Instruction Packet FF FF FE 02 05 FA LEN 006 Status Packet No return packet Status Packet Result NOERROR Example 21 Unable to change values except Address 24 to Address 35 Hint Sest Lock Address 47 0x2F as 1 Instruction WRITE_DATA Address 0x2F DATA 0x01 Communication Instruction Packet FF FF 01 04 03 2F 01 C8 Status Packet FF FF 01 02 00 FD Status Packet Result Status Packet Result NO ERROR Once locked It is impossible to unlock unless the power is off When other data is accessed while locked an error is returned 45 MGM EX106_ ROBOTS 4 Appendix Range Each data has valid range When the Write commancd that is off the valid range is transmitted an error is returned The below table shows the length and range of data that the user can write 16bit Data is displayed in two bytes L and H These two bytes should be written as one Instruction Packet at once Control Table Data Range and Length for Writing FEE CZA TT 40504 Baars o f o 25406 5005 Reumosayime 1 o 25406 600506 owane 2 o onoo too cow ajetink 2 f o ozawa
6. 106s to a Node by using Half Duplex UART Thus a Main Controller to run EX 106 must support RS485 UART You can also design and use Main Controller by yourself Refer to the website www robotis com Connection with PC If you want to control EX 106 with PC you may control it via the Dynamixel only controller or using the USB2Dynmixel For further information refer to the Dynamixel only controller manual or the USB2Dynmixel manual Dynamixel only Controller Power line USB PORT USB2Dynamixel Power line Connection with UART To control EX 106 with a personally made Main Controller the signal of Main Controller UART should be converted into RS485 type signal The following is a recommended circuit diagram 12 MGM EX106_ ROBOTS Confirmation of Connection Checking MOTOR T ae Fi25v s CPU_RXD DIRECTION4SS D D 485 Link Pin Link to Connector CPU_RXD CPU_TXD Link to CPU UART RxD TxD DIRECTION4SS Link to CPU Output Port 485 Direction Select The power of EX 106 is supplied via Pin1 Pin2 The above circuit is built into Dynamixel only controller In the above circuit diagram the direction of data signal of TxD and RxD in the TTL Level is determined according to the level of DIRECTION 485 as follows In case of DIRECTION485 Level High The signal of TxD is output to D and D In case of DIRECTION485 Level Low The signal of D and D i
7. 4 kgf cm 55 69 MAX Drive Torque Nm 5 4 6 8 Sec 60 degrees 0 182 0 143 Speed Resolution 0 07 Running Degree 280 Endless Turn Voltage 12V 18 5V Recommended voltage 14 8V Max Current 3200mA Running Temperature 5 C 85 C Command Signal Digital Packet Protocol RS485 Asynchronous Serial Communication 8bit 1stop No Parity Link Physical RS485 Multi Drop Bus ID 254 ID 0 253 Communication Speed 7343bps 1 Mbps Sensing amp Measuring Position Temperature Load Input Voltage etc Material Quality Full Metal Gear Engineering Plastic Body Motor Maxon RE MAX Standby Current 55 mA MGM EX106_ ROBOTS 2 Installation 1 How to Assemble Fames 2 Assembling Connectors 3 Wiring 4 Connection of Main Controller MGM EX1068_ ROBOTS 2 1 How to Assemble Frames Optional Frames EX 106 has the following optional frames OF 106B OF 106DH OF 106DB OF 106DH OF 106H OF 64S MGM EX1068_ ROBOTS Horn EX 106 has the following kinds of Horns Horn 64N Horn 641 Horn 64T Basic Supply Trust Bearing lt Ball Bearing Device Combination The below picture shows examples of combinations by using optional frames and horns MGM EX106_ ROBOTS 2 2 Assembling Connector Connector is assembled in the following order 1 Striping Peel the coating of cable t
8. of the range of Overheating Error operating temperature set in the Control Table Bit 1 Angle Limit Error When Goal Position is written with the value that is not 9 between CW Angle Limit and CCW Angle Limit When the applied voltage is out of the range of operating Input Voltage Error voltage set in the Control Table 25 MGM EX106_ ROBOTS Alarm Shut down Address 18 0X12 It turns Torque off when an error occurs during operation It also allocates each error content in the same way as Alarm LED It turns Torque off when the Data bit is set as 1 and the applicable error occurs The function of each Bit runs the logic of OR in the same way as Alarm LED However unlike Alarm LED the Torque OFF state is maintained even if an error occurs ans is recovered to the normal state To get out of the Shut down state you should reset a value you want into the Torque Limit Addresses 34 and 35 26 MGM EX106_ ROBOTS 3 4 2 Control Table Items RAM Area Torque Enable Address 24 0x18 When the power is supplied to EX 106 for the first time EX 106 is in the Free Run state in which case there is no torque generated When Torque Enable is set as 1 Torque is generated LED Address 25 0x19 When it is set as 1 LED is turned on when it is set as 0 LED is turned off Compliance Address 26 29 0x1A 0x1D Compliance is to set the pattern of output torque Making Margin amp Slope well use of it will
9. to 12 As for LINE 8 it is required since the front part of Status Packet is damaged if Interrupt Routine is performed longer than Return Delay Time due to the interruption happening when LINE 8 is executed Byte to Byte Time It means the delay time between bytes when Instruction Packet is transmitted When this time exceeds 100msec EX 106 considers there is a transmission error and waits the header Oxff Oxff of packet again Byte To Byte Time Connector Company Name Molex 48 MGM EX106_ ROBOTS Pin Number 4 or 5 for Optional VCC 5V Model Number Molex Part Number Old Part Number 22 03 5045 5267 04 50 37 5043 5264 04 Temperature range 40 C to 105 C Contact Insertion Force max 14 7N 3 30 Ib Contact Retention Force min 14 7N 3 30 Ib For further information please visit the website www molex com or www molex co jp Female Connector Male Connector CIRCUIT 1 250 7 o TYF e e 230 BEL DIA TYP DE4 33 PCB LAYOUTGOGHPONENT SIDE RECOMMENDED POB THIGENESS 1 60 430 GS 18054 63 n 3 a Bereta 7 7 Pin No 1 49 MGM EX106_ ROBOTS IOR f A Trey L Hole I i TAP DI 7 en o 1 a
10. 0 111 113 6 But the maximum speed of EX 106 is less than 114RPM Nevertheless the range of speed data value is set up to 114 RPM since EX 106 can move faster than the maximum speed by outside factors 29 MGM EX1068_ ROBOTS Torque Limit Present Position Present Load The maximum speed of EX 106 is in proportion to the size of supplied voltage In other words the higher voltage it is supplied with the wider range of speed it can control For example when EX 106 is supplied with 18 5V it can reach to the speed of 69 9RPM and control the speed with 0 to 69 9 RPM However when it is supplied with 14 8V the maximum speed is reduced to 54 9RPM so that the speed with 0 to 54 9 RPM can be controlled The relationship between data value and speed is as shown in the below picture EX 106 Max Moving Speed amp Data Value at 18 5V Min Speed 69 9 RPM 114 RPM v v v HRC KE a 1 0X001 627 0x273 1023 Ox3FF 2 When Moving Speed is set as 1 0X001 movement is made at the minimum speed When Moving Speed is set as 0 0x000 movement is made at the Note maximum speed which can be reached under the applied voltage In other words setting as 0 means that no speed control will be done Address 34 35 0x22 0x23 It sets the maximum output Torque O to 1023 Ox3FF is available To
11. 106_ ROBOTS 3 5 8 Other Examples The following examples are supposed that ID is 1 and Baud rate is 57142 BPS Example 6 Reads the Model Number and Firmware Version Hint Instruction READ_DATA Address 0x00 Length 0x03 Communication Instruction Packet FF FF 01 04 02 00 03 F5 Status Packet FF FF 01 05 00 40 00 08 7D Status Packet Result Model Number 64 0x40 Firmware Version 0x08 Example 7 Changes the ID of EX 106 from 1 to 0 Hint Instruction WRITE_DATA Address 0x03 DATA 0x00 Communication Instruction Packet FF FF 01 04 03 03 00 F4 Status Packet FF FF 00 02 00 FC Status Packet Result NO ERROR Example 8 Changes the Baud Rate to 1M bps Hint Instruction WRITE_DATA Address 0x04 DATA 0x01 Communication Instruction Packet FF FF 01 04 03 04 01 F3 Status Packet FF FF 01 02 00 FD Status Packet Result NO ERROR 40 MGM EX106_ ROBOTS Example 9 Resets Return Delay Time as 4usec Hint Instruction WRITE_DATA Address 0x05 DATA 0x02 Communication Instruction Packet FF FF 01 04 03 05 02 F1 Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR ee Return Delay Time Data 1 is equal to 2usec Itis recommended that Return Delay Time be set as the minimum value Note within the allowed range of Main Controller Example 10 Restricts t
12. 2 00 FD Status Packet Result NO ERROR 43 MGM EX 106_ ROBOTS Example 18 Sets Compliance Margin 1 and Compliance Slope 0x40 Hint The suggested condition can be depicted in a graph as below CCW l Goal Position CCW xa Angle Ox41 CW Ox01 CW OxOI W Ox41 CCW Position Error CW A CCW Compliance Slope Address 29 0x1D B CCW Compliance Margin Address 27 0x1B C CW Compliance Margin Address 26 0x1A D CW Compliance Slope Address 28 0x1C 0x40 about 18 8 0x01 about 0 3 0x01 about 0 3 0x40 about 18 8 Instruction WRITE_DATA Address 0x1A DATA 0x01 0x01 0x40 0x40 Communication Instruction Packet FF FF 01 07 03 1A 01 01 40 40 59 Status Packet FF FF 01 02 00 FD Status Packet Result NO ERROR Example 19 Sets the minimum output Torque Punch as 0x40 Hint Instruction WRITE_DATA Address 0x30 DATA 0x40 0x00 Communication Instruction Packet FF FF 01 05 03 30 40 00 87 Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR 44 MGM EX 106_ ROBOTS Example 20 Locates EX 106 with ID 0 at Position 0 and EX 106 with ID 1 at Position 300 Start only two EX 106s at the same point Hint When the WRITE_DATA command is used two EX 106s cannot be started at the same point Thus REG_WRITE and ACTION are used ID 0 Instruction REG_WRITE Address Ox1E
13. F OXFF 0X01 0X03 0X00 0X20 OXDB ae w R ID LENGTH ERROR PARAMETER1 CHECKSUM Data value read is 0x20 i e 32 in decimal Thus the current internal temperature of 34 MGM EX106_ ROBOTS 3 5 2 WRITE DATA Function This command is to write data to the Control Table inside of EX 106 Length N 3 if the number of writing data is N Instruction 0X03 Parameter1 Start address to write data Parameter2 First data to write Parameter3 Second data to write Parameter N 1 Nth Data to write Example 2 Sets the ID of EX 106 as 1 Writes 1 to the Address 3 in the Control Table Sends ID as Broadcasting ID OxFE Instruction Packet OXFF OXFF OXFE 0X04 0X03 0X03 0X01 0XF6 ID LENGTH INSTRUCTION PARAMETERS CHECKSUM Status Packet is not returned since Broadcast ID 0XFE is transmitted 35 MGM EX106_ ROBOTS 3 5 3 REG WRITE Function The REG_WRITE command is similar to the WRITE_DATA command in terms of function but differs in terms of the timing that a command is executed When Instruction Packet arrives it is saved in Buffer and the Write operation remains in the standby state At this moment Registered Instruction Address 44 0x2C is set as 1 Then when Action Instruction Packet arrives Registered Instruction changes into 0 and the registered Write command is finally executed Leng
14. ID LENGTH ERROR CHECKSUM et Although Status Return Level Address 16 0X10 is 0 it returns Status X Packet all the time for Ping Instruction But it does not return Status Packet Note when Check Sum Error occurs in spite of using PING Instruction 37 MGM EX106_ ROBOTS 3 5 6 RESET Function This command is to reset the Control Table of EX 106 to the factory default setting Length 0X02 Instruction 0X06 Parameter NONE Example 4 Resets the Control Table of EX 106 whose ID is 0 Instruction Packet OXFF OXFF 0X00 0X02 0X06 0XF7 kod dl ID LENGTH INSTRUCTION CHECKSUM Status Packet returned is as follows Status Packet OXFF OXFF 0X00 0X02 0X00 OXFD t ft ft ID LENGTH ERROR CHECKSUM Please note that ID is changed into 1 after the execution of the RESET command A Please note that the value set by the user is removed when the RESET command is used Caution 38 MGM EX106_ ROBOTS 3 5 7 SYNC WRITE Function This command is used to control several EX 106s simultaneously with one Instruction Packet transmission When this command is used several commands are transmitted at once so that the communication time is reduced when multiple EX 106s are controlled However the SYNC WRITE command can be used only if bo
15. MGM EX106_ ROBOTS Status Return Level Address 16 0X10 It decides how to return Status Packet There are three ways like the below table Address16 Return of Status Packet 8 No return against all instructions Retrun only for the READ_DATA command Return for all Instructions Y When Instruction Packet is Broadcast ID Status Packet is not returned regardless of Status Return Level Note When Instruction Packet is Ping Status Packet is returned regardless of Status Return Level Alarm LED Address 17 0X11 It shows an error status occurred during operation through LED Alarm LED is allocated with a bit according to each error content like the below table and it flickers when the bit is set as 1 and the corresponding error occurs The function of each bit runs the logic of OR That is to say LED flickers even if 0X05 binary 00000101 is set and Input Voltage Error or Overheating Error occurs LED stops flickering in two seconds when error occurs and is recovered to the normal state w o S When undefined Instruction is transmitted or the Action Bit 6 Instruction Error command is delivered without the reg_write command Ow d wd Error When the current load cannot be controlled with the set maximum torque Checks m Error iure the Checksum of the transmitted Instruction Packet is When the command is given beyond the range of usage r When the internal temperature is out
16. ave Mode for linkage to Master Mode As to EX 106 to be used as Slave Mode General Mode in the same direction with EX 106 of Master Mode and Reverse Mode in the opposite direction should be set up For more information on Dual Mode please refer to 3 4 4 Dual Mode As to Master Mode set the EX 106 to No 10 Address and bit value 1 to O As to Slave Mode set the EX 106 to No 10 Address and bit value 1 to 1 As to General Mode set to No 10 Address and bit value O to 0 In this case the location values range from 0 to 4095 As to Reverse Mode set to No 10 Address and bit value O to 1 In this case the location values range from 4095 to 0 Reverse Mode reverses the location values which is convenient to make up a robot of bilateral joint arrangement For more information on Reverse Mode refer to Goal Position on page 29 ee im Bit1 Master Slave Mode 0 Master Mode 1 Slave Mode Bit 0 Normal Reverse Mode 0 General Mode 1 Reverse Mode 23 MGM EX106_ ROBOTS Highest Limit Address 11 0x0B It is the highest limit of operating temperature The range for use is Temperature 10 to 99 0x10 0x63 If the internal temperature of EX 106 exceeds this range Over Heating Error Bit Bit2 of Status Packet is returned as 1 and Alarm is triggered as set in the addresses 17 and 18 The value is equal to the actual Celsius temperature In other words the initial value Data 80 0x50 is 80 C A Do not set Th
17. e when you want to use Instruction Packet like the below ID 1 0x01 Length 5 0x05 Instruction 3 0x03 Parameter1 12 Ox0C Parameter2 100 0x64 Parameter3 170 OxAA Check Sum ID Length Instruction Parameter1 Parameter 3 0x01 0x05 0x03 OxOC 0x64 OxAA 0x123 Only the lower byte 0x23 executes the Not operation 0xDD Thus Instruction Packet should be 0x01 0x05 0x03 OxOC 0x64 OxAA OxDD 17 MGM EX106_ ROBOTS 3 3 Status Packet Return Packet EX 106 executes command received from the Main controller and returns the result to the Main Controller The returned data is called Status Packet The structure of Status Packet is as follows OXFF OXFF ID LENGTH ERROR PARAMETER1 PARAMETER2 PARAMETER N CHECK SUM Each byte composing the packet means as below OXFF OXFF This signal notifies the beginning of the packet ID It is the ID of EX 106 which transfers Status Packet LENGTH It is the length of Status Packet the value of which is the number of Parameters N 2 ERROR It displays the error status occurred during the operatio of EX 106 The meaning of each bit is described in the below table w o WE In case of sending an undefined instruction or delivering Instruction Error the action command without the reg_write command it is set as 1 Bit 5 O
18. e Highest Limit Temperature of EX 106 above the initial value of 80 C If EX 106 is used at the temperature of 80 C or higher it may be Caution damaged Lowest Highest Address 12 13 Ox0C Ox0D It is the operation range of voltage 50 to 250 0x32 Limit Voltage 0x96 can be used If Present Voltage Address42 is out of the range Voltage Range Error Bit Bit0 of Status Packet is returned as 1 and Alarm is triggered as set in the addresses 17 and 18 Data value is 10 times larger than actual voltage For example the Lowest Limit Voltage Data of 80 means that the Lowest Limit Voltage is set as 8V Max Torque Address 14 15 0x0E OxOF It is the torque value of maximum output O to 1023 Ox3FF can be used The value set to 0 means the Free Run state without torque Max Torque is allocated to EEPROM Addresses 14 and 15 and RAM Addresses 34 and 35 When the power is turned on EEPROM value is copied to RAM In actual operation the maximum torque is restrained by Torque Limit Addresses 34 and 35 located in RAM Data value represents the ratio of Torque output under the currently applied voltage In other words Data 1023 Ox3FF means that EX 106 will use 100 of the maximum torque it can produce while Data 512 0x200 means that EX 106 will use 50 of the maximum torque For stopping torque value according to the state of voltage of EX 106 refer to 1 3 Specifications of EX 106 24
19. e in Celsius For example if the data value is 85 0x55 the current internal temperature is 85 C Address 44 0x2C Itis set as 1 when a command is registered by the REG_WRITE command of Instruction Packet Then it changes into 0 after executing a registered command by the Action command Address 46 0x2E It is set as 1 while movement is being made with Goal Position set it changes into O when Goal Position is reached Address 47 0x2F Setting it as 1 leads to the lock state and only the values from Address 24 0X18 to Address 35 0x23 are writable Once locked it is impossible to unlock unless the power is off Address 48 49 0x30 0x31 It is the limit value of torque being reduced when the output torque is decreased in the Compliance Slope area In other words it is the mimimum torque The initial value is 32 0x20 and can be extended up to 1023 Ox3FF Refer to Compliance margin amp Slope 31 MGM EX1068_ ROBOTS 3 4 3 Endless Turn Endless Turn can be materialized when CW Angle Limit Address 6 7 and CCW Angle Limit Address8 9 are set as 0 It can be usefully applied to move wheels Endless Turn has no speed control function Enter a desired torque value into Moving Speed Addresses 32 and 33 0X20 and 0X21 The meaning of Moving Speed Address is as shown in the below picture Data value in the table represents the ratio of output torque For example Data 1023 O
20. f Synchronization Cable e twisted cords y Slave EX 106 is synchronized by directly receiving the control command through synchronization cable from Master EX 106 Slave Mode unit Note responds to communication through command packets but data related to motor drive are processed only through the synchronization 33 MGM EX106_ ROBOTS 3 5 How to Use Packet 3 5 1 Function Length Instruction Parameter1 Parameter2 To operate EX 106 Instruction Packet which is binary type data should be sent to EX 106 from Main Controller Instruction Packet has seven kinds of commands Refer to 3 2 Instruction Packet In addition EX 106 receives Instruction Packet to performs a command and returns the result as Status Packet to Main Controller This section describes examples of the usage of each command of Instruction Packet READ DATA This command is to read data in the Control Table inside of EX 106 0X04 0X02 Start Address of data to be read Length of Data to be read Example 1 Reads the current internal temperature of EX 106 whose ID is 1 Reads 1 byte from the value of Address 43 0x2B in the Control Table Instruction Packet OXFF OXFF 0X01 0X04 0X02 0X2B 0X01 OXCC oe sk ID LENGTH INSTRUCTION PARAMETERS CHECKSUM Status Packet returned is as follows Status Packet OXF
21. he firmware version ID Address 3 0x03 It is a unique number to identify EX 106 O to 253 OxFD can be used for it and the factory default setting is 1 Baud Rate Address 4 0x04 It represents the communication speed 0 to 254 OxFE can be used for it This speed is calculated by using the below formula Speed BPS 2000000 Data 1 Data value per Baud Rate 3 500000 0 500000 0 0 000 X_ If the tolerance of Baud Rate is less than 3 there is no problem with communication The initial value of Baud rate Note is 34 0x22 i e 57600bps Return Delay Time Address 5 0x05 It is the delay time that takes from the transmission of Instruction Packet until the return of Status Packet 0 to 254 OxFE can be used and the delay time per data value 1 is 2 usec That is to say if the data value is 10 20 usec is delayed The initial value is 250 OxFA i e 0 5 msec 22 MGM EX1068_ ROBOTS Operating Angle Limit Address 6 7 8 9 0x06 0x07 0x08 0x09 It represents the allowed range of Drive Mode movement The range for use is 0 to 1023 Ox3FF Data 0 denotes 0 and Data 1023 OX3FF 300 Thus the angle per data value 1 is about 0 3 Address 10 Ox0A When the dual mode connecting two units of EX 106 is used data for No 10 address should be properly set up In other words one of the two EX 106 units should be set to Master Mode for controlling while the other to Sl
22. he movement angle from 0 to 150 Hint Since CCW Angle Limit Ox3FF means 300 150 corresponds to 0x200 Instruction WRITE_DATA Address 0x08 DATA 0x00 0x02 Communication Instruction Packet FF FF 01 05 03 08 00 02 EC Status Packet FF FF 01 02 00 FD Status Packet Result NO ERROR Example 11 Resets the highest limit of operating temperature as 80 Hint Instruction WRITE_DATA Address 0x0B DATA 0x50 Communication Instruction Packet FF FF 01 04 03 OB 50 9D Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR 41 MGM EX 106_ ROBOTS Example 12 Sets the operating voltage as 10 to 17V Hint Data of 10V is 100 0x64 while 17V is 170 OxAA Instruction WRITE_DATA Address 0x0C DATA 0x64 OxAA Communication Instruction Packet FF FF 01 05 03 0C 64 AA DD Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR Example 13 Only generates 50 of the maximum torque Hint Sets the value of MAX Torque located in the EEPROM area as Ox1FF which is 50 of the maximum value Ox3FF Instruction WRITE_DATA Address Ox0E DATA Oxff 0x01 Communication Instruction Packet FF FF 01 05 03 OE FF 01 E9 Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR The change of Max Torque can be checked by turning the power off and then on Example 14 Do not return Status Packet all the
23. nstruction Packet Main gt Controller Status Packet ID is a specific number for distinction of each EX 106 when several EX 106s are linked to one bus By giving IDs to Instruction and Status Packets Main Controller can control only the EX 106 that you want to control EX 106 does the Asynchronous Serial Communication with 8 bit 1 Stop bit and None Parity A If EX 106 with the same ID is connected packet will collide and network problem will occur Thus set ID as such that there is no EX 106 with the Caution same ID ee ID of EX 106 is changeable i For this change please refer to Changing IDs of Ex 2 and Ex 7 The Note factory default setting ID is 1 15 MGM EX1068_ ROBOTS 3 2 Instruction Packet Instruction Packet is command data that Main Controller sends to EX 106 The structure of Instruction Packet is as follows OXFF OXFF ID LENGTH INSTRUCTION PARAMETER1 PARAMETER NICHECK SUM The meaning of each byte composing packet is as follows OXFF OXFF This signal notifies the beginning of the packet ID It is the ID of EX 106 which will receive Instruction Packet It can use 254 IDs from 0 to 253 OX00 OXFD 2 Broadcasting ID ID 254 0XFE If Broadcast ID is used all linked EX 106s execute command of N
24. o the extent of 5mm approx 2 Inserting Put the cable on the terminal like the left picture 3 Forming Press the cable and terminal by using Wire Former 4 Formed Wire Combine the terminal to the cable tightly like the left picture Solder the terminal and cable after Forming to get the more solid combination 5 Assembling Insert the terminal into 4P Molex connector 6 Complete When inserting the terminal be careful with the direction of the Molex connector Terminals should be inserted in the same way as the left picture 10 MGM EX1068_ ROBOTS 2 3 Wiring Pin Assignment The pin assignment of a connector is as shown below EX 106 can be run by linking with any one of two 4P connectors of EX 106 since they are connected Pin2Pin internally Y VA Qn PIN1 GND GND PIN2 VDD 12V 21V PIN2 VDD 12V 21V PIN3 D PIN3 D PIN4 D PIN4 D Wiring Wiring should be done Pin2Pin as shown below By connecting as such several EX 106s can be controlled on a BUS WV Z A Please pay special attention to avoid incorrect pin assignments in wiring Otherwise EX 106 may be damaged Caution 11 MGM EX106_ ROBOTS 2 4 Connection of Main Controller Main Controller EX 106 uses the Multi Drop Link method which connects several EX
25. ote Instruction Packet and Status Packet is not returned LENGTH It is the length of the packet The length is calculated as the number of Parameters N 2 INSTRUCTION This command gives an instruction to EX 106 and has the following types Name Function Ne of Parameters No execution It is used when controller is ready to PING recevie Status Packet READ DATA This command reads data from RX 64 0x03 WRITE DATA This command writes data to RX 64 It is similar to WRTE_DATA but it remains in the 0x04 REG WRITE standby state without being executed until the 2 or more ACTION command arrives 0x05 ACTION This command initiates motions registered with REG WRITE 0x06 RESET This command restores the state of RX 64 to the factory default setting 0x83 SYNC WRITE This command is used to control several RX 64s Aer mera simultaneously at a time 16 MGM EX 106_ ROBOTS PARAMETERO N Parameter is used when Instruction requires ancillary data For the usage of parameters refer to 3 5 How to Use Packet CHECK SUM It is used to check if packet is damaged during communication Check Sum is calculated according to the following formula Check Sum ID Length Instruction Parameter1 Parameter N Where is the Not Bit operator When the calculation result of the parenthesis in the above formula is larger than 255 OxFF use only lower bytes For exampl
26. ould change Direction into the receiving mode at the time of finishing transmission In general CPU has the following BITs showing UART_STATUS in the register TXD_BUFFER_READY_BIT It indicates the state that Transmission DATA can be loaded into Buffer However it does not mean that previously transmitted data is removed from CPU but it means that SERIAL TX BUFFER is empty TXD_SHIFT_REGISTER_EMPTY_BIT It is set when all Transmission Data is unloaded from CPU In case of TXD_BUFFER_READY_BIT this bit is used when sending a byte in serial communication as shown in the following example TxDByte byte bData while TXD_BUFFER_READY_BIT wait until data can be loaded SerialTxDBuffer bData data load to TxD buffer 47 MGM EX106_ ROBOTS You should check TXD_SHIFT_REGISTER_EMPTY_BIT at the time of changing direction The following example is a program sending Instruction Packet LINE 1 DIRECTION PORT TX_DIRECTION LINE 2 TxDByte Oxff LINE 3 TxDByte Oxff LINE 4 TxDByte bID LINE5 TxDByte bLength LINE 6 TxDByte bInstruction LINE 7 TxDByte Parameter0 TxDByte Parameter1 LINE 8 Disablelnterrupt interrupt should be disable LINE9 TxDByte Checksum last TxD LINE 10 while TXD_SHIFT_REGISTER_EMPTY_BIT Wait till last data bit has been sent LINE 11 DIRECTION_PORT RX_DIRECTION Direction change to RXD LINE 12 Enablelnterrupt enable interrupt again You should be careful of LINEs 8
27. position with Compliance Driving It can read the current position and speed It is easy to wire since it is connected with Daisy chain and up to 1M BPS of communication speed is supported Since the main processor can set speed position compliance torque etc simultaneously with a single command packet it can control several Dynamixels with a little resource Dual Mode Applicable Two units of EX 106 can be synchronized that is can be controlled simultaneously in a Physical Intensity Efficiency against External Force Safety Device Status Indicator parallel to increase the torque As to dual mode setting for synchronization support refer to the section for 3 3 4 Dual Mode The main body is made of engineering plastic to withstand against strong external force Since a bearing is used at the last axis of the gear the amount of efficiency reduction is minimal even if strong external force is applied to the axis It has the Alarming function which notifies when internal temperature torque supplied voltage etc deviate from what the user has set and the Shut down function which allows it to cope with situation by itself It informs the user of ERROR status via LED MGM EX106_ ROBOTS 1 3 Specifications of EX 106 Weight g g 155 Dimension mm mm 40 2 x 65 4 x 46 0 Gear Reduction Ratio 1 164 Applied Voltage V at 14 8V at 18 5V kgf cm 84 106 Holding Torque Nm 8 2 10
28. result in shock absorption smooth motion etc The length of A B C and D in the below graph Position vs Torque curve is the value of Compliance Compliance Margin is available from 0 to 254 OxFE while Compliance Slope is valid from 1 to 254 OxFE CCW Goal Position CW I E CCW 1 X axis Position CW Y axis Output Torque i am B C E D CW Compliance Slope Address 28 CW Compliance Margin Address 26 CCW Compliance Margin Address 27 CCW Compliance Slope Address 29 Punch Address 48 49 mo oU gt B and C Compliance Margin are the areas where output torque is 0 A and D Compliance Slope are the areas where output torque is reduced when they are getting close to Goal Position The wider these areas are the smoother the motion is 27 MGM EX1068_ ROBOTS Compliance Slope can be defined as seven levels in total as shown in the below table It recognizes the data values 1 to 5 as 4 valid position value while the data values 6 to 11 as 8 Thus it is convenient to set up the data of Compliance Slope as the valid position value in the below table The initial value is 32 0x20 in the 4 level Valid Position Value 4 0x04 5 0308 16 6x10 32 020 64 040 e 96 0x60 101 06 126080 For example if the current position is set as 200 0X0C8 Goal Position is set as 512 0X200 and Compliance is set as below CCW Goal Position i 10 CCW _LLoy
29. rque related data is allocated in EEPROM Addresses 14 and 15 and RAM Addresses 34 and 35 And when the power is on the EEPROM value is copied to RAM Torque is restricted by the Torque Limit value located in RAM Addresses 34 and 35 in driving Data value represents the ratio of Torque that can be output under the currently applied voltage as described in Max Torque Address 36 37 0x24 0x25 Itis the current position of EX 106 The unit is the same as that of Goal Position Address 40 41 0x28 0x29 It is the size of the load currently being driven by EX 106 The meaning of data per each bit in the Present Load is as below 30 MGM EX106_ ROBOTS Present Voltage Present Temperature Registered Instruction Moving Lock Punch Br 1 1 1 _ ofas zfefsfafs z 1fo Value 0 Load Direction Data Load Ratio Load Direction 0 CCW Load Load Direction 1 CW Load Data value indicates the ratio of Torque as described in Max Torque For example data value is 1023 0X3FF when the maximum torque is generated but the load is too big for EX 106 to move so that EX 106 ends up in the holding state Address 42 Ox2A It is the size of the current voltage supplied This value is 10 times larger than the actual voltage For example when 10V is supplied the data value is 100 0x64 Address 43 0x2B It is the internal temperature of EX 106 in Celsius Data value is identical to the actual temperatur
30. s of data regarding the current status and operation which exists inside of EX 106 The user can control EX 106 by changing data of Control Table via Instruction Packet hexadecimal Hexadecimal 0 0 00 Modei Number Lowest byte of model number R _ 106 0X6A 0X01 Modei Number H Highest byte of model number _ R 00x00 2 0 02 Version of Firmware information on the version of firmware R 30X03 iD ID of Dynamixe RW 1 0X01 18 0X12 36 0X24 24 0X18 0 0X00 25 0X19 0 0X00 ely NOHddiH 26 0X1A CW Compliance Margin CW Compliance margin 0 0X00 27 0X1B CCW Compliance Margin CCW Compliance margin 0 0X00 28 0X1C 32 0x20 29 0X1D 32 0X20 30 0X1E Goal Position L Lowest byte of Goal Position RW 4 31 0X1F Goal Position H Highest byte of Goal Position RW 4 82 0x20 Moving Speed Lowestbyte of Moving Speed rw 33 0x21 Moving Spesd H Hignestbyte of Moving Speed rw 36 0x24 Present Position L Lowest byte of Current Poston R Highest byte of Current Position R 2A A aa i ebay NVY owest byte of Current Speed Highest byte of Current Speed Lowest byte of Current Load ighest byte of Current Load 42 0X2A Current Voltage 43 0X2B Current Temperature Means if Instruction is registered 46 0X2E leans if there is any movement ocking EEPROM owest byte of Punch ighest byte of Punch owest byte of Consuming Curren
31. s output to RxD The LED of EX 106 flickers once if the power is supplied to EX 106 properly via wiring If the above steps are not performed successfully recheck the pin assignment of the connector If the pin assignment is right check the allowable voltage and current of the power supply JI Ds Please check the current consumption when applying the power for the first time The current consumption of EX 106 in the standby state is 55mA or Note less 13 MGM EX106_ ROBOTS 3 Communication with EX 106 1 Overview of Communication 2 Instruction Packet 3 Status Packet 4 Control Table 5 How to Use Packet MGM EX106_ ROBOTS 3 1 Overview of Communication Packet Role of ID Protocol To control EX 106 communication should be established according to the protocol of EX 106 EX 106 is driven by receiving binary data Examples of programs for the transmission of this kind of data are described in detail in the User s Manual of the Dynamixel only controller or the USB2Dynamixel Thus this manual describes only the method and protocol of communication used in EX 106 on the assumption that Main Controller can transfer binary data Main Controller and R 64 communicate each other by sending and receiving data called Packet Packet has two kinds Instruction Packet which Main Controller sends to control EX 106 and Status Packet which EX 106 responses to Main Controller I
32. t ighest byte of Consuming Current a m 57 0X39 Sensed Current H I 20 MGM EX106_ ROBOTS RAM and EEPROM Address Access Initial Value Highest Lowest Byte Data in RAM area is reset to the initial value whenever the power is turned on while data in EEPROM area is kept once the value is set even if the power is turned off It represents the location of data To read data from or write data to EX 106 the user should assign an address where the data locates to Packet EX 106 has two kinds of data Read only data which is mainly used for sensing and Read and Write data which is used for driving In case of data in the EEPROM Area the initial values on the right side of the above Control Table are the factory default settings In case of data in the RAM Area the initial values on the right side of the above Control Table are the ones when the power is turned on In the Control table some data share the same name but they are attached with L or H at the end of each name to distinguish the address This data requires 16bit but it is divided into 8bit each for the addresses low and high These two addresses should be written with one Instruction Packet at the same time 21 MGM EX106_ ROBOTS 3 4 1 Control Table Items EEPROM Area Model Number Address 0 1 0x00 0x01 In case of EX 106 the data value is 64 0X0040 Firmware Version Address 2 0x02 It represents t
33. th N 3 if the number of Writing Data is N Instruction 0X04 Parameter1 Start Address to write Data Parameter2 First data to write Parameter N 1 Nth data to write 3 5 4 ACTION Function This command is to execute the Write action registered by REG_WRITE Length 0X02 Instruction 0X05 Parameter NONE The Action command is useful when several EX 106s are moved with accuracy at the same time When several running gears are controlled via communication there is a little time difference in terms of enabling time between the first and the last running gear getting commands EX 106 has resolved this problem by using Action Instruction 2 In case of transmiting the Action command to more than two EX 106s Broadcast ID OXFE should be used but Status Packet is not returned at Note this time 36 MGM EX106_ ROBOTS 3 5 5 PING Function This command does not instruct anything It is only used when receiving Status Packet or confirming the existence of EX 106 with a specific ID Length 0X02 Instruction 0X01 Parameter NONE Example 3 Receives Status Packet of EX 106 whose ID is 1 Reads 1 byte from the value of Address 43 0x2B in the Control Table Instruction Packet OXFF OXFF 0X01 0X02 0X01 0XFB f f tin ID LENGTH INSTRUCTION CHECKSUM Status Packet returned is as follows Status Packet OXFF OXFF 0X01 0X02 0X00 OXFC tf ft f
34. th of the address and length of the Control Table to write is identical Besides ID should be transmitted as Broadcasting ID Make sure that the length of packet does not to exceed 143 bytes since the volume of receiving buffer of EX 106 is 143 bytes ID OXFE Length L 1 XN 4 L Data Length per EX 106 N the number of EX 106s Instruction 0X83 Parameter1 Start address to write Data Parameter2 Length of Data to write Parameter3 First ID of EX 106 Parameter4 First data of the first EX 106 Data regarding the first EX Parameter5 Second data of the first EX 106 1NR Parameter L 3 Lth Data of the first EX 106 Parameter L 4 ID of the second EX 106 Parameter L 5 First data of the second EX 106 Data regarding the second EX Parameter L 6 Second data of the second EX 106 106 Parameter 2L 4 Lth data of the second EX 106 Example 5 Moves to the following position and speed for each EX 106 EX 106 with ID 0 Moves to the position of 0x010 at the speed of 0x150 EX 106 with ID 1 Moves to the position of 0x220 at the speed of 0x360 EX 106 with ID 2 Moves to the position of 0x030 at the speed of 0x170 EX 106 with ID 3 Moves to the position of 0x220 at the speed of 0x380 Instruction Packet OXFF OXFF OXFE 0X18 0X83 0X1E 0X04 0X00 0X10 0X00 0X50 0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80 0X03 0X12 Status Packet is not returned since ID is transmitted as Broadcasting ID 39 MGM EX
35. time Hint Instruction WRITE_DATA Address 0x10 DATA 0x00 Communication Instruction Packet FF FF 01 04 03 10 00 E8 Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR Status Packet is not returned from the next Instruction 42 MGM EX 106_ ROBOTS Example 15 Sets the Alarm as such that LED flickers and shutdown torque off when the operating temperature is higher than the limit temperature Hint Since Overheating Error is Bit 2 set up Alarm value as 0x04 0x04 00000100 Instruction WRITE_DATA Address 0x11 DATA 0x04 0x04 Communication Instruction Packet FF FF 01 05 03 11 04 04 DE Status Packet FF FF 01 02 00 FD Status Packet Result NOERROR Example 16 Turns on the LED and enables Torque Hint Instruction WRITE_DATA Address 0x18 DATA 0x01 0x01 Communication Instruction Packet FF FF 01 05 03 18 01 01 DD Status Packet FF FF 01 02 00 FD Status Packet Result NO ERROR You can check the Torque Enable state by touching the axis of Dynamixel you re your hand Example 17 Locates at the Position 180 with the speed of 57RPM Hint Sets Goal Position Address 30 0x1E 511 0x1FF and Moving Speed Address 0x20 512 0x200 Instruction WRITE_DATA Address Ox1E DATA 0x00 0x02 0x00 0x02 Communication Instruction Packet FF FF 01 07 03 1E 00 02 00 02 D3 Status Packet FF FF 01 0
36. v1 12 Closer to Real meoc ojj User s Manual Dynamixel gt u 06 ROBOTIS CO LTD www robotis com DYNAMIXEL www robotis com MGM EX106_ ROBOTS Contents 1 introduction ee etetni tener ener eee eeeeaeeneeneenenaeenenanenenen 2 1 1 What is Dynamixel PORANNA WIE AR AYO AOI NRA YA AO 3 1 2 Strong Points of Dynamixel tte 5 1 3 Specifications of EX 1 06 POKE KAP EZ erated ZE caters aiz ZCP CZCI OKO KPZR Z ED OE Wa ER GENE ZEE EE Z a 6 2 Installation lt eee aaa aa WE WA ABW aaa kawowa wawa wakak 7 2 1 How to Assemble BraAmegstnetene eee aaa 8 2 2 Assembling Connector PE EEA EAEE aiw iwa wide AOE E A ow diaz w w dwa 10 2 3 Wiring PEREZ NPC ME EEEE R PR EP ade Oadpameice cscs amenccamesauleets 1 1 2 4 Connection of Main Controller s esse ee eee esse eee aaa ee ea aaa aaa aaa aa wawa aw nunen 12 3 Communication with EX 1 06 OPR a Taa aN ANA RNA 14 3 1 Overview of Communications ic tn nia 15 3 2 Instruction Packet pie Nt at ele dh athe cp eat eta tame tare ictal acu crane aera nuance ees ciate t w w z tdk E ya 16 3 3 Status Packet Return Packet EE E A A EEE veneer AE E E O E TEE OE vane ewan Wee div uunlet wii E E E E 18 3 4 Control Table PEIRET EE E I TERA NEC EE ES ONIE OPER REA NA E E EA E T 20 3 5 How to Use Packet ANA A EAA A A AAEE A A 34 4 Appendix PEIES E A S EREE A AEAEE A S ETE E A AAR E A S ETERA PER E EE A S E O EEE I E E A SA S ETE E ET EA 46 MGM EX106_ ROBOTS
37. verload Error When the curren load cannot be controlled by the set Torque it is set as 1 Bit 4 Checksum Error When the Checksum of the transmitted Instruction Packet is incorrect it is set as 1 R vvnen a command IS out o e range for use Il IS Set aS When internal temperature of Dynamixel is out of the Bit 2 Overheating Error range of operating temperature set in the Control table it is set as 1 Bit 1 Anale Limit Error When Goal Position is written out of the range from CW 9 Angle Limit to CCW Angle Limit it is set as 1 When the applied voltage is out of the range of operating Input Voltage Error voltage set in the Control table it is as 1 18 MGM EX106_ ROBOTS PARAMETERO N CHECK SUM For example when Status Packet is returned as below OxFF OxFF 0x01 0x02 0x24 0xD8 It means that the error of 0x24 occurs from EX 106 whose ID is 01 Since 0x24 is 00100100 as binary Bit5 and Bit2 become 1 In order words Overload and Overheating Errors have occurred It returns data except ERRORI For the usage of parameters refer to 3 5 How to Use Packet It is used to check if packet is damaged during communication The below formula defines Check Sum This formula is constructed in the same way as the Check Sum of Instruction Packet Check Sum ID Length Error Parameter1 Parameter N 19 MGM EX 106_ ROBOTS 3 4 Control Table Control Table consist
38. x3FF means that 100 of torque should be generated in the current voltage state while data 512 0x200 means that 50 of torque should be generated Br 1 1 to _ ofa zfefsfa s zf1fo Value 0 Tum Direciion Data Torque Ratio Turn Direction 0 CCW Direction Turn Turn Direction 1 CW Direction Turn 32 MGM EX1068_ ROBOTS 3 4 4 Dual Mode To drive two units of EX 106 set the EX 106 in the following order 1 Set different IDs for the two units of EX 106 2 Set one of the two units to Slave Mode the default value is Master Mode To set it to Slave Mode adjust bit 1 value of the drive mode address address Ox0A to 1 It is EX 106 that Ex 106 with the bit 1 value of Drive Mode is 1 is converted into Slave mode For more information please refer to Drive Mode on page 23 3 Turn off and again turn on the EX 106 you have converted into Slave Mode or reset it Slave Mode setting is applied after reboot EX 106 converted into Slave Mode blinks LED three times upon rebooting 4 Connect two units of EX 106 by means of synchronization cables There are two kinds of synchronization cables General Mode and Reverse Mode 5 Check if the Slave Ex 106 and Master EX 106 are operated simultaneously by attempting communication regarding the operation command with Master EX 106 Convert into Slave Mode Synchronization cable for General Mode Lr E i y Synchronization cable for Reverse Mode
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