RS301CR/RS302CD
Contents
1. 15 2 17 ROM 17 No 0 No 1 Medel Number 17 No2 Firmware Versi n 17 Va able ROM afea EE Aa Ae 18 No4 Servo lD 19 No 5 Servo Reverse E aA E cabins 19 No 6 Baud a R R 19 Delay 20 No 8 9 10 No 11 Angle Limit 20 No 14 No 15 Temperature 20 No 24 No 25 Compliance Margin 21 No 26 No 27 Compliance Slope 21 No 28 N0 29 Pte a 21 Variable tetas alc 28 No 30 No 31 Goal Position 24 No 32 N0 33 Goal mennene nonii on Me eee 24 No 35 Maximum Torque 24 No 36 Torque Enable savior 25 No 42 48 Present Position 25 No 44 45 Present 26 No 46 No 47 Present Speed 26 No 48 No 49 Present 0 i cccsdusc2. Table 4 6 Baud rate Value Baud rate Value Baud rate Value Baud rate 00H 9 600bps 05H 57 600bps OAH 460 800bps 01H 14 400bps 06H 76 800bps 02H 19 200bps 07H 115 200bps 03H 28 800bps 08H 153 600bns 04H 38 400bps 09H 230 400bps Date Bits 8 bit Stop Bit 1 bit Parity None Flow Control None Its initial value is 07H 115 200bps When value other than the set values listed above was set the communication speed becomes 115 200bps Ex Set Baud Rate of servo ID 1 to 38 400bps Write Baud Rate 04H At this time a command with 1 set in bits 5 and 6 of the Flag field is sent and writing to ROM and restarting of the servo are executed simultaneously Hdr ID Flg Adr Len Cnt Dat Sum 19 eNo 7 Return Delay 1 Byte Hex Number Read Write This indicates the delay time for reply when the return packet is required The servo sends the return packet in 100 after receiving data with the setting of 0 The parameters of No 7 are in units of 001H 50yps If you want to set the delay time for reply to 1015 write 18 12H 1ms 100ys 18x50ps Hdr Flg Adr Len Cnt Dat Sum Ce eNo 8 No 11 Angle Limit 2Bytes Hex Number Read Write These data specify the CW clockwise rotation CCW counterclockwise rotation and maximum operating angle based 0 degree Set these bits to match the usage environment The rotation limit angle is the maximum value which can be initially set 123 degree
3. Although the meter is indicated in units of 10mV there is an approximately 0 5V difference between voltage sensors since each sensor has its own characteristics Ex To read the current voltage of the servo in ID 1 If you want to get the values of No 52 and No 53 in the servos memory map as return packets send the packets with the bits of 3 to 0 in the Flags set to bit3 1 bit2 0 bit1 0 and bitO 1 After sending the values for the items between No 42 and No 59 in the memory map will be sent back to you from the servo Please refer to Flags on Page 11 for details If you send only flags set COUNT 1 with ADRESS 0 and LENGTH 0 and nothing should be written in Ex To send flags for return packets between No 42 and No 59 in the memory map Hdr ID Fig Adr Len Cnt Sum Return Packet Hdr ID Flg Adr Len Cnt Dat ww ww TO OO Memory 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The current voltage is 02E4H 7 4V which is identified by values of No 52 and No 53 in the return packet 29 5 Specifications APPLICATION ROBOT ACTUATOR FEATURES RS485 SERIAL COMMINUCATION OTHERS MOTOR CONTROL by SOFTWARE SIZE LxWxH RS301CR 35 8 x 19 6 x 25 0 mm RS302CD 35 8 x 19 6 x 25 0 mm WEIGHT RS301CR 28 g RS302CD 21 g Operation Current IN SUSPENSION RS301CR 40 20 mA ROOM TEMPERATURE No Load 7 4V RS302CD 40 90 mA
4. IN WORKING RS301CR 110 40 mA ROOM TEMPERATURE No Load 7 4V RS302CD 100 40 mA MAXIMUM OUTPUT TORQUE RS301CR 7 1 kg cm 7 4V RS302CD 5 0 kg cm MAXIMUM SPEED RS301CR 0 11 _ 60 7 4V RS302CD 0 16 sec 60 Sl ce Oe aa a a ee fs ROTATION DIRECTION CW CURRENT POSITION lt COMMAND POSITION CLOCKWISE CCW CURRENT POSITION lt COMMAND POSITION ANTICLOCKWISE OPERATING ANGLE CW 150 degree ON THE BASIS OF 0 degree CLOCKWISE CCW 150 degree ON THE BASIS OF 0 degree ANTICLOCKWISE SUPPLY VOLTAGE 7 2 OPERATING TEMPERATURE RANGE 0 40 STORAGE TEMPERATURE RANGE 20 60 C OTHERS BATTERY LITHIUM POLYMER BATTERY RS485 COMMUNICATION MAXIMUM BAUD RATE 460kbps DEPENDING ON THE COMMUNICATION ENVIRONMENT PROTOCOL 8BIT 1 STOP BIT NO PARITY ASYNCHRONOUS 30 Figure 0 1 Dimensions with using Joint Ball 31 TROUBLESHOOTING If your servo does not operate it intermittently stops operating or it operates erroneously take the action shown in the table below If this does not correct the trouble please contact a Futaba dealer Table 0 1 Check list Check point Check item Action Battery Dead battery Replace the battery Incorrect loading voltage Charge the LiPo battery Reload the batteries in the correct polarity Change the recommanded battery Connecter Faulty contact connection If the contact pin i
5. OOH XOR XOR 1EH XOR 03H XOR 03H XOR 01H XOR 64H XOR OOH XOR XOR 64H XOR 00H XOR 05H XOR F4H XOR 01H 15 Return Packet A return packet is the packet returned from the servo when the Flag field requests a servo to send a return packet Packet structure This field denotes the beginning of the packet For a short packet the header is FDDFH This field represents the servo ID This field represents the flags which are set in the packet Each bit shown in the table below represents a servo state Table 4 3 Return packet flags Bit Value Function 7 0 Normal 1 Error Temperature error Torque off over temperature limit 6 N A Reserved 5 0 Normal 1 Error Temperature alarm 4 N A Reserved 3 N A Reserved 2 N A Reserved 1 0 Normal 1 Error Received packet error 0 N A Reserved This field represents the servo memory map address No This field represents the length of one data block The length of one return packet data block is Length Number of return VID Data bytes This field represents the number of servos For a return packet 1 is always set here This field is the check sum It is the XOR in byte units of all the set bits from the ID field to the end of the data field of a command packet 16 Memory Map invariable ROM area Table 4 4 Invariable ROM area Adress No Initial DEC HEX value 10H 20H Model Number L Property Invariable 30H M
6. the servo holds the present position Ex 1 Enable servo ID 1 torque Hdr ID Flg Adr Len Cnt Dat Sum Ex 2 Disable servo ID 1 torque Hdr ID Flg Adr Len Cnt Dat Sum Ex 3 Set servo ID 1 to the brake mode Hdr ID Flg Adr Len Cnt Dat Sum eNo 42 No 43 Present Position 2Bytes Hex Number Read Only The present angle of a servo can be read The angle information 0 of the present position can be obtained in 0 1 degree units within a range of 150 degrees in the CCW counterclockwise rotation OD direction and 150 degrees in the CW clockwise rotation direction with the center of the variation range as 0 degree as shown in the V7 N Fig 4 2 150 Ye 150 Ex Read the present position of servo ID 1 Fig 4 2 servo range To obtain the value of address Nos 42 and 43 of the servo as a return packet send a Flag bit 3 1 bit2 0 bit1 0 bitO 1 send packet After this packet 15 sent the value of memory map address Nos 42 to 59 is returned from the servo See the Flags item of Short packet on p 13 for more information Here The Torque Enable command and the flag of memory map address Nos 42 59 are sent to servo ID 1 25 If you send only flags set COUNT 1 with ADRESS 0 LENGTH 0 and nothing should be written in Data Hdr ID Flg Adr Len Cnt Dat Sum Return Packet Hdr ID Flg Adr Len Cnt Sum Memory Map No 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 As the 2 bytes from the beginning
7. of the return packet data are memory map address Nos 42 and 43 the present position is 0384H 90 0 degrees eNo 44 No 45 Present Time 2Bytes Hex Number Read Only The present time is the time that has elapsed from reception of the command by the servo to the start of movement When movement is complete the present time is held last data Ex Read the present time of servo ID 1 To obtain the value of memory map address Nos 44 and 45 of the servo as a return packet send a Flag bit3 1 bit2 0 bit1 0 bitO 1 send packet After this packet is sent the value of memory map address Nos 42 to 59 is returned from the servo See the Flags item of Short packet on p 11 for more information If you send only flags set COUNT 1 with ADRESS 0 and LENGTH 0 and nothing should be written in Data Hdr ID Flg Adr Len Cnt Dat Sum Return Packet Hdr ID Flg Adr Len Cnt Dat Sum Memory Map No 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The value 0237H 5670ms from memory map address Nos 44 and 45 of the return packet is the present time As the receive data is in 10ms units when multiplied by 10 the receive data becomes ms units 26 No 46 No 47 Present Speed 2 Byte Hex Number Read You can get the servo s current rotation speed on deg sec basis Ex To read the current rotation speed of the servo in ID 1 If you want to get the values of No 46 and No 47 in the servo s memory map as return packet
8. packet The ID returns to the previous number on the next boot up unless the ID is written into the Flash ROM Caution S Never turn off the power while the Flash ROM is being written Bit5 Reboot servo Setting this bit to 1 Flags 20H and sending a packet of address FFH length 00H and count 00H to a servo will reboot a servo Ex Reboot the ID1 servo Hdr ID Flg Adr Len Cnt Sum Setting both Bit6 and Bit5 to 1 makes it possible to write Flash ROM and reboot the servo consecutively Ex Write into the Flash ROM of the ID1 servo and reboot the servo Hdr ID Flg Adr Len Cnt Sum Bit4 Initialize the contents of memory map No 4 No 29 Setting this bit to 1 10H and sending a packet of address FFH length FFH count data FFH to a servo will initialize the memory map from No 4 through No 29 to their initial values Please refer to initial values in the ROM area of Memory Map p 18 for more details Ex Initialize the memory map from No 4 through No 29 to their initial values Hdr ID Flg Adr Len Cnt Sum A Caution S If you reset to the factory initial value the ID becomes 1 12 Bit3 Address assignment of a return packet 1 Data return from predetermined addresses Setting the Bit3 through Bit0O like the table below when sending a short packet makes it possible to receive the data of the specified addresses in the servo s memory map The 1 0 indicates whether t
9. 1 bit2 0 bit1 0 and bitO 1 After sending the values for the items between No 42 and No 59 in the memory map will be sent back to you from the servo Read the data that fall under No 48 and No 49 Please refer to Flags for Short Packet on Page 12 for details If you send only flags set COUNT 1 with ADRESS 0 and LENGTH 0 and nothing should be written in 27 Ex send flags for the return packets between No 42 and No 59 in the memory map Hdr ID Fig Adr Len Cnt Sum Return Packet Hdr ID Flg Adr Len Cnt Dat ee ae ww DO OO Memory Map No 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The present load is 0006H which is identified by the values of No 48 andNo 49 in the return packet It shows that the motor is live with electricity of 6mA at this time No 50 No 51 Present Temperature 2 Byte Hex Number Read This shows the present temperature on the board of the servo Each temperature sensor has its own characteristics and there is a difference of about 3C between one another in measuring temperature An alarm flag is raised 10 C before reaching the preset temperature If the temperature goes up higher than the preset temperature an error flag for temperature is raised one second later and at the same time the servo comes into the break mode which situation is like deadening the torque a little bit When it is in the break mode the value for Torque ON of No 36 in the memo
10. User s Manual Ver 1 0 RS3801CR RS302CD Command Type Servo for Robot A Instruction Manual Caution Read this instruction manual before use Keep this manual handy for immediate reference For models Futaba CONTENTS 1 FOR SAFETY WARNING SYM BO DS sa tak 4 CAUTIONS FOR OE 4 WARNINGS IN HANDLING 5 ee wiles 5 2 INTRODUCTION 6 Part Names Handling Instructions 7 3 CONNECTION 5 Conmiirations iis 8 1 8 Cautions when connecting 505 9 4 CONTROL METHOD C BESEN TEI S A E 10 Packet 1 Rn NT oe Pn yee E 11 Bons Packet watts 14 Return
11. an be set The duration is set is 10ms units When a command value exceeding the maximum speed of the servo was set the servo moves at its maximum speed 1 Move servo ID 1 to 90 0 degrees 900 384 5 seconds since this is 5000ms 500 01F 4H Hdr ID Flg Adr Len Cnt Dat Sum Fa ar o1 20 o4 or ae F4 Ex 2 Move servo ID 1 to 120 0 degrees 1200 5 in 10 seconds since this is 10000ms 1000 03E8H Hdr ID Flg Adr Len Cnt Sum Ce fa nfo or oe eNo 35 Maximum Torque 1Byte Hex Number Read Write The maximum torque output by the servo can be set The servo torque can be set in 1 units with the torque of the servo described in this manual as 100 However consider this an approximate standard Even if a value over 100 is set the maximum torque becomes 100 64H 100 is the initial value for RS301CR and 4DH 77 is for RS302CD 24 The setting range is between 64H Ex Set the maximum torque of servo ID 1 to 80 50H Hdr Adr Len Cnt Dat Sum Ce Co Co GC eNo 36 Torque Enable 1Byte Hex Number Read Write The servo torque can be enabled and disabled 01H enables the torque and OOH disables the torque When the power is turned on the torque is disabled When 02H 15 set the servo enters the brake mode and the servo horn can be freely rotated by hand but a weak torque is generated When the Torque is changed from disable to enable
12. avesccittuansser aries aviieetoticesendiies 27 No 50 No 51 Present Temperature 28 No 52 58 Present 29 5 REFERENCE SPECIFICATIONS 80 DIMENSIONS eae 81 TROUBLESHOOTING 32 1 FOR SAFETY To use this product safely please pay your full attention to the followings Be sure to read this instruction manual prior to using this product Warning Symbols The warning symbols used in this text are defined as follows Indication Meanin A Indicates a hazard that will cause severe personal injury death or Dan er substantial property damage if the warning is ignored A Indicates a hazard that can cause severe personal injury death or W arning substantial property damage if the warning is ignored A Indicates hazard that will or can cause minor personal injury or Caution property damage if the warning is ignored Symbols 9 Prohibited Q Mandatory Cautions for Use A Caution Do not disassemble or alter the servo Otherwise it may cause breakage in the gear box fire on the servo or explosion of the battery Do not use any battery as a power supply other than the specified battery The product is designed to be operated by Futaba s 9 6V Ni MH batte
13. have reached the target position and is stopped CW and CCW can be set individually Setting is in approximately 0 1 Degree units The initial value is 02 0 2 degree We recommend that the initial value not be changed because in most cases it is the optimum value The setting range is FFH approximately 25 5 degrees X Please refer to the chart in eNo 28 No29 Punch No 26 No 27 Compliance Slope 1Byte Hex Number Read Write These data set the range of the torque which attempts to return the servo to the target position when the present position has deviated from the target position In the range specified here the torque which attempts to return the servo to the target position is proportion to the difference between the target position and the present position The CW and CCW directions can be set individually Hunting can be reduced and shock can be absorbed by using this function Setting is in approximately 1 0 degree units The setting range is 00H 96H approximately 150 degrees The initial values are 10 deg for RS301CR and OFH 15 deg for RS302CD X Please refer to the chart in 28 29 Punch eNo 28 No 29 Punch 2Bytes Hex Number Read Write The minimum current applied to the internal motor when a servo is driven can be set The region in which the servo does not operate even when a minute movement command is given can be reduced and the servo can be more accurately stopped at the
14. ltaneously 3 Return Packet p 16 This is a packet that is sent from a servo when a return packet is requested 10 Packet Format Short Packet Short packets are used for sending the data in the memory map toward a single servo Packet structure This is a line head of a packet FAAFH is used for short packets xH denotes Hexadecimal number ID This is servo s ID The valid numbers are from 1 through 127 When ID is set to 255 commands are commonly effective to all servos The processor unit cannot obtain any data from servos at this time Each bit has the following meaning Table 4 1 Send packet flags Bit Function 7 Reserved 6 Write in Flash ROM 5 Reboot servo 4 Initialize memory map data 3 Return packet s address 0 Bit7 Reserved Set this bit always at 0 Bit6 Write in Flash ROM Setting this bit to 1 Flags 40H and sending a packet of address FFH length 00H and count OOH to a servo will write the data of the memory map from No 4 through 29 04H 1DH into the non volatile Flash ROM It takes about 1 second for writing 11 Write the data of the ID1 servo into the Flash ROM Hdr ID Flg Adr Len Cnt Sum The servo s memory should be renewed with the data you want to write into the Flash ROM by transferring the data by using a short packet beforehand The servo ID becomes effective only after receiving a
15. o require a return packet BitO 1 not Bit0 0 Please refer to the Table 4 1 Send packet flags p 11 for setting these bits in sending short packets The RS485 half duplex communication which is used to communicate with servos does not allow addressing more than one servo that can send a return packet After requesting a return packet do not send next data until completing reception of the return packet Table 4 2 Address assignment of return packet Bit 3 2 1 0 Function 0 0 0 Noreturn packet 0001 Return ACK NACK packet 001 1 Return the data of the memory map No 00 No 29 1 O 1 Return the data of the memory map No 30 No 59 01 1 1 Return the data of the memory map No 20 No 29 1001 Return the data of the memory map No 42 No 59 101 1 Return the data of the memory map No 30 No 41 Return the specified number of bytes of data starting from the specified address 2 Data return from user defined addresses Setting the Bit3 through BitO to 1 and sending a short command with the starting ad dress whose data you want to receive the length of data and the count 00H makes it possi ble to return the specified number of bytes of the data starting from the specified address Available addresses in the memory map are from No 00 to No 139 8 Ex Return the data in the memory map addresses from No 42 2AH through No 43 2BH of the ID1 ser
16. odel Number H ROM 01H Firmware Version 00H Reserved For RS302CD eNo 0 No 1 Model Number 2Bytes Hex Number Read Only This field represents the model No servo model For the RS301CR it is Model Number L 10 Model Number For RS302CD they are as follows Model NumberL 20H Model Number H eNo 2 Firmware Version 1Byte Hex Number Read Only This field represents the servo firmware version Its value varies depending on the version at production 0x01 in the example below Firmware Version 01H X Storing two byte data to memory map Two byte data is stored to the memory map in two individual 8 bit bytes of H High byte and L Low byte Ex Issue a 29 2 degrees operation command to servo ID 23 The command angle is saved to the Target Position item The commanded value is 29 2 degrees but since this is 0x0124 in hexadecimal notation the data actually stored is Target Position L 24H Target Position H 01H 17 eVariable ROM area Area ROM Table 4 5 Variable ROM area Adress No Initial DEC HEX value 2 04 04 01H Servo ID RW 05 05H 00H Reverse RW 06 06H 07H Baud Rate RW 07 07H 00H Return Delay RW 08 08H DCH CW Angle Limit L RW 09 09H 05H CW Angle Limit H RW 10 24H CCW Angle Limit L RW 11 OBH FAH CCW Angle Limit H RW 12 OCH 00H Reserved 13 00H Rese
17. of the data to be sent are the same to all the servos Packet structure Length Number of servos Count This notation indicates the front of a packet Set FAAFH for long packets xH denotes Hexadecimal number This should be always kept at OOH This should be always at 14 This indicates address the memory map Using this address makes it possible to write the data of the specified number of bytes determined by the Length into the memory maps of multiple servos This is used to specify the number of bytes of the data for a servo Length the number of bytes of data 1 This notation indicates the number of servos that data is sent to VID and data are sent to all of them This field represents the ID of each servo which sends data Data corresponding to the number of servos is sent with VID and Data as one set This field is the data of one servo which is written to the memory map Data corresponding to the number of servos is written with VID and Data as one set This field is made up of eight bits which represent the check sum of the packet The check sum is the XOR in byte units of the set bits from the ID field to the end of the Data field of the packet string If there is a packet of 2 bytes or more between the ID and DATA fields delimit it into single bytes before XORing Hdr ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum The check sum of the send data above is
18. r warranties are not expired Do not use batteries if any abnormal symptoms are seen If you find any abnormal symptoms such as cracks in coating film abnormal heat generation from batteries or deformation of batteries never use the battery because it may cause serious consequences Cautions for Storage Caution Do not store the servos in the following conditions S Places where the temperature is over 60 or below 20 Places where the Sun directly shines over the servos Places where it is very high in humidity Places where there is a strong vibration Places where there is a lot of dust Places where static electricity tends to be induced Places where infants can reach Storing the servos in the places shown above may cause deformation and failure of the servos or hazard 2 INTRODUCTION RS301CR RS302CD servo is especially designed for robotic applications having the following features Small and Lightweight RS3801CR and RS302CD are small and lightweight servos specially designed for robots which are 28g 21g respectively Interactive high speed RS485 communication RS485 half duplex communication carries out bidirectional high speed communication up to 460kbps RS485 is used for the communication between the robot s processor unit and servos at very high speed Command type control The servo can be controlled by commands sent from the robot s processor unit through RS485 And a
19. rved 14 50H 46H Temp Limit L R 15 00H Temp Limit H R 16 10H 00H Reserved 17 11H 00H Reserved 18 12H 00H Reserved 19 13H 00H Reserved 20 14H 00H Reserved 21 15H 00H Reserved 22 16H 00H Reserved 23 17H 00H Reserved 24 18H 02H CW Compliance Margin RW 25 19H 02H CCW Compliance Margin RW 26 0AH OFH CW Compliance Slope RW 27 1BH CCW Compliance Slope RW 28 1CH B4H C8H Punch L RW 29 00H Punch H RW 18 For RS302CD eNo 4 Servo ID iByte Hex Number Read Write This data represents the servo ID Its initial value is 01H The setting range is 1 127 01H 7FH E Rewrite servo ID1 to ID5 dr ID Flg Adr Len Cnt Dat Sum Cea or oe a Cs The relevant servo begins to operate under the new ID as soon as the ID rewrite command is received Note that after the ID was rewritten if it was not written to the flash ROM when the ower is turned off it will return to the previous ID eNo 5 Servo 1 Byte Hex Number Read Write This shows rotation directions of the servo The initial value of OOH means the normal rotation and 01H means the reverse rotation If the servo is set with 01H the limited range of rotation angles is also reversed eNo 6 Baud Rate 1Byte Hex Number Read Write This data represents the communication speed The value assigned to each baud rate is shown below
20. ry map becomes 2 Please be aware that Torque On Command does not function unless resetting is carried out or turning on the power again if temperature limit works Also be careful not to burn yourself since the temperature around the servo motor is somewhere between 120 C and 140 C when errors in temperature happen Please make sure that the temperature goes down sufficiently before you use it again Ex To read the current temperature of the servo in ID 1 If you want to get the values of No 50 and No 51 in the servo s memory map as return packets send the packets with the bits of to 0 in the Flags set to bit38 1 bit2 0 bit1 0 and bitO 1 After sending the values for the items between No 42 and No 59 in the memory map will be sent back to you from the servo Please refer to the Flags on Page 11 for details If you send only flags set COUNT 1 with ADRESS 0 and LENGTH 0 and nothing should be written in Ex To send a for return packets between No 42 and No 59 in the memory map Hdr Flg Adr Len Cnt Sum TAE a oe 28 Return Hdr Flg Adr Len Cnt Dat a wo ww OOO OO OO Memory Map No 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The current temperature 15 002DH 45 C which is identified by the values of No 50 and No 51 in the return packet No 52 No 53 Present Voltage 2 Byte Hex Number Read This shows the voltage that is currently used for the servo
21. ry only Do not use any other batteries Do not touch the servo case during or some time after operating the servo Otherwise you may get burned on the finger as the motor or electronic circuit in the servo gets very hot Do not let the servo get covered with sandy dust or water Otherwise the servo may stop moving or have a short circuit The servo is not designed to be waterproof or dust proof Do not use this product for any application other than indoor hobby robots Futaba is cleared of all responsibility to the results caused by the usage of this product for any application other than indoor hobby robots 4 Do not turn the servo horn forcibly Otherwise the servo will be damaged Do not leave the servo locked If the servo continues to be locked due to a strong external force it may cause smoke fire or damage Warnings in Handling Batteries Warning Do not use any battery charger other than the specified charger Otherwise the battery may be get damaged fire smoke or liquid leakage Be sure to use batteries recommended by Futaba Do not use battery packs connected in parallel Connecting battery packs in parallel may cause abnormal heat generation or explosion due to the differences between charging voltages Do not disassemble or alter battery packs Otherwise it may cause fire explosion or liquid leakage And please be aware that such battery packs will be no longer guaranteed even if thei
22. s Never set angle exceeding this value because the servo may be damaged Even if a command value greater than the rotation limit angle is given the maximum operating angle is not exceeded The setting range is CW Angle Limit 0 0000H 150 05DCH CCW Angle Limit 0 0000H 150 FA24H Ex 1 Set the CW angle limit of servo ID 1 to 100 0 degrees Since the angle is set in 0 1 degree units when 100 0 degrees is specified 1000 03E8H is set CW Angle Limit L E8H CW Angle Limit H 03H Hdr ID FlgAdrLenCnt Dat Sum Ex 2 Set the CCW set values of servo ID 1 to 100 0 degrees FC18H CCW Angle Limit L 18H CCW Angle Limit H FCH Hdr ID FlgAdrLenCnt Dat Sum eNo 14 No 15 Temperature Limit 2Bytes Hex Number Read Only If an overload is applied to a servo the heat generated by the motor etc will cause the internal temperature to rise If the internal temperature exceeds the temperature set here the torque will be disabled so trouble will not occur at the servo and the red LED on the servo will light To reset the stopped state send a No 36 Torque Enable command 20 Note that rewriting this memory map value will null and void the product warranty eNo 24 No 25 Compliance Margin 1Byte Hex Number Read Write These data specify the allowable range of the servo stop position If the present value is within the range set here relative to the specified target position the servo is judged to
23. s send the packets with the bits of 1 to 3 in the Flag set to bit8 1 bit2 0 bit1 0 and bit0 1 After sending the values for the items between No 42 and No 59 in the memory map will be sent back to you from the servo Please refer to Flags for Send Packet on Page 11 for details If you send only flags set COUNT 1 with ADRESS 0 and LENGTHI 0 and nothing should be written in Data Send a for return packets between No 42 and No 59 in the memory map Hdr Flg Adr Len Cnt Sum T Return Hdr Flg Adr Len Cnt Dat Fo oF FF 37 02 2c 01 07 00 03 00 00 00 00 00 00 00 00 al Memory Map No 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The present rotation speed is 012CH 300deg sec which is identified by the values of No 46 and No 47 in the return packet If you change the unit of the incoming data to a decimal number the values show angle rates since the incoming data is based on deg sec No 48 No 49 Present Load 2 Byte Hex Number Read This shows the load electric current on the servo The data can be read on mA basis Please use this data just as a guide since there are servos which do not show 0 in case of no load Ex To read the current load on the servo in ID 1 If you want to get the values of No 48 and No 49 in the servo s memory map as return packets send the packets with the bits of to 0 in the Flags set to bit38
24. s deformed correct it Wipe with a dry cloth Dirty contacts Servo horn Looseness of screws Fasten the screws Command ID baud rate check sum Conform the command packet rules Cable Short circuit Change the cable Before requesting repair read this instruction manual again and recheck your system Should the problem continue request repair service as follows Describe the problem in as much detail as possible and send it with a detailed packing list together with the parts that require service _Symptom Including when the problem occurred _System Application configuration _Model Numbers and Quantity _Your Name Address e mail address and Telephone Number If you have any questions regarding this product please consult your local Futaba dealer 32 Futaba 99
25. single command can convey multiple data including a period of time to move and a target position This relieves the robot s processor unit from load significantly Data Feedback Various kinds of information about the load temperature current and alarm can be obtained via RS485 Compliance control With this feature the movement of the RS301CR RS302CD is accordance with the distance between the servo such as angular position controlled in present and target positions This enables the robot to move very smoothly without trembling its arms and legs and to absorb turbulence from external force Calibration Angular position of every RS301CR RS302CD servo is calibrated by our standard gauge before their shipment Even if another RS301CR RS302CD servo is employed it does not require any bothersome work for adjusting its angular position 12bit A D converter for precise positioning feedback converters makes it possible to position the servo Angular using the 12bit A D angle precisely Wiring from the output shaft Wires pass through the backside of the output shaft to avoid getting wires entwined in operation Horn with a mark for reference position marks are placed the circumference of the servo horn in order to make sure the reference position even Cone for 0 for 180 after being built in position two for 90 three and four for 270 Part Names Handling Instruc
26. t Current H 50 32H 00H Present Temperature L 51 33H 00H Present Temperature H 52 34H 00H Present Voltage L 53 35H 00H Present Voltage H 54 36H 00H Reserved 55 37H 00H Reserved 56 38H 00H Reserved 57 39H 00H Reserved 58 00H Reserved 59 00H Reserved DIDI A D A AA A a For RS302CD 23 eNo 30 No 31 Goal Position 2Bytes Hex Number Read Write A servo can be moved to the specified angle The center of the movement range is 0 degree Viewed from the top of the servo nameplate side the CW clockwise rotation direction is and the CCW counterclockwise rotation direction is When the No 5 Servo Reverse is 01H CW direction is and the CCW direction is The goal position unit is about 0 1 deg To make 90 degrees the target position set 900 900 gt 384 When an angle larger than the limit angle set at memory addresses No 8 11 was commanded the servo operates up to this limit angle When the Torque is changed from disable to enable the servo holds the present position where it was enabled 1 Move servo ID 1 to 90 0 900 gt 38 4 Hdr ID FlgAdrLenCnt Dat Sum Ex 2 Move servo ID 1 to 90 0 degrees 900 Hdr ID FlgAdrLenCnt Dat Sum eNo 32 No 33 Goal Time 2Bytes Hex Number Read Write The movement duration of a servo up to the goal position c
27. target position by setting this value to the optimum value The setting should be by 0 01 of the maximum torque The setting range is 2710H 100 The initial value for RS301CR is B4H 1 8 and for RS302CD is C8H 2 0 21 84 03 CCW Target position Position CCW Compliance Slope CCW Compliance Margin CW Compliance Margin CW Compliance Slope ae CW Fig 4 1 Compliance control Ex 1 Set to 0064H 1 Hdr Flg Adr Len Cnt Dat Ce Co Ex 2 Servo ID 1 is set as follows CW Compliance Margin 03H CCW Compliance Margin CW Compliance Slope 14H CCW Compliance Slope 14H Punch 0064H The 6 bytes from memory addresses 24 to 29 are set at one time Hdr ID Fig Adr Len Cnt AAEE 22 eVariable RAM Area Table 4 7 Variable RAM area Adress No Initial Area Name Property DEC HEX value 30 1EH 00H Goal PositionL RW 31 1FH 00H Goal PositionH RW 32 20H 00H Goal TimeL RW 33 21H 00H Goal TimeH RW 34 22H 00H Reserved 35 23H 64H 4DH Max Torque RW 36 24H 00H Torque Enable RW 37 25H 00H Reserved RW 38 26H 00H Reserved RW 39 27H 00H Reserved RW 40 28 00H Reserved 41 29 00H Reserved 42 2 00H Present Position L 43 2BH 00H Present Position H RAM 44 2CH 00H Present Time L 45 2DH 00H Present Time H 46 2EH 00H Present Speed L 47 2FH 00H Present Speed H 48 30H 00H Present Current L 49 00H Presen
28. tions Screws for fixing the servo to a case Output axis Futaba RSSOICR F1 Connecter Fig 2 1 Part names Caution S Removing the screws for fixing the servo with a case may damage the servo 7 3 CONNECTION System Configuration The following figure shows a robotic system using RS301CR RS302CD servos RPU 10 processor unit and etc 222 _ Motion editor Control softwar 4 RS301CR RS302 D a T Processing Unit RPU 10 etc RSC U485 Battery PR 4S780P Fig 3 1 Robotic system configuration Pin Assignment Pin assignment of the RS301CR RS302CD servo is shown below TADE 1 Gray RS485 D 2 Black RS485 D 3 Gray VCC 7 4V 4 Black GND Fig 3 2 Pin assignment 8 Cautions when Connecting Please refer to the figure below for connecting RS301CR RS302CD and RPU 10 PC Please prepare it by your self RS232C PR 4S780P RS301CR RS302CD Fig 3 3 Operating with RPU 100 Allowable current for relay connectors is 2 for servo harness is 3A each for continues use Set your PC s communication parameters as follows Baud rate 115 2 bps adjustable between 9 6kbps and 460kbps Refer to Table 4 6 Baud rate in p 19 Data bit length 8 bits Parity none Stop bit 1 bit Flow control none 4 METHOD Abstract Communication Protocol The communication protocol of the RS301CR RS302CD ser
29. vo Hdr ID Flg Adr Len Cnt Sum 3 ACK NAK Packet If a servo receives a request of sending ACK the Flags being set at BitO 1 Bit1 0 Bit2 0 and Bit3 0 the servo send ACK The return packet is constituted by only one byte of data like bellow Return packet 07H ACK 13 Address This notation indicates an address the memory map Using this address makes it possible to write the data of the specified number of bytes determined by the Length into the memory map Length This notation indicates the length of a data block Length the number of bytes of data This notation indicates the number of servos which should be set at 1 for a short packet Data This notation indicates the data to be stored in the memory map Q 5 ct Sum This is the check sum of a packet using 8 bits Check sum is the value obtained from operation on all bytes from ID through Data in a packet by a unit of a byte If the number of bytes from ID through Data in a packet is two or larger divide them byte by byte and conduct XOR operation on them Ex Send a command ordering ID1 servo to move to 0 degree ID FlgAdrLenCnt Dat Sum The check sum of the transmission data above is as follows 01H XOR XOR XOR 02H XOR XOR XOR Long Packet The long packet is used to send the data in the memory map to multiple servos Please note however that the memory address and the length
30. vo is based on RS485 IEEE485 half duplex communication Data transmission and reception are carried out alternatively on the same signal line Normally the RS301CR RS302CD servo stands by in reception mode But when it receives from RPU 10 a command to send the servo s data and status it switches to transmission mode sends them out and finally returns to reception mode Memory Map The RS301CR RS302C servo has its own memory area to store data necessary for its movement This memory area is called Memory This memory map is divided into two groups One is RAM area in which data will be erased when the power is turned off The other one is ROM area in which data is held even after the power is turned off Servo ID You can set ID numbers to RS301CR RS302C servos individually These ID numbers are used to identify servos during communication The default number of every servo is set to 1 When you use multiple servos in a single communication network give them different ID numbers Packet A packet is a block that is used for sending a command to or receiving data from RS301CR RS302C servos Packets are divided into the following three groups having different formats 1 Short Packet p 11 Short packets are used for sending the data in the memory map toward a single servo 2 Long Packet p 14 Long packets are used for sending the data in the memory map toward multiple servos simu
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