The Specification of EX-106+
Contents
1. i b 250 927 250 92 360 0 Goal Position 4095 Invalid Angle Goal Position 0 Oxtff 0x000 lt The picture above is based on the front of relevant model gt If it is set to Wheel Mode this value is not used Moving Speed It is a moving speed to Goal Position The range and the unit of the value may vary depending on the operation mode e Join Mode 0 1023 OX3FF can be used and the unit is about 0 11 1rpm If it is set to 0 it means the maximum rpm of the motor is used without controlling the speed If it is 1023 it is about 114rpm For example if it is set to 300 it is about 33 3 rpm Notes Please check the maximum rpm of relevant model in Joint Mode Even if the motor is set to more than maximum rpm it cannot generate the torque more than the maximum rpm e Wheel Mode 0 2047 OX7FF can be used the unit is about 0 1 If a value in the range of 0 1023 is used it is stopped by setting to 0 while rotating to CCW direction If a value in the range of 1024 2047 is used it is stopped by setting to 1024 while rotating to CW direction That is the 10th bit becomes the direction bit to control the direction In Wheel Mode only the Torque control is possible not speed For example if it is set to 512 it means the torque is controlled by 50 of the maximum torque Torque Limit It is the value of the maximum torque limit 0 to 1023 Ox3FF is available and the unit is about 0 1 For example if the value i2. Instruction Packet until the return of Status Packet 0 to 254 OxFE can be used and the delay time per data value is 2 usec That is to say if the data value is 10 20 usec is delayed The initial value is 250 OxFA 1 e 0 5 msec CW CCW Angle Limit The angle limit allows the motion to be restrained The range and the unit of the value is the same as Goal Position Address 30 31 e CW Angle Limit the minimum value of Goal Position Address 30 31 e CCW Angle Limit the maximum value of Goal Position Address 30 31 The following two modes can be set pursuant to the value of CW and CCW Operation Type CW CCW Wheel Mode the value of the both are 0 Joint Mode the value of the both are not 0 The wheel mode can be used to wheel type operation robots since motors of the robots spin infinitely The joint mode can be used to multi joints robot since the robots can be controlled with specific angles The Highest Limit Temperature It is the highest limit of operating temperature The range for use is 10 to 99 0x10 0x63 The unit is Celsius For example if the value is 80 it is 80 If the internal temperature of Dynamixel 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 Caution Do not set The Highest Limit Temperature of Dynamixel above the initial value of 80 If Dynamixel is used at
3. 00 11 OXOB Em ET Internal Limit Temperature RW 80 0X50 12 0X0C the poem Limit onea Lane Voltage RW 60 0X3C 13 0X0D eee EE co E Limit Highest Limit Voltage RW 240 0XF0 14 0XOE Max Torque L Lowest byte of Max Torque RW 255 OXFF zs B e Ez jala a eR FP 15 0X0F Max Torque H Alarm LED oxo LED 26 0X1A CW pm CCW Compliance din 28 0X1C CW Compliance Slope 29 0XID CCW D nae Highest byte of Max Torque Status Return Level LED for Alarm Shutdown for Alarm Torque On Off LED On Off CW Compliance margin CCW Compliance margin CW Compliance slope CCW Compliance slope Lowest byte of Goal Position Highest byte of Goal Position Lowest byte of Moving Speed Highest byte of Moving Speed Lowest byte of Torque Limit Highest byte of Torque Limit Lowest byte of Current Position Highest byte of Current Position Lowest byte of Current Speed Highest byte of Current Speed Lowest byte of Current Load Highest byte of Current Load Current Voltage Current Temperature R PrP PPR 2 Ez peee 3 0X03 2 0X02 36 0X24 36 0X24 0 0X00 0 0X00 1 0X01 1 0X01 32 0X20 32 0X20 ADD 14 ADD15 44 0X2C Registered Means if Instruction is registered Punch Lowest byte of Punch 49 0X31 Punch Highest byte of Punch Lowest byte of Consuming Current 56 0X38 Sensed Current L 57 0
4. CCW Y axis Output Torque A B C D CCW Compliance Slope Address0x1D CCW Compliance Margin Address0x1B CW Compliance Margin Address0x1A CW Compliance Slope Address0x1C Punch Address0x30 31 moou7 r Compliance Margin It exists in each direction of CW CCW and means the error between goal position and present position The range of the value is 0 255 and the unit is the same as Goal Position Address 30 31 The greater the value the more difference occurs Compliance Slope It exists in each direction of CW CCW and sets the level of Torque near the goal position Compliance Slope is set in 7 steps the higher the value the more flexibility is obtained Data representative value is actually used value That is even if the value is set to 25 16 is used internally as the representative value Step Data Value Data Representative Value 1 0 0x00 3 0x03 2 0x02 2 4 0x04 7 0x07 4 0x04 3 8 0x08 15 0xOF 8 0x08 4 16 0x10 31 0x1F 16 0x10 5 32 0x20 63 0x3F 32 0x20 6 64 0x40 127 0x7F 64 0x40 7 128 0x80 254 0xFE 128 0x80 Punch Currently this value is not used Goal Position It is a position value of destination 0 4095 OxFFF is available and the unit is 0 06 degreee If Goal Position is out of the range Angle Limit Error Bit Bit1 of Status Packet is returned as 1 and Alarm is triggered as set in Alarm LED Shutdown 125 46 Goal Position 2048 0x800
5. ROBOTIS e Manual v1 05 01 EX 106 Parts Photo EX 106 The Specification of EX 106 e Weight 154g e Dimension 40 1mm x 65 3mm x 50 1mm e Resolution 0 06 Gear Reduction Ratio 184 1 Stall Torque 107kgf cm at 18 5V 7A No load speed 91rpm at 18 5V Running Degree a 0 251 Endless Turn Running Temperature 5 80 Voltage 12 18 5V Recommended Voltage 14 8V Command Signal Digital Packet Protocol Type RS485 Asynchronous Serial Communication 8bit 1stop No Parity Link Physical RS485 Multi Drop Bus ID 254 ID 0 253 Communication Speed 7343bps 1 Mbps Feedback Position Temperature Load Input Voltage etc Material Full Metal Gear Aluminium Front Case Engineering Plastic Body Standby current 55 mA Control Table Control Table consists of data regarding the current status and operation which exists inside of Dynamixel The user can control Dynamixel by changing data of Control Table via Instruction Packet EEPROM and RAM 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 Address It represents the location of data To read from or write data to Control Table the user should assign the correct address in the Instruction Packet Access Dynamixel has two kinds of data Read only data which is mainly used for sensing and Read and W
6. X39 Sensed Current H Highest ere Address Function Help EEPROM Area Model Number It represents the Model Number Firmware Version It represents the firmware version ID 0 0X00 0 0X00 0 0X00 0 0X0 0 0X00 It is a unique number to identify Dynamixel The range from 0 to 253 0xFD can be used and especially 254 0xFE is used as the Broadcast ID If the Broadcast ID is used to transmit Instruction Packet we can command to all Dynamixels Please be careful not to duplicate the ID of connected Dynamixel In slave mode it is recommended the ID of slave motor be designated in the area other than ID areas 0 26 Baud Rate Address 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 Set BPS Target BPS Tolerance l 1000000 0 1000000 0 0 000 3 500000 0 500000 0 0 000 4 400000 0 400000 0 0 000 7 250000 0 250000 0 0 000 9 200000 0 200000 0 0 000 16 117647 1 115200 0 2 124 34 57142 9 57600 0 0 794 103 19230 8 19200 0 0 160 207 9615 4 9600 0 0 160 Note maximum Baud Rate error of 3 is within the tolerance of UART communication Caution The initial value of Baudrate is set to 1 1000000bps Drive Mode Drive mode is set for Dynamixel N A P N A p N A P N A Bit N A Bit Bit Bit N A Master Slave M
7. d Direction 0 CCW Load Load Direction 1 CW Load Notes Current load is inferred from the internal torque value not from Torque sensor etc For that reason it cannot be used to measure weight or torque however it must be used only to detect which direction the force works Present Voltage 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 Present Temperature It is the internal temperature of Dynamixel in Celsius Data value is identical to the actual temperature in Celsius For example if the data value is 85 0x55 the current internal temperature is 85 Registered Instruction There are no commands transmitted by REG WRITE There are commands transmitted by REG WRITE Notes If ACTION command is executed the value is changed into 0 Goal position command execution is completed Goal position command execution is in progress Lock Value Meaning 0 EEPROM area can be modified 1 EEPROM area cannot be modified Caution If Lock is set to 1 the power must be turned off and then turned on again to change into 0 Sensed Current It is the amount of current in use The range from 0 to 1023 is used and the unit is 10mA The value less than 512 means the motor consumes the current and torques to the direction of CCW The value greater than 512 means the motor consumes the c
8. ed to the direction of CW For example The value is changed from 5000 to 10000 10000 5000 x 0 06 300 and the total moved angle becomes 300 degrees Present Speed It is the current moving speed 0 2047 OX7FF can be used If a value is in the rage of 0 1023 it means that the motor rotates to the CCW direction If a value is in the rage of 1024 2047 it means that the motor rotates to the CW direction That is the 10th bit becomes the direction bit to control the direction and 0 and 1024 are equal The unit of this value varies depending on operation mode e Joint Mode The unit is about 0 111rpm For example if it is set to 300 it means that the motor is moving to the CCW direction at a rate of about 33 3rpm e Wheel Mode The unit is about 0 1 For example if it is set to 512 it means that the torque is controlled by 50 of the maximum torque to the CCW direction Present Load It means currently applied load The range of the value is 0 2047 and the unit is about 0 1 If the value is 0 1023 it means the load works to the CCW direction If the value is 1024 2047 it means the load works to the CW direction That is the 10th bit becomes the direction bit to control the direction and 1024 is equal to 0 For example the value is 512 it means the load is detected in the direction of CCW about 50 of the maximum torque gm s to e es zjersiajai2 1 0 Value o Load Direction Data Load Ratio Loa
9. ode In case of 0 Master mode In case of 1 Slave mode Normal Reverse In case of 0 Normal mode In case of 1 Reverse Mode mode Master Mode In case of being used as dual joints it is set to designate as master Slave Mode In case of being used as dual joints it is set to designate as slave General Mode It is valid if it is master mode It is set if it uses the same rotation direction Reverse Mode It is valid if it is master mode It is set if uses the rotation direction reversely Notes Reverse mode is to change the actual rotation direction reversely It can be used conveniently when the robot with symmetrical joints layout is built Dual Joints Dual joints are used as 1 joint by controlling 2 motors simultaneously To use the dual joints 1 unit of motor set in master mode and 1 unit of motor set in slave mode are needed Next the motors must be connected to each other using synchronization cable Convert into Slave Mode Synchronization cable for General Mode EE s i SS Es Synchronization cable for Reverse Mode HHH Notes Slave is synchronized by directly receiving the control command through synchronization cable from Master Slave Mode unit responds to communication through command packets but data related to motor drive are processed only through the synchronization Return Delay Time It is the delay time per data value that takes from the transmission of
10. out 6 the reg write command i Overload Error When the current load cannot be controlled with the set maximum torque 2 CheckSum Error When the Checksum of the transmitted Instruction Packet is invalid zu Range Error When the command is given beyond the range of usage Bit When the internal temperature is out of the range of operating temperature set in 2 OverHeating Error the Control Table When Goal Position is written with the value that is not between CW Angle P Angle Limit Error Canoa Angle Limit Bit Input Voltage When the applied voltage is out of the range of operating voltage set in the 0 Error Control Table It is possible to make duplicate set since the function of each bit is run by the logic of OR That is if 0X05 binary 00000101 is set both Input Voltage Error and Overheating Error can be detected If errors occur in case of Alarm LED the LED blinks in case of Alarm Shutdown the motor output becomes 0 by making the value of Torque Limit Address 34 35 as 0 RAM Area Torque Enable Value Meaning Keeps Torque from generating by interrupting the power of motor 1 Generates Torque by impressing the power to the motor LED Value Meaning 0 Turn OFF the LED 1 Turn ON the LED Compliance Compliance is to set the control flexibility of the motor The following diagram shows the relationship between output torque and position of the motor Goal Position CC CW X axis Position Error
11. rite data which is used for driving Initial Value In case of data in the EEPROM Area the initial values on the right side of the below 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 Tables are the ones when the power is turned on Highest Lowest Byte 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 Address Initial Value Hexadecimal 0 0X00 Model Number L Lowest byte of model number R 107 0X6B 1 0X01 Model Number H Highest byte of model number R 0 0X00 2 0X02 Information on the version of Description mm e el Ee c e 6 mt B S firmware 3 0X03 D ID of Dynamixel RW 1 0X01 4 0X04 Baud Rate of Dynamixel RW 34 0X22 5 0X05 Return Delay Time r Delay 1 Time Return Delay Time R 0 0X0 6 0X06 CW Angle Limit L Lowest byte of clockwise Angle Ww 0 0X00 Limit 7 0X07 D Angie tinny ey HAE CHE Angle pw 0 0x00 8 0X08 CCW Angle Limit L Yt 2 er counterclockwase 255 0XFF ngle Limit e Highest byte of counterclockwise 9 0X09 CCW Angle Limit H Angle Limit RW 15 OXOF 10 0X0A Dual Mode Setting W _0 0X
12. s 512 it is about 50 that means only 50 of the maximum torque will be used If the power is turned on the value of Max Torque Address 14 15 is used as the initial value Notes If the function of Alarm Shutdown is triggered the motor loses its torque because the value becomes 0 At this moment if the value is changed to the value other than 0 the motor can be used again Present Position It is the current position of Dynamixel The range and the unit of the value may vary depending on the operation mode e Joint Mode The range of the value is 0 4095 OxFFF and the unit is 0 06 degree 125 46 Goal Position 2048 0x800 CCW Cw 250 927 250 92 360 0 Goal Position 4095 Invalid Angle Goal Position 0 Oxfffl 0x000 lt The picture above is based on the front of relevant model gt e Wheel Mode The range of the value is 0 65535 0XFFFF and the unit is 0 06 degree In case of Wheel Mode only the moving distance can be measured since the present location outputs the value of Encoder It is increased or decreased by 1 depending on the moving direction of wheel If it is decreased when the value is 0 it becomes 65535 if it is increased when it is 65535 the value becomes 0 Total Moved Angle The value currently measured The value measured in the past x 0 06 According to the formula above if the total moved angle is greater than 0 it is turned to the direction of CCW if it is less than 0 it is turn
13. the temperature of 80 1 or higher it may be damaged The Lowest Highest Limit Voltage It is the operation range of voltage 50 to 250 0x32 0x96 can be used The unit is 0 1V For example if the value is 80 it is 8V If Present Voltage Address42 is out of the range Voltage Range Error Bit BitO of Status Packet is returned as 1 and Alarm is triggered as set in the addresses 17 and 18 Max Torque It is the torque value of maximum output 0 to 1023 0x3FF can be used and the unit is about 0 1 For example Data 1023 0x3FF means that Dynamixel will use 10096 of the maximum torque it can produce while Data 512 0x200 means that Dynamixel will use 50 of the maximum torque When the power is turned on Torque Limit Addresses 34 and 35 uses the value as the initial value Status Return Level It decides how to return Status Packet There are three ways like the below table Value Return of Status Packet 0 No return against all commands Except PING Command 1 Return only for the READ command 2 Return for all commands When Instruction Packet is Broadcast ID Status Packet is not returned regardless of Status Return Level Alarm LED Alarm Shutdown Dynamixel can protect itself by detecting errors occur during the operation The errors can be set are as the table below Bit Name l Contents Bit i 0 When undefined Instruction is transmitted or the Action command is delivered EX Instruction Error with
14. urrent and torques to the direction of CW 512 is equal to 0mA and it means there is no torque from the motor For example if the value is 612 the motor torques to the direction of CW and consumes 1000mA 612 512 100 gt 100x10mA 1 000mA If the value is 312 the motor torques to the direction of CW and consumes 2000mA 512 312 200 gt 200x10mA 2 000mA Option Frame The types of EX 106 option frame are as follows FR05 F101 FR05 X101 FRO5 F101 FRO8 X101 FRO08 B101 FR08 H110 FR08 D101 FRO8 D101 Horn The types of EX 106 Horn are as follows HNO0S N101 HN05 T101 Combination The following example shows the combination structure of option frames and horns
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