RS601CR取扱説明書（ver.2.04）
Contents
1. ON2. 10 2 Cp 37
3. A yr 60C 20C 2 5 2 RS601CR 00106433 1 RS601CR 1 JPN RS601CR 3 8
4. ID F1ash Flash ID 43 gt
5. p 15 p 19 p 21 14 Header ID Flag Address Length Count Data Header FAAF ID ID 1 127 01H C7FH ID 255 ID Flag
6. RS485 1 3Mbps RPU USB RS485 RSC U485 PC
7. Q 4 Qs Qe 9 6V Qe
8. 0 08 00H lt gt FFH 20 4 No 28 No 29 2 Read Write 00HcC6ASH 26 CCW 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 CW Compliance Margin Compliance Slope 5 x Max Torque ia x Max Torque Compliance Margin 41
9. 8 RS6O1CR 1 5485 B D 2 5485 A D 3 Vcc 9 6 2 GND Fig 2 4 RS601CR SC25 04WS 60 RS601CR 0 17 60 21 0kg cm
10. 2 25 No 24 No 25 1 Read Write CW CCW 0 08 01H 0 08 00H lt CFFH 20 4 No 26 27 1 Read Write CW CCw
11. Fig 3 2 RSC U485 PC USB USB RS485 RRSC U485 PC Web ID 115 2 kbps 9 6 kbps 1 3 Mbps P 24 8 bit 1 bit 18 4 RS601CR RS485
12. Address Length Length 1 Count 1 Data Sum ID 1 XOR Hdr ID Flg Adr Len Cnt Dat Sum 01 00 1 02 01 0000 1 01 OOH XOR 1 XOR 02 XOR 01 XOR 1 15 Flag Flag
13. Length Count 1 Sum ID Data 1 XOR 21 1 77 7 4 1 Table 4 4 7 LA 10 16 Model Number L Model Number H Firmware Version Reserved No 0 No 1 2 Read RS601CR Model_Number L 10H Model_Number 60H No 2 1 Read 0x01 Firmware Vi
14. gt lt gt gt 299 4395 1080 TEL 0475 30 0876 9 00 12 00 13 00 lt 17 00 E mail rc_h futaba jp Web http www futaba jp robot index html 44 7
15. 1 ID 1 CW 100 0 0 1 100 0 1000 03ESH CW Angle Limit L 0xE8 Angle 0 03 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 011100 08 02 01 E8 03 1 2 ID 1 CCW 100 0 FC18SH Angle Limit L 0x18 _Angle_Limit_H 0xFC ID Flg Len Cnt Dat Sum FA AF 01 1 00 02 01 18 EC No 14 No 15 2 Read OFF
16. RS601CR RS601CR RAM ID 1 ID RS601CR RS601CR
17. 1 ID 1 Punch O12OH Hdr ID Flg Adr Len Cnt Dat Sum FA AF 011100 16 02 01 2001 35 2 ID 1 CW Compliance Margin CCW Compliance Margin CW Compliance Slope CCW Compliance Slope Punch No 18 No 23 6byte Dat Hdr ID Flg Adr 01H 01H 10H 10H 0120H Len Cnt FA AF 01 00 12 06 01 0101 10 10 20 01 35 27 4 3 RAM 7 LA Table 4 7 RAM R W 30 1EH 00H Global PositionL RW 31 1FH 00H Global PositionH RW 32 20H 00H Global TimeL RW 33 21H 00H Global TimeH RW 34 22H 00 Acceleration Time 10ms RW 35 23H 64H Tordue RW 36 24H 00H Torque Enable ON RW 37 25H 00H LED LED RW 38 26 64 PID Coefficient PID RW 39 27H 00 Reserved
18. ROM 1 p 20 ID 1 CNo 4 No 29 Hdr ID Flg Adr Len Cm Sum 011 10 00 11 Mg ID 1 17 3 0 1 RS485 Table 4 2 3 2 1 0 0 0 0 0 0 0 0 1 ACK NACK 0 0 1 1 00 29
19. Datal 07H 18 9 Lengt Lengt Lengt 1 Header ID Flags Address Length Count Datal 0 0 Datal Sum Count Header EAAF ID 00H Flags 00H Address Length Length VID Data
20. 20 C 13 LED 26 No 30 ON 2 120 ID 1 No 50 51 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1
21. 00 XOR OOH XOR 1 XOR XOR 01H XOR 64 XOR XOR 02H XOR 64 XOR OOH XOR 05H XOR F4H XOR 01H 20 Flags Header 10 Flags Address Length Count Sum Header FDDF ID ID Flags Table 4 3 8 7 O 1 OFF 6 0 5 CO 1 4 0 8 0 1 ROM 2 0 1 0 1 0 0 Address Length 1
22. PC PC http www futaba jp Futaba FUTABA CORPORATION 2009 11 46
23. 43 43 EE 44 1
24. RS601CR 2 RS601CR 1 1 RS601CR RS601CR lt 5 RS601CR RS601CR RS601CR RS601CR 2 RS601CR 2 Fig 2 5 2 11 RS601CR RPU 10 RS485 RS601CR fT 4 RS401CR RPU 10 4 RS402CD RV71EH 7 4V 4W RS485 RPU 10
25. 39 BS3298 RS601CR DRIVE Fig 5 6 RS601CR RS601CR BS3297 RS601CR LONG SHAFT 5 7 40 BS3297 RS601CR LONG SHAFT RS601CR LONG SHAFT RS601CR 45 8 Tig 5 9 RS601CR Long Shaft 41 Table 5 1 RS601CR JOINT BALL SET 3 000IRS601CR NYLON NUT 2 3 500IRS601CR M2 3 20 PMS 2 3x32 5 300IRS601CR 20 PMS 2 3x54 300IRS601CR
26. Qs 21 QA
27. 10 Flg AdrLenCnt 42 43 44 45 58 59 FD DF 01 00 2 12 01 5C FF 37 02 00 00 07 00 00 00 00 00 0000 A9 NGo 44 No 4S 0237H S670ms 10ms 10 ms 33 No 48 No 49 2 Read 0 0100H ID 1 No 48 No 49 bit 3 0 bit3 1 bit2 0 bitl 0 bit0 1 No 42 No 59 No 48 No 49 p 12
28. Length VID 1 Data Count VID Data ID VID Data Data VID Data 19 8bit ID 1 XOR ID Data 2 1 XOR ID 1 2 10 ID 5 50 Hdr ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum FAAF 00 00 1 03 103 101 6400 02 6400 05 F401
29. ID Qs ROM 16 5 1 flags 20H Address Length 00H Count 00H ID 1 Hdr ID Flg Adr Len Sum 01 20 00 00 4 4 29 1 Q10H Address Count 00H Data FFH No 4 No 29
30. Read 0 ID 1 No 44 No 45 bit 1 3 bit3 1 bit2 0 bitl 0 bit0 1 No 42 59 p 12 Flagss ON ID 1 ON No 42 No 59 ID Flg Adr Len Cnt Dat Sum 01 09 1 01 01 101 117 Data
31. 0 1 0 1 30 59 0 1 1 1 20 No 29 1 0 0 1 42 No 59 1 0 1 1 30 41 1 1 0 1 No 60 No 127 1 1 1 1 2 3 0 1 Address Length Count 00H No 00 No 59 00H lt 8BH ID 1 No 42 2AH No 43 2BH Hdr ID Flg Adr Cnt FAAF 01 OF 2 02 00 26 3 Flags bit0 1 bit1 0 bit2 0 bit3 0
32. 14 TN PSN Sh EE 14 14 15 15 19 SE NT 21 CR RS NR 22 4 1 f ki 22 No 0 No 1 2 Hex Read 22 No 2 1 Hex Read 22 42 ROM 28 No 4 ID 1 Hex Read Write 24 No 6 1 Hex Read Write 24 No 8 No 9 No 10 No 11 2 Hex Read Write 25 No 14 No 15 2 Hex Read 25 No 24 No 25 1 17 Read Write 26 No 26 No 27 1 Hex Read Write 26 No 28 No 29 2 Hex Read Write 26 4 3 RAM D 2
33. No 42 No 9 p 12 Flags ON ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Sum 01 09 24 00 101 2 IData Data ID Flg AdrLenCnt 42 43 50 51 58 59 FD DF 0100 2 12101 4E FB 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00 32 No 50 No 51 03BAH 954 35 5 RS485 L 93 45 150
34. 25 27 4 Fig 3 1 RPU 10 RPU 10 RPU 10 48 3A RSC U485 RS485 RSC U485 RS601CR USB RS485 4 RV71EH 7 4V 4W RSC U485 DC 9 6 VI RS485 RSC U485 2 4
35. Ox0000 0 1 1 1 90 0 900 384H Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 1E 02 01 84 03 9B 2 ID 1 90 0 900 FC7CH Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 1E 02 01 7C FC 9C No 32 No 33 2 Read Write 10ms 1 ID 1 90 0 900 384H 5 5000ms 500 01F4H Hdr ID Flg Adr Len Cnt Dat Sum 01 00 1 04 01 84 03F4 01 68 2 ID 1 120 0 1200 50 10 10000ms 1000 03E8HD Hdr ID Flg Adr Len Cnt Dat 01 00 1 04 01 50FB LE8 03 5 29 No 34 1 Hex Read
36. 20 PMS 2X5 Ni FE 300IRS601CR 40 FLANGE BEARING 850 500IRS601CR RS601CR HORN 600IRS601CR 2 RS601CR SHORT SHAFT 300IRS601CR 2 RS601CR LONG SHAFT 300IRS601CR 2 RS601CR DRIVE SPACER 600IRS601CR 2 3P BOX SCREW 3X8 300IRS601CR 20 2P BOX SCREW 3X8 300IRS601CR 20 SX SPIRAL LEAD 100 800IRS601CR 100mm 2 SX SPIRAL LEAD 150 800IRS601CR 150mm 2 SX SPIRAL LEAD 200 800IRS601CR 200mm 2 SX SPIRAL LEAD 300 800IRS601CR 300mm 2 BS3308 41 300 1 800 300mm 5 10 BS3289 JOINT SET 5 11 BS3295 RS601CR HORN 5 12 BS3308 TB EH41EH 42
37. Table 4 1 7 6 ROM 5 4 3 2 1 0 7 0 6 1 flags 40H Address Length 00H Count 00H No 4 29 16 04H 1DH ROM ID 1 ROM Hdr ID Flg Adr Len Sum FAAF 01 40 FF 00 00 BE LED LED
38. CW Compliance Slope CCW Compliance Slope Punch L Punch 28 No 4 ID 1 Read Write ID 01H 1 127 01H 7FH ID 1 ID 5 Hdr ID Flg Adr Cnt Dat Sum 01 00 04 01 01 05 100 ID ID ID ID No 6 1 Read Write Table 4 6 00H 9 600bps 05H 57 600bps 460 800bps 01H 14 400bps 06H 76 800bps 0BH 691 200bps 02H 19 200bps 07 115 200bps 0CH 1 382 400bps 03H 28 800bps 08H 153 600bps 04H 38 400bps 09H 230 400bps 07H
39. Flags ON ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Cnt Dat Sum 01 09 24 101 01 01 2D Data Data ID Flg AdrLenCnt 42 43 48 49 58 59 FD 01 00 12 12 01 4E FB 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00 32 No 48 No 49 0600H 34 No 50 No 51 2 Read A D 20 O 03ACH lt 03B6H 10 940 lt 950
40. 1 RS601CR M2 3X23 5 2 RS601CR M2 3X50 2 RS601CR M2 3 4 RS601CR 4 8 1 RS601CR 1 RS601CR M3X38 2 RS601CR 08 1 RS601CR M2 X5 4 RS601CR 4 300mm 1 1 Fig 2 1 RS601CR gt NN Fig 22 RS601CR Fig 2 3 M2 3
41. 815 210 eV 017 9 6V CW CCW gt CW 120 O CCW 120 2 0 RS485 1 3MBps 8bit 1 Stop bit None Parity 36 RS601CR 435 Fig 5 1 RS601CR 37 RS601CR RS601CR 20 Fig 5 2 RS601CR RS601CR RS601CR 12 5 Fig 5 3 38 RS601CR RS601CR BS3289 JOINT BALL SET 19 6 5 4 RS601CR RS601CR 2 RS601CR 5 5
42. 00 25 01 101 103 27 No 38 PID 1 Read Write 100 64H 00H FFH ID 1 PID 90 Hdr ID Flg Adr Len Cnt Dat Sum AF 01 100 26 01 01 5 7 81 No 42 No 43 2 Read 0 CCW 120 CW 120 0 1 ID 1 No 42 No 43 bit 1 3
43. 115 200bps 115 200bps ID 1 Baud_Rate 38 400bps Baud Rate 04H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 106 101 01 04 03 ID ROM ROM 24 No 8 No 9 No 10 No 11 2 Read Write 0 CW CCW CW Angle Limit 0 0000 123 04CEH CCW Angle Limit 0 0000 123 FB32H 123
44. ID Flg Adr Len Cnt Dat Sum FAAF 01 00 23 101 01 50 72 30 No 36 1 Read Write OFF 01H ON 00H 02H ID 1 ON Hdr ID Flg Adr Len Cnt Dat Sum AF 01 1100 24 01 101 101 24 ID 1 OFF FA AF 011 00 24 01 01 00 25 ID 1 FA AF 011 00 24 01 01 02 27 No 37 LED 1 Read Write RS601CR LED gt LED 1 ON 0 OFP Bitl LED 1 ON 0 OFP ID 1 LED Hdr ID Flg Adr Len Cnt Dat Sum AF 01
45. Write 10ms lt gt lt gt 00HCFFH ID 1 300ms 10ms 1EH Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 100 22 101 01 1 No 35 1 Read Write 100 1 100 100 64H 100 0H 64H ID 1 80 50 Hdr
46. bit3 1 bit2 0 bitl 0 bi 0 1 No 42 No 59 p 15 J Flags 4 3 ON ID 1 ON No 42 No 59 Hdr ID Flg Adr Cnt Dat Sum FA AF 011109 24 1011011 01 2 IData Sum Hdr ID Flg AdrLenCn 42 43 58 59 FD DF 01 00 2 12 01 84 03 00 00 00 00 06 00 00 00 00 00 00 00 9 2 No 42 No 43 0384H 90 0 32 No 44 No 45 2
47. 1 28701701 User s Manual Ver 2 04 RS601CR Command Type Servo for Robot Futaba i 4 4 M Sc BRR hh 4 ls 1 6 6 7 1 7 8 ee 9 10 10 EE 10 Sk 10 gt ee 10 10 11 12 12 12 RSS KKKK AM 13 14 14 NN 14 14 14 14 RAN
48. 40 28H 00 Reserved 41 29H 00 Reserved 42 2AH 00 Present PosionL R 43 2BH 00 Present PosionH R 44 2CH Present TimeL R 45 2DH 00H Present TimeH R 46 2EH 0OH Reserved R 47 2FH 0OH Reserved R 48 30H Present LoadL R 49 31H 00H Present LoadH R 50 32H 00H Present TempL R 51 33H 00H Present TempH R 52 00H Reserved 53 35H 00H Reserved 5 54 36H 0OH Reserved 55 37H 00H Reserved 56 38H 00H Reserved 57 39H 0OH Reserved 58 00 Reserved 59 3BH Reserved 28 No 30 No 31 2 Read Write 0 CW CCW 0 1 90 900 900 384H 8 11
49. 8 No 30 No 31 2 Hex Read Write 29 No 32 No 33 2 Hex Read Write 29 No 34 1 Hex Read Write 30 No 35 1 Hex Read Write 30 No 36 ON 1 Hex Read Write 31 No 37 LED 1 Hex Read Write 31 No 38 PID 1 Hex Read Write 31 No 42 No 43 2 Hex Read 32 No 44 No 45 2 Hex Read 33 No 48 No 49 2 Hex Read 34 No 50 No 51 2 Hex Read 35 SG 36 RN 36 MNO 37 RS601CR RS601CR _ 38 RS601CR ki 39 49 48
50. rsion 01H 2 2 H Hight byte L Low byte 2 8bit ID 23 29 2 Tarset_Position 29 2 16 0x0124 Target Position L 24H Target Position H 01H 22 4 2 Table 4 5 7 LA 10 16 Servo ID Reserved Baud Rate Reserved CW Angle Limit CW Angle Limit H CCW Angle Limit L CCW Angle Limit H Reserved Reserved Temp L Temp Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved CW Compliance Margin CCW Compliance Margin
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