RS405CB/RS406CB取扱説明書（ver.1.05）
Contents
1. rm em A Qs2. 17 Header ID Flags Address Length Count Data Sum Header EAAF ID ID 1 127 01H 7 FH ID 255 ID
3. ON
4. RS405CB RS406CB RS405CB RS406CB M3X12 Fig 2 2 2 Fig 2 3
5. 120C 140C ID 1 No 50 No 51 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 p 18 Flass Address 0 Lensth 0 Count 1 Data
6. Qa Qs
7. RS40SCB RS406CB p 7 No 20 1 Hex Read Write 10H 00H FFH 0 255 29 No 22 1
8. D Flash ROM Flash ROM ID 46 gt gt
9. PWM RS40SCB RS406CB PWM 4ms 50ms Table 4 1 560 us 144 1520 us 0 2480 us 144 500 s 25S0 s 80ms Cp 30 15 No 22 1 Hex Read Write 16 RS405CB RS406CB 1 RAM p 33
10. PWM BB0131 CC E3P3 300 RS485 RS485 460kbps PC
11. 100 1 64H 100 00H 64H ID 1 80 50H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 23 101 01 50 1 72 PWM 100 No 36 ON 1 Hex Read Write ON OFF 01H ON 00H OFF OFEF 00H 02H ID 1 ON Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 1 00 124 01 01 01 24 ID 1
12. CW Angle Limit 0 0000H 150 05DCH CCW Angle Limit 0 0000H 150 FA24H 1 ID 1 CW 100 0 0 1 100 0 1000 03E8H CW Angle LimitL E8H CW Angle Limit H 03H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 08 102 01 E8 03 E1 2 ID 1 CCW 100 0 FC18H CCW Angle Limit L 18H CCW Angle Limit H FCH Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 0A 02 01 18FC EC 28 No 14 No 15 2 Hex Read OFF
13. 100ms 100ms RS405CB RS406CB A Q yro 60C 20C 2 RS40SCB 00400043 1 ROBOT SERVO RS405SCB JPN RS406CB 00400054 1 ROBOT SERVO RS406CB JPN 2 2
14. CW CCw 0 1 00H FFH 0 25 5 01H 0 1 p 31 No 28 No29 No 26 No 27 1 Hex Read Write CW CCW 1 00H FFH 0 255 04H 4 p 31 No
15. Flags Address Lensth Length 1 IData Count 1 Data Sum ID Data 1 XOR Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 1 100 1E 021101 00 001 1C 0O1H XOR OOH XOR 1EH XOR 02H XOR 0O1H XOR OOH XOR
16. ID No 5 1 Hex Read Write 00H 01H 01H No 6 1 Hex Read Write Table 4 7 00H 9 600bps 06H 76 800bps 01H 14 400bps 07H 115 200bps 02H 19 200bps 08H 153 600bps 03H 28 800bps 09H 230 400bps 04H 38 400bps 0AH 460 800bps 05H 57 600bps Date Bits 8 bit Stop Bit 1 bit Parity None Flow Control None 07H 115 200bps ROM 27 ID 1 Baud_Rate 38 400bps
17. No 30 No 33 ID 1 No 46 No 4 7 bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No S9 p 18 Flagss Address 0 Length 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 109 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 4344 45 46 47 58 59 Sum FD DF 0100 2A 12 01 5C FF 37 02 2C 01 07 00 00 00 00 00 00 00 84 No 46 No 47
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19. RS485 RS485 B D RS485 A Dr Vec DC7 2V 12 0V GND B4B EH Fig 26 RS405SCB RS406CB JST B4B EH JST EHR 4 PWM BBO131 CC E3P3 300 RS40SCB RS406CB PWM PWM PWM NO PWM Vcec DC7 2V 12 0V GND Fig 2 7 Fig 2 8 BBO131 CC E3P3 300 PWM RS405CB RS406CB
20. DC 7 2 12 0 V TC USB RS485 TB RV71EH 7 4V 4W RS405CB RS405CB Fig 3 3 14 4 PWM RS40SCB RS406CB PWM pPC USB RS48 p 13 PWM p 12 PWM RS485 RS405SCB RS406CB RS405CB RS406CB RPU 10
21. Hdr ID Flg Adr Len Cnt Sum FAAF 01 1 09 00 100 101 09 Data No Hdr ID Flg AdrLenCnt 42 43 48 49 58 59 Sum FD DF 01 00 2A 12 01 4E FB 00 00 00 06 00 00 BA 03 00 00 00 00 00 00 00 00 82 No 48 No 49 0006H 6mA 39 No 50 No 51 2 Hex Read 3 p 29 10C No 36 ON 2 p 35
22. 1 Hex Read 0x03 Firmware Version 03H 2 2 H Hish byte L Low byte sbit ID 23 29 2 Goal Position 10 10 292 16 0124H Goal Position L 24H Goal Position H 01H 25 4 2 ROM Table 4 6 RS405SCB RS406CB ROM 10 No 16 Servo ID ID Reverse Baud Rate Return Delay CW Angle Limit L CW Angle Limit H CCW Angle Limit L
23. ID ROM CO 19 5 1 Flags 20H Address FFH Length 00H Count 00H ID 1 Hdr ID Flg Adr Len Cnt Sum FAAF 01 20 FF 00 00 DE ROM ROM 4 No 4 lt 29 1 1OH Address FFH Length FFH Count OOH Data FFH No 4 No 29 ROM
24. lt gt gt 299 4395 1080 TEL 0475 30 0876 9 00 12 00 13 00 lt 17 00 E mail rc_h futaba co jp Web http www futaba co jp robot index html 47 7 PC PC
25. Count ID Count No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 1 09 1 001100 01 09 Data No Hdr ID Flg AdrLenCnt 42 43 58 59 Sum FD DF 01 00 2A 112 01 8403000000000600 00000000 00 00 89 2 No 42 No 43 0384H 90 0 36 No 44 No 43 2 Hex Read ID 1 No 44 No 45 bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1
26. Flagss Address 0 Length 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 109 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 43 52 53 58 59 Sum FD DF 01 00 2AI1201 4E FB 00 00 00 00 06 00 2D 00 56 04 00 00 00 00 00 00 F4 No 52 No 53 0456H 11 1V 41 5 RS485 LXWXH 40 5 X 21 0 X 41 8 mm 67 g 30 mA 11 1V 210 mA 11 1V 0 RS40SCB 48 0 kg cm 11 1V RS406CB 28 0 kg cm 11 1V RS405CB 0 21 sec 60 11 1V
27. No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 1 09 124 100 101 09 Data No Hdr ID Flg AdrLenCnt 42 43 50 51 58 59 Sum FD DF 01iool2AI12101 4E FB 00 00 00 00 06 00 2D 00 00 00 00 00 00 00 00 00 A6 No 50 No 51 002DH 4SC 40 No 52 No 3 2 Hex Read 10mV 0 3V ID 1 No 52 No 53 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No S9 p 18
28. RS405CB FREE HORN SET 500IRS405CB RS405CB RS405CB GEAR SET 4 000IRS405CB RS406CB GEAR SET 4 000IRS406CB CC E4E4 150 1 400 EH 150mm CC E3P3 300 950 TB22PP RS405CB CASE SET 500 BS0166 RS405SCB SERVO HORN BS0167 RS40SCB FREE HORN SET BB3391 RS40SCB CASE SET RS40SCB RS406CB Ce RS40SCB GEAR SET RS406CB BS3392 RS406CB GEAR SET RS40SCB 45
29. 3 ACK Flags bitO 1 bit1 0 bit2 0 bit3 0 ACK ACK Datal 07H ACK 21 Length Length Length 7 NO 8 7 Header ID Flags Address Length Count MID Datal VID Datal MD Datal Sum x NZ Count Header FAAF ID 00H Flags 00H Address
30. PWM 12 3 RS40SCB RS406CB PWM Fig 3 1 BC0079 TB RV7 1EH POWER CABLE BA2081 RSC U485 TB RV71EH 7 4V 4W DC11 1V RS405CB RS s RSC U485 RS405CB 00400043 1 00400043 1 00400043 1 RS405CB RS405CB RS405CB 6 00400070 1 RSC U485 x1 RS405CB BA2081 TB RV71EH7 4V 4W Xi BC0079 TB RV7 1EH Power Cable X1 Fig 3 1 RS485 PC RS485 USB RS485 RSC U485 PC
31. 3 2 1 0 0 0 0 0 0 0 0 1 ACK NACK 0 0 1 1 No 00 No 29 0 1 0 1 No 30 No 59 0 1 1 1 No 20 No 29 1 0 0 1 No 42 No 59 1 0 1 1 No 30 No 41 1 1 0 1 No 60 No 127 1 1 1 1 2 3 0 1 Address Lensth Count 00H No 00 gt No 139 00H 8BH ID 1 No 42 2AH No 43 2BH Hdr ID Flg Adr Len Cnt Sum FAAF 01 OF 2A 102 00 26
32. Baud Rate 04H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 60 06 01 01 04 63 ID ROM ROM No 7 1 Hex Read Write 0O 100s No 7 001H 50 xs 1ms 18 12H 1ms 100 s 18 x 50 s Hdr ID Flg Adr Len Cnt Dat Sum FAAF 011 00 07 101 01 12 14 No 8 No 9 No 10 No 11 2 Hex Read Write 0 CW CCW
33. Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 1E 102 01 18403 9B 2 ID 1 90 0 900 FC7CH Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 1E 02 1101 7CFC 9C No 32 No 33 2 Hex Read Write 10ms 0 3FFFH 0 5 1 ID 1 90 0 900 384H 5 5000ms 500 01F4H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 1100 1E 104 01 84 03 F401 68 2 ID 1 120 0 1200 FB50OH 10 10000ms 1000 03E8H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 1E 104 01 50FBE803 5A 34 No 35 1 Hex Read Write
34. 115 2 kbps 9 6 kbps 460 8 kbps P27 8 bit 1 bit 13 RS405SCB RS406CB 6 4 DC 7 2 12 0 V Ny D USB RS485 TB RV71EH 7 4V 4W RS405CB RS405CB RS405CB yy RS405CB WE RS405CB 6 Fig 3 2 RS40SCBRS406CB 2 3A Fig 3 2 8 4
35. Length Length VID Datay Length VID 1 Data Count VID Data VID ID VID Data Data VID Data 22 Sum sbit ID Data 1 XOR ID Data 2 1 XOR ID 1 2 1 0 ID 50
36. 2 Hex Read Write 94 N0 35 1 Hex Read Write 1 35 N0 36 0ON 1 Hex Read Write ee 35 No 42 No 43 2 Hex Read 36 No 44 No 45 2 Hex Read 9 37 N0 46 No0 47 2 Hex Read 1 98 N0 48 No 49 2 Hex Read 9 39 No 50 No 51 2 Hex Read 9 40 N0 52 No 53 2 Hex Read 9 41 42 42 43 RS405CB RS406CB 43 RS405CB RS406CB 44 RS405CB RS405CB 45 8 RN 45 ER 46 RE 47 1
37. CCW Angle Limit H Reserved Reserved Temperature Limit L Temperature Limit H Reserved Reserved Reserved Reserved Damper Reserved Torque in Silence Warm up Time CW Compliance Margin CCW Compliance Margm CW Compliance Slope CCW Compliance Slope Punch L Punch H 26 C P PWM No 4 ID 1 Hex Read Write ID 01H 1 127 01H 7FH ID 1 ID 5 Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 1100 04 101 101 105 100 ID ID ID ROM
38. Hdr ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum FAAF 00 100 1E 103 1 103 101 16400 1 102 64 00 105 F401 ED 00H XOR OOH XOR 1EH XOR 03H XOR 03H XOR O01H XOR 64H XOR OOHXOR 02H XOR 64H XOR OOH XOR OSH XOR F4H XOR 01H 23 Flagss Header ID Flags Address Length Count Data Sum Header EFDDE ID ID Flags Table 4 4 7 0 1 OFE 6 0 5 0 1 4 0 3 0 1 ROM
39. p 20 ID 1 No 4 No 29 Hdr ID Flg Adr Len Cm Sum FAAF 01 10 FF FF 00 1 11 uttii ID 1 20 3 0 1 0 1 0 4 2 RS483 Table 4 3
40. ROM p 26 ROM PWM PWM USB RS485 RSC U485 PC PWM ID RS40SCB RS406CB ID ID 1 ID RS405CB RS406CB RS405CB RS406CB
41. Hex Read Write PWM 80ms 0 5ms 2 55ms 00H 01H 02H No 23 1 Hex Read Write PWM 10mS 00H FFH 0 2 55 CsH 2 0 30 No 24 No 25 1 Hex Read Write
42. No 42 No S9 p 18 Flagss Address 0 Length 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 109 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 43 44 45 58 59 Sum FD DF 01 00 2A 12 01 5C FF 37 02 00 00 07 00 00 00 00 00 00 00 A9 No 44 No 45 0237H S670ms 10ms 10 ms 0 37 No 46 No 47 2 Hex Read deg sec
43. 1 RS405CB 1 M3X8 1 RS40SCB RS406CB 6 7 1 RS405SCB RS406CB 1 RS405CB RS406CB 1 2 M3X12 1 EH 150mm 1 1 p 45 RS405SCB RS406CB DC Fig 2 1 PWM RS40SCB RS406CB RS485 R C PWM
44. 2 0 1 0 1 0 0 Address Length 1 Length Count 1 Sum ID Data 1 XOR 24 4 1 Table4 5 S0H 60H Model Number L 40H Model Number H 03H Firmware Version Reserved No 0 No 1 2 Hex Read RS405CB RS406CB RS405CB RS406CB Model Number L 50H 60H Model Number H 40H 40H No 2
45. RS406CB 0 11 sec 60 11 1V Cw CCW gt Cw 150 144 PWM CCW 150 144 PWM 7 2 12 0 V 0 40 20 60 DC 460 8kbps 8bit 1Stop bit None Parity 42 RS40SCB RS406CB Fig 5 1 RS405CB RS406CB mm 43 RS405CB RS406CB 2 RS405SCB RS406CB mm 44 RS405CB RS405SCB Fig 5 3 Table 5 1 RS40SCB RS406CB RS405CB SERVO HORN 600IRS405CB
46. 012CH 300des sec deg sec 10 38 No 48 No 49 2 Hex Read mA OFF 0 ID 1 No 48 No 49 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 p 18 Flagss Address 0 Lensth 0 Count 1 Data No 42 No 59
47. OFF Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 24 01 01 001 25 ID 1 Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 24 01 01 02 27 35 No 42 No 43 2 Hex Read 0 CCW 150 CW 150 0 1 ID 1 No 42 No 43 bit 1 3 bit3 1 bit2 0 bitl 0 bit0 1 No 42 No 9 p 18 Flags Adqdress 0 Lensth 0 Count 1 Data
48. 51 33H 00H Present Temperature H R 52 34H OOH Present Volts L R 53 35H OOH Present Volts H R 54 36H 00H Reserved 55 37H 00H Reserved 56 38H 00H Reserved 57 39H 00H Reserved 58 3AH Reserved 59 3BH Reserved 33 No 30 No 31 2 Hex Read Write 0 CW CCW No 5 01H CW CCW 0 1 No 8 11 Py 1 ID 1 90 0 900 384H
49. 28 No29 No 28 No 29 2 Hex Read Write 0 01 00H lt gt 2710H 0 100 514H 13 31 CCW CW CCW Compliance Slope Fig 4 1 1 ID 1 Punch 0064H 1 Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 1 100111C 021 1011 16400 1 7A 2 ID 1 CW Compliance Margin 03H CCW Compliance Margin 03H CW Compliance Slope 14H CCW Compliance Slope 14H Punch 0064H No 18 No 23 6byte Hdr ID Flg Adr Len Cnt Dat Punch CW Compliance Slope 3 1 1 1 1 1 1 1 1
50. RS405CB RS406CB Fig 2 3 EI 0 EI _ Fig 2 4 0 RS485 10 RS40SCB RS406CB
51. 00H 1C 18 Flag Flag Table 4 2 7 6 ROM 5 4 3 2 1 0 7 0 6 ROM 1 Flags 40H Address FFH Lensth 00H Count 00H No 4 29 16 04H lt gt 1DH ROM 1 ID 1 ROM Hdr ID Flg Adr Len Cnt Sum FAAF 01 40 FF 00 00 BE ROM
52. 1 1 1 1 1 1 1 1 1 1 1 1 puncn FA AF 01 00 18 06 01 03 03 14 14 64 00 7A 32 X Max Torque 4 3 RAM Table 4 8 RS405CB RS406CB 7 LX No 3 R W 30 1EH OOH Goal Position L RW 31 1FH OOH Goal Position H RW 32 20H 00H GoalTimeL RW 33 21H 00H Goal Time H RW 34 22H 00H Reserved 35 23H 64H Max Torque RW 36 24H 00H Torque Enable ON RW 37 25H 00H Reserved 38 26H 00H Reserved 39 27H 00H Reserved 40 28H 00H Reserved 41 29H 00H Reserved 42 2AH 00H PresentPosion L R 43 2BH OOH PresentPosion H R 44 2CH 00H PresentTimeL R 45 2DH OOH Present Time H R 46 2EH 00H Present Speed R 47 2FH 00H Present Speed H R 48 30H 00H Present Current 49 31H OOH Present Current H R 50 32H 00H Present Temperature L R
53. 2 1 Hex Read 25 2ZRGIM X KRKV KM 26 No 4 ID 1 Hex Read Write 9 27 No 5 1 Hex Read Write 27 No 6 1 Hex Read Write ee 27 No 7 1 Hex Read Write 28 N0 8 No 9 No 10 No 11 2 Hex Read Write 28 No 14 No 15 2 Hex Read 29 No 20 1 Hex Read Write es 29 2 No 22 1 Hex Read Write 30 No 23 1 Hex Read Write 9 30 N0 24 No0 25 1 Hex Read Write 31 N0 26 No0 27 1 Hex Read Write 31 N0 28 No0 29 2 Hex Read Write 31 4 3 CRAM XX EK 33 No 30 No 31 2 Hex Read Write 94 No 32 No 33
54. 71M23Z01401 User s Manual Ver 1 05 RS405CB RS406CB Command Type Servo for Robot Futaba 1 01 4 4 4 5 5 6 4 6 7 10 11 Rh9485 TS 11 PWM IT 12 3 EE 13 13 OO 13 14 15 EN 15 PWM 15 RS485 9 15 PWM 15 17 Da 17 17 Ag 18 0 NN 18 2 0 Nr 22 24 25 4 1 D ssessssssss sssssssssssss seessssssssssssssssssssssssssssssssssssssssssssssssssssssssssssns 25 No 0 No 1 2 Hex Read 9 25 No
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