説明書 - 双葉電子工業株式会社
Contents
1. ON2. gzs arsa TEE A O 7 4V
3. 1 ID 1 90 0 900 384H Hdr ID Flg Adr Len Cnt Dat Sum 01 00 02 01 8403 9B 2 ID 1 90 0 900 FC7CH Hdr ID Flg Adr Len Cnt Dat Sum 01 00 1 102 01 9 No 32 No 33 2 Read Write 10ms 0 3EFFH 0 5 1 ID 1 90 0 900 384H 5 5000ms 300 01F4H Hdr ID Flg Adr Len Cnt Dat Sum 01 00 1 04 01
4. O 1 90 2 180 310 270 4 Fig 2 1 RS303MR RS304MD RS303MR RS304MD a VCC 4 8 7 4V GND Fig 2 2 3 RS303MR RS304MD PWM
5. ID RS303MR RS304MD ID ID 1 TD RS303MR RS304MD RS303MR RS304MD
6. No 36 ONI 2 p 35 120C 140C ID 1 No 50 No 51 yv RO ubit 3 0 bit3 1 bit2 0 bit1 0 bi 0 1 No 42 No 59 p 18 Fass Aqdr
7. TTL Q
8. 17 Header ID Flag Address Length Count Data Sum Header FAAF DD ID 1 127 01HC7FH 10 255 ID Flag Address Lengsth Length 1 IData
9. ID 1 ON Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 24 101 01 01 24 ID 1 OFF Hdr ID Flg Adr Len Cnt Dat Sum 01 1100 24 01 01 00 1125 ID 1 Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 24 01 01 02 27 35 No 42 No 43 2 Read 0 CCW 150 E CW 150 5 0 1 PERS 150 150 Fig 4 2 ID 1 No 42 No 43
10. gt 1 O gt 299 4395 1080 TEL 0475 30 0876 9 00 lt 12 00 13 00 lt 17 00 E mail rc_h futaba jp Web http www futaba co jp robot index html 48 7 PC PC http www futaba
11. TTL Table 4 3 3 2 1 0 0 0 0 0 0 0 0 1 ACK NACK 0 0 1 1 00 29 0 1 0 1 30 No 59 0 1 1 1 20 No 29 1 0 0 1 42 No 59 1 0 1 1 30 No 41 1 1 0 1 No 60 No 127 1 1 1 1 2 3 0 1 Address Length
12. D Flash Flash ROM ID 47 gt gt
13. No 22 1 Read Write PWM 80ms 0 5ms 2 55ms 00H 01H 02H E No 23 1 Hex Read Write PWM 10mS 00H FFH 0 2 55 P CsH 2 0 30 No 24 No 25
14. Fig 3 1 TB RV7 1EH POWER CABLE BA2082 TB RV7 1EH 7 4V 3W 4 RSC U485 Ray DC7 4V BBO 132 BBO132 TB22PP 1 TB 22PP 4 RSC U485 BB0131 CC E3P3 300 RS303MR RS304MD BB0O137 00400070 1 RSC U485 1 BA2082 TB RV71EH 7 4V 3W 1 y BB0131 CC E3P3 300 1 BB0132 TB 22PP x1 00400020 1 00400021 1 BB0135 0139 RS303MR RS304MD BA2082 RS303MR RS304MD GY520 BA2081 BB0135 BB0139 BB0135 BB0139 BB0132 Fig 3 1 TTL RPU 10 USB RS48 RSC U485 RS303MR RS304MD 1 3 TB RV71EH 7 4V
15. 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 03EsH CW Angle Limit L E8H CW Angle Limit H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 08 02 01 E803 El 2 ID 1 CCW 100 0 FC18H CCW Angle Limit L 18H CCW Angle Limit Hdr ID Flg Adr Len Cnt Dat Sum 01 00 08 02 01 18FC EE 29 No 14 No 15 2 Read OFF
16. 2 O A Q 60C 20C 6
17. Futaba FUTABA CORPORATION 2011 2 B 50
18. ID 1 No 44 No 45 y RO bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 p 18 Fass Adqdress 0 Lensth 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum 01 09 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 43 44 45 58 59 FD DF 01 00 2A 1201 5C FF 37 02 00 00 07 00 00 00 00 00 00 00 A9 No 44 No 45 0237H S670ms 10ms
19. Count 1 Data Sum ID 1 XOR Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 1 02 01 0000 1 01H 00H 1 02H 01 00H OOH 1C 18 Flag Flag Table 4 2 7 6 ROM 5 4 3 2 1 0 7
20. 560 us 144 1520 us 0 2480 us 144 00 us 2550 us 80ms OFF p 30 No 22 1 Hcex Read Write 16 RS303MR RS304MD fRAM p 33 ROM p 26 ROM PWM PWM USB RS483 RSC U485 PC PWM
21. No 42 No 59 p 18 Filass Addqress 0 Lensth 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum 01 09 00 00 01 09 Data No ID Flg AdrLenCnt 42 43 48 49 58 59 Sum FD DF 01 00 2A 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 0006H 6mA 39 No 50 No 51 2 REL Read 3 p 30 10C
22. 16 PWM 16 LE DN CN AN SN i ke 17 e EER 17 17 E 17 EON i 17 17 18 18 NAS 22 24 25 4 1 25 No 0 1 2 Hex REB Read 25 No0 2 1 Hex Read 25 4 2 ROM RADA 26 4 D 1 Hex Read Write 27 No 5 1 Hex REB Read Write 27 No 6 1 Hex Read Write 27 No 7 1 Hex 380 Read Write 28 NO0 8 N0 9 No 10 11 2 Hex Read Write 29 No 14 No 15 2 Hex Read 30 No 22 1 Hex REB Read Write
23. 1 00H lt FFH 0 255 08H 8 p 31 No 28 No29 No 28 No 29 2 Hex Read Write 0 01 00HC2710H 0 100 RS303MR 0064H 1 RS304MD 0258H 6 31 CCW CCW CW Compliance Margin CCW Compliance Slope Fig 41 1 ID 1 Punch 0064H 1 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 1C 02 01 64 00 7A 2 ID 1 CW Compl
24. Goal Position 10 10 292 16 0124H Goal Position L 24H Goal Position H 01H 25 4 2 ROM ROM Table 4 6 RS303MR RS304MD ROM 04 04H 01H Servo ID ID RW 05 05H 00H Reverse RW 06 06H 07H Baud Rate C RW 07 07H Return Delay C RW 08 08H DCH CW Angle Limit L RW 09 09H 0SH CW Angle Limit RW 10 OAH 24H CCW Angle Limit L RW 11 OBH FAH CCW Angle Limit RW 12 OCH OOH Reserved 13 Reserved 14 OEH 4DH Temperature Limit 15 OFH 00 Temperature Limit 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 Torque in Silence
25. gt 13 PWM TTL RS303MR RS304MD RS303MR RS304MD RPU 10 PWM RS303MR RS304MD PWM 4ms 50ms Table 4 1
26. Hdr ID Flg Adr Len Cnt Sum 01 09 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 4344 45 46 47 58 59 FD DF 01 00 2A 1201 5C FF 37 02 2C 01 07 00 00 00 00 00 00 00 84 No 46 No 47 012CH 300deg sec deg sec 10 38 No 48 No 49 2 Read mA OFF 0 ID 1 No 48 No 49 1 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1
27. PWM PWM 13 RS303MR RS304MD TTL RS303MR j 6 N RS304MD RS485 3 3 f 9 lt f TS X RPU 10 TB RV71EH 7 4V 3W ra RS601CR 4 TTL 1 m 265 3 4 Fig 3 3 TTL 1 3 65485 65485 TTL
28. 10 ms 0 37 No 46 No 47 2 Hex Read deg sec No 30 No 33 ID 1 No 46 No 47 bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 p 18 Filass Addqress 0 Lensgth 0 Count 1 Data No 42 No 59
29. 1 REL Read Write CwW CCw 0 1 00H lt CFFH 0 25 5 E 02H 0 2 p 31 No 28 No29 No 26 No 27 1 Hex Read Write CW CCW
30. Hdr ID Flg Adr Len Cnt Dat Sum FA AF 011001106 101 101 104 03 ID ROM ROM No 7 1 Read Write 0 100s No 7 001H 50 us Ims 18 12H 1ms 100 s 18 50 us Hdr ID Flg Adr Len Cnt Dat SUm 01 60 07 101 01 12 74 28 No 8 No 9 No 10 No 11 2 Read Write 0 CW CCW
31. 22 Sum sbit ID 3 00H 1 ID Data 2 1 XOR ID 1 2 10 ID 50 Hdr ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum FAAF 00 00 1 03 103 1101 64 00 02 64 00 05 F401 ED 00 00H 1EH XOR 03H XOR 03H XOR 01 64H 00 02H 64H 00H 05H 4 01H 23 Flags Header ID Flags Address Length Count Data Sum
32. USB RS485 RS485 3 14 TL RS303MR 3 gt N RS304MD 3 TB RV71EH 7 4V 3W TTL RS303MR 9 RS304MD PR 4S780P TTL 2 2 27 m 3 4 Fig 34 TTL 2 RV71EH 7 4V 3W 2 15 4 PWM RS303MR RS304MD PWM RPU 10 p 11 PWM
33. Q A Q O O
34. 42 oo 42 43 BRS303MR RS304MD 43 RS303MR RS304MD 7 0 28717 44 RS30x amp 45 EN 46 RES 47 1 1 48 1 A
35. 0 6 ROM 1 Flagss 40H Address Length 00H Count 00H No 4 29 16 04H lt gt 1DH ROM 0 ID 1 ROM Flg Adr Len Cnt Sum 40 FF 00 00 ROM D WW 19 5 1 Flags 20H Address FFH Length 00H Count 00H ID 1 Hdr ID Flg Adr Len Cnt Sum 01 20
36. RW 23 17H C8H Warm up Time P RW 24 18H 02H CW Compliance Margin RW 25 19H 02H CCW Compliance Margin RW 26 1AH OSH CW Compliance Slope RW 27 1BH OSH CCW Compliance Slope RW 28 64H SSH Punch L RW 29 1DH 00H 02H Punch RW RS304MD C P PWM 26 ID 1 RER Read Write ID 01H 1 127 01H 7FH ID 1 ID 5 Hdr ID Flg Adr Len Cnt Dat Sum 01 00 04 01 01 05 00 ID ID ID ROM ID No 5 1 Read Write
37. 00H 01H 01H ID 1 Hdr ID Flg Adr Len Cnt Dat Sum 01 00 05 01 01 01 05 No 6 1 Read Write Table 4 7 00H 9 600bps 05H 57 600bps 01H 14 400bps 06H 76 800bps 02H 19 200bps 07H 115 200bps 03H 28 800bps 08H 153 600bps 04H 38 400bps 09H 230 400bps 07H 115 200bps 115 200bps 27 ID 1 Baud_Rate 38 400bps Baud Rate 04H
38. 24 4 1 Table 4 5 7F LA No 10 16 00 00H 30H 40H Model Number L 5 rI 01 01H 30H Model Number H SA 02 02H 03H Firmware Version 03 03H Reserved RS304MD No 0 No 1 2 Read RS303MR Model Number L 30H Model Number H 30H RS304MD Model Number L 40H Model Number H 30H No2 1 Hex REL Read 0x03 Firmware Version 03H 2 2 H Hish byte L Low byte NEN ID 23 29 2
39. R 45 2DH 00H Present Time R 46 2EH 00H Present Speed L R 47 2FH 00H Present Speed R 48 30H 00H Present Current L 49 31H OOH Present Current H R 50 32H 00H Present Temperature L R 51 33H 00H Present Temperature R 52 34H 00H Present Volts L R 53 35H 00H Present Volts H R 54 36 00H Reserved 55 37H 00H Reserved 56 38H 00H Reserved 57 39H 00H Reserved 58 Reserved 59 3BH Reserved 33 RS304MD No 30 No 31 2 Read Write 0 CW CCW No 01H CW CCW 0 1 No 8 11
40. 00 00 DE 4 No 4 29 1 10H Address Length FFH Count 00H Data No 4 No 29 ROM 20 ID 1 No 4 No 29 Hdr ID Flg Adr Len Cnt Sum 01 10 FF 00 11 S ID 1 20 3 0 1
41. No 59 p 18 Fass Adqdress 0 Lensth 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 09 00 00 01 109 Data No ID Flg AdrLenCnt 42 43 52 53 58 59 Sum FD DF 01 00 2AI12 01 4E FB 00 00 00 00 06 00 2D 00 E4 02 00 00 00 00 00 00 A6 No 52 No 53 02E4H 7 4V 41 5 6 t TTL LXWXHD 35 8 X 19 6 X 25 0 mm RS303MR 28 g RS304MD 21 g 16 mA 7 4V 90 mA 7 4V 7 RS303MR 6 5 kg cm 7 4V RS304MD 5 0 kg cm E RS303MR 0 11 sec 60 7 4V RS30
42. bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 p 18 Flass Address 0 Length 0 Count 1 Data Count DORIT ID Count No 42 No 59 Hdr ID Flg Adr Len Cnt Sum 01 09 00 00 01 09 Data No Hdr ID Flg AdrLenCnt 42 43 58 59 Sum FD DF 01 00 2 1201 8403000000000600 00 00 00 00 00 00 B9 2 No 42 No 43 0384H 90 0 36 No 44 No 43S 2 Read
43. 1M23Z02001 User s Manual Ver 1 14 RS303MR RS304MD Command Type Servo for Robot Futaba UN A EEEE EIEEEI EEN EEIE ETEEN LA EIEEE 4 rI OD aly A EE S E E E EEE EEE ENA SE EEE 4 S PEE E E A EA E 4 TAn aD ODE T 6 6 2 0 Re 7 DR 7 8 8 8 8 8 D sseni 8 E E AAEN EEE A 8 8 EET 8 A A EE E E EA EE EEEE 9 FRIA e 10 32 i a 11 E DIAN EE E 11 11 PWN 13 E E a 14 16 16 PWM 16
44. 2 RS303MR 00400020 1 ROBOT SERVO RS303MR JPN RS304MD 00400021 1 ROBOT SERVO RS304MD JPN 2 2 RS30x RS303MR M2X6 RS304MD M2X8 RS30x p 46 1 1 1 RS303MR RS304MD RS303MR 28g RS304MD 21g TTL TTL 230kbps PWM PWM
45. 84 03 401 68 2 ID 1 120 0 1200 50 10 10000ms 1000 03E8H Hdr ID Flg Adr Len Cnt Dat Sum 01 00 1 04 01 50FBE8 03 5A 34 No 35 1 REL Read Write 100 1 64H 100 00H 64H ID 1 80 50 Hdr ID Flg Adr Len Cnt Dat Sum 01 00 23 01 01 50 72 PWM 100 No 36 ON 1 Hex Read Write ON OFF 01H ON 00H OFF OFEEF 00H 02H
46. Header FDF 10 ID Flags Table 4 4 8 0 1 OFF 6 0 5 0 1 4 0 3 0 1 ROM 2 0 1 0 1R 0 0 Address Length 1 Length Count 1 Sum ID Data 1 XOR
47. Length Length Length Header ID Flags Address Length Count 0 MID Data Sum L J y Count Header FAAF ID 00H Flags 00H Address Lensth Length VID Datay Length VID 1 Data Count VID Data VID ID VID Data VID
48. 30 No 23 1 Hex Read Write 30 No 24 25 1 Hex Read Write 31 No 26 No 27 1 Hex Read Write 91 N0 28 No 29 2 Hex REB Read Write 31 4 3 J RAM Ke 33 No 30 No 31 2 Hex Read Write 94 No 32 No 33 2 Hex Read Write 94 No 35 1 Hex Read Write 35 No 36 0ON 1 Hex Read Write 35 No 42 43 2 Hex Read 36 No 44 No 45 RERE 2 Hex Read 37 No 46 No 47 2 Hex Read 38 No 48 No 49 2 Hex REB Read 39 No 50 No 51 2 Hex REB Read 40 No 52 No 53 2 Hex REB Read 41
49. 3W 11 TTL RS303MR RS304MD 24 RS485 RS485 4 115 2 kbps 9 6 kbps 230 4 kbps P27 8 bit 1 bit 12 PWM PWM Fig 3 2 TTL PWM PWM 9 RS303MR R C PR 4S780P 2 FE 3 Fig 3 2 PWM
50. 4MD 0 16 sec 60 2 CW gt B CW 1350 144 E PWM CCW 150 144 E PWM 4 8 7 4 V 0 40 20 60 C 230 4kbps Stop bit 1 None Parity 42 RS303MR RS304MD Fig 5 1 RS303MR RS304MD mm 43 RS303MR RS304MD amp Servo Horn gt 29 3 3 8 t gt Free Horn Fig 5 2 RS303MR RS304MD mm 0 3mm X 44 RS30x amp 45 Table 5 1 RS303M
51. Count 00H No 00 lt gt No 59 00H lt gt 3BH ID 1 No 42 2AH No 43 2BH Hdr ID Flg Adr Len Cnt Sum 01 2 02100 26 3 Flags bit0 1 bit1 O bit2 0 bit3 0 ACK NACK Datal 07H 08H 21
52. R RS304MD BS0531 IRS301 303 SCREW 2 6 210IRS301CR RS303MR 10 BS0532 IRS302_304 SCREW 2 8 210IRS302CDRS304MD 10 KAY BS3354 IROBOT SERVO HORN RH01 525IRS30x 5 BS3394 IRS301 303 GEAR SET 2 650IRS301CR RS303MR BS3395 IRS302_304 GEAR SET 525IRS302CDRS304MD BS3396 RS30x CASE SET 525IRS30x BS3397 IRS30x BOTTOM CASE SHAFT 315IRS30x BB0131 CC E3P3 300 998 TB22PP 300mm BB0132 22 840ITTL Fig 5 4 BBO131 CC E3P3 300 5 BBO132 TB22PP 46
53. ess 0 Lensth 0 Count 1 Data No 42 No 59 Hdr ID Flg Adr Len Cnt Sum 01 09 24 00 01 109 Data No ID Flg AdrLenCnt 42 43 50 51 58 59 Sum FD DF 01 00 2AI12 01 4E FB 00 00 00 00 06 00 2D 00 00 00 00 00 00 00 00 00 A6 No 50 No 51 002DH 45C 40 No 52 No 53 2 Hex REL Read 10mV 0 3V ID 1 No 52 No 53 y RO bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1 No 42
54. iance Margin CCW Compliance Margin CW Compliance Slope CCW Compliance Slope Punch No 18 No 23 6byte Hdr ID Flg Adr Len Cnt 03H 03H 14H 14H 0064H Dat Punch ___ Compliance Slope A 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 FA AF 01 00 18 06 01 03 03 14 14 64 00 7A 32 X Max Torque 4 3 RAM Table 4 8 RS303MR RS304MD lame RW 10 16 30 1 00H Goal Position L RW 31 1FH OOH Goal Position H RW 32 20H 00H Goal Time L 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 Present Posion L R 43 2BH 00H Present Posion R RAM 44 2CH 00H Present Time L
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