RS401CR／RS402CD取扱説明書（ver.2.03）
Contents
1. F2. Atg 60C KO 25 2002 11 C 2 2 RS401CR 00106437 1 RS401CR 1 JPN RS402CD 00106438 1 RS402CD 1JPN D 2 18 2 1 D 1 M8X8 1
3. RS485 1 3Mbps RPU USB RS485 RSC U485 PC
4. A a Dig Ory y IN D LLN gt 7 2 SUM Ju y 1 288 1110 Fd 07 85 55117002211 0 meses 01122 9 lt C
5. e ON
6. 120 ID 1 No 50 No 51 bit 3 0 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No 59 2 Flags e E EE ER ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Cnt Sum FAAF 01 09 24 00 01 09 Data Sum
7. e ID F1ash ROM Flash ROM ID X 42
8. A O 9 6V Qu sr rate Dit OO UL IYE lt Lv Qu
9. 25 No 24 No 25 1 Hex Read Write CW CCW 0 08 01H 0 08 00H lt gt FFH 20 4 sNo 28 No29 No 26 No 27 1 Hex Read Write
10. PC PC http www futaba co jp Futaba FUTABA CORPORATION 2010 11 B 45
11. 4 3 RAM Global Position L Global Position H Global Time L Global Time H Acoeleration Time Max Torque Torque Enable Reserved PID Coefficient Reserved Reserved Reserved Present Position L Present Position H Present Time L Present Time H Reserved Reserved Present Load L Present Load H Present Temp L Present Temp H Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 28 00H 00H 00H 00H 00H 64H 00H 00H 64H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 00H 7 b3 No 1016 16 30 1EH 31 1FH 32 20H 33 21H 34 22H 35 23H 36 24H 37 25H 38 26H 39 27H 40 28H 41 29H 42 2AH 43 2BH 44 2CH 45 2DH 46 2EH 47 2FH 48 30H 49 31H 50 32H 51 33H 52 34H 53 35H 54 36H 55 37H 56 38H 57 39H 58 3AH 59 3BH RAM 710 30 No 31 2 Hex Read Write 0 CW
12. ID ROM S Qs ROM 16 5 1 flags 20H Address FFH Length 00H Count 00H AD ID 1 Hdr ID Flg Adr Len Cnt Sum FAAF 01 20 FF 00 00 DE ROM ROM 4 No 4 29 1 Q10H Address FFH Length FFH Count 00H Data FFH
13. 10 RS401CR RS402CD p 36 RS401CR RS403PR BS3311 RS401 403 SUPORT HORN SET RS402CD RS404PD BS3312 RS402 404 SUPORT HORN SET F F 4 CG Fig 2 4 7 RA 1 9 l Z IS 166515 2 EETL
14. IData Sum E d gt Data No Hdr ID Flg AdrLen Cnt 42 43 48 49 58 59 Sum FD DF 01 00 2A 12101 4E FB 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00 2 No 48 No 49 0006H 33 No 50 No 51 2 Hex Read AD 20 03ACH03B6H 10 T 940 950 20 13 26 No 30 ON 2
15. 100 64H 00H FFH ID 1 PID 90 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01100 26 01 011 581 0 No 42 No 43 2 Hex Read 0 CCW 90 E CW 90 0 1 ID 1 No 42 No 43 bit 1 3 bit3 1 bit2 0 bitl 0 bit0 1 No 42 No 59 p 15 Flags
16. bit 1 3 bit3 1 bit2 0 bit1 0 bit0 1 No 42 No a p 12 Flags ON ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Cnt Dat Sum FAAF 0109 1 01021017 IData Sum ID Fig 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 9 NGo 44 No 4S 0237H S670ms 10ms
17. RR d amp 42 2 ERARE OECS Sk lt EE 43 1
18. gt gt lt gt gt 299 4395 0 TEL 0475 30 0876 9 00 12 00 13 00 lt 17 00 E mail rc_h futaba co jp Web http www ro futaba co jp hobby 48 7
19. Length Count 1 Sum ID Data 1 XOR 21 2 4 1 Table 4 4 7F b3 No 10 16 10H X Model Number L 40H Model Number H 010 Firmware Version 00H Reserved RS402CD 20H No 0 No 1 2 Hex Read RS401CR RS402CD RS401CR RS402CD Model Number L 10H 20H Model_Number H 40H 40H No 2 1 Hex Read
20. 100 64H 100 0H 64H ID 1 80 50H Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 12311 01 01 50 72 No 36 ON 1 Hex Read Write ON OFF OFF 01H ON 00H OFF 02H ID 1 ON Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01002401010214 ID 1 0211 7172 KILA OFF FA 01 00 24 01 01 00 25 ID 1 FA AF 0111001124110111011102 127 30 No 38 PID 1 Hex Read Write
21. 00H XOR OOH XOR 1EH XOR 03H XOR 03H XOR 01H XOR 64H XOR 00H XOR 02H XOR 64H XOR OOH XOR 05H XOR F4H XOR 01H 20 Flags Header ID Flags Address Length Count Data Sum Header FDDF ID ID Flags Table 4 3 7 CES 1 OFF 6 0 5 CES 1 4 0 8 0 1 ROM 2 0 1 0 1 0 0 Address Length 1
22. CW CCW 0 08 00H lt CFFH 20 4 sNo 28 No29 No 28 No 29 2 Hex Read Write 00H lt gt 6ASH 26 CCW CW Compliance Margin CW Compliance Slope n N 1 1 1 1 1 1 1 1 1 1 1 1 I I 1 1 1 1 1 1 1 1 1 1 1 1 1 1 x Max Torque L 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I
23. Data No Hdr ID Flg Adr Len Cnt 42 43 50 51 58 59 Sum FD DF 01002A1201 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 34 5 05 RS485 LXWXH 40 X 20 X 37 6 mm 40 X 20 X 39 1 mm RS401CR 67 g RS402CD 54 g RS401CR 40 mA RS402CD 40 mA RS401CR 120 mA RS402CD 270 mA tH 7 F JL 2 RS401CR 168 kg cml RS402CD 102 ke cm RS401CR 0 14 sec 60 RS402CD 0 17 sec 60 CW CCW gt B CW 120 E 0 CCW 120 E 0 9 6 V 0 40 C 20 60 OC RS485
24. Fig 4 3 ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 1 09 1 24 101 01 01 2D IData Sum Hdr ID Flg AdrLenCn 42 43 rs 58 59 Sum FD DF 01 00 2A 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 31 No 44 No 45 2 Hex Read 0 ID 1 No 44 No 45
25. 8 bit 1 bit lt 13 4 o RS485 58 RS401CR RS402CD RS401CR RS402CD RAM ROM ID ID 1
26. 01H XOR OOH XOR 1EH XOR 02H XOR 01H XOR OOH XOR OOH 1C 15 Flag Flag Table 4 1 ROM N O b O ON O 3 7 0 6 ROM 1 flags 40H Address FFH Length 00H Count 00H No 4 29 16 04H lt C1DH ROM ID 1 ROM Hdr ID Flg Adr Len Cnt Sum FAAF 01 40 FF 00 00 BE ROM
27. 1 RS401CR RS402CD Fig 2 1 Fig 2 2 CC RS401CR RS402CD 300mm GND Vcc 9 6V IR RS485 A D RS485 B D JST EHR 4 Fig 2 3 RS401CR RS402CD
28. ACK Datal 07H ACK 18 Lengt Lengt Lengt YAY Header ID Flags Address Length Count MID Data VID Datal MID Datal Sum 3 A Y Count Header FAAF ID 00H Flags 00H Address Length Length VID Data
29. 10 ms 32 No 48 No 49 2 Hex Read 0 0100H ID 1 No 48 No 49 v O bit 3 0 bit3 1 bit2 0 bit1 0 hs 1 No 42 No 59 No 48 No 49 RN 12 Flags ON ETTR ID 1 ON No 42 No 59 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01109240101011 2D
30. RS485 RSC U485 RS601CR USB RS485 5 4 TB RV71EH 7 4V 4W RSC U485 DC 9 6 V RS485 RSC U485 m 2 293 4 Fig 3 2 RSC U485 PC USB USB RS485 RSC U485 PC Web ID 6 115 2 kbps 9 6 kbps 1 3 Mbps P 24
31. CCW 0 1 90 900 900 384H No 8 11 Ox0000 0 1 12 1 90 0 900 384H Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 100 1E 02 01 8403 68 2 ID 1 90 0 900 FC7CH Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 1 1E 02 01 7CFC 9C No 32 No 33 2 Hex Read Write 10ms 1 ID 1 90 0 900 384H 5 5000ms 500 01F4H Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 1E 04 01 8403F401 68 2 ID 1 120 0
32. 29 No 34 lt 1 Hex Read Write 30 No 35 RABILI 1 Hex REE Read Write 30 No 36 ON 1 Hex Read Write 30 No 38 PID 1 Hex Read Write 31 No 42 No 43 2 Hex Read 31 No 44 No 45 2 Hex REO Read 32 No 48 No 49 2 Hex RED Read 33 No 50 No 51 2 Hex RED Read 34 Z E E EA g 35 826 2 35 E E N 36 NRMOICR 36 RS402CD CO0S 303PSeca esp 37 gt D 8173 38 GARAJ RIZ Y IRD AUS 38 RS401CRk KK Es 39 RS402CD 40 zk 41 P AE C a S JS LD A T A tama 42 e
33. 1 3MBps 8bit 1Stop bit None Parity 35 RS401CR Fig 5 1 RS401CR 36 RS402CD oe LR LN 2 o 4 Fig 5 2 RS402CD 37 o N 2 8 B B 8 D Fig 5 3 D Fig 5 4 38 54010 Fig 5 5 RS401CR 39 RS402CD 5 02 D Kk eR al E 4 Ka 0 oo Fig 5 6 RS402CD 40 Table 5 1 RS401CR RS402CD 1 000 RS401CR RS403PR 1 000 RS402CR RS404PD 500 D 41 RS401 403 SUPORT HORN SET RS402 404 SUPORT HORN SET SERVO HORN D
34. ID RS401CR RS402CD RS401CR RS402CD p 15 p 18 p 21 14 Header ID Flag Address Length Count Data Sum Header FAAF ID
35. Length VID 1 Data Count VID Data VID ID VID Data Data VID Data 19 Sum 8bit ID Data OR 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 00 100 1E 03 1 03 1 01 16400 021 614100 05 F4 01 ED
36. ID 1 127 01H 7FH ID 255 ID Flag Address Length Length 1 Data Count 1 Data Sum ID Data 1 XOR Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 00 1E 02 01 0000 1C
37. No 4 No 29 ROM 1 p 20 BJ ID 1 CNo 4 No 29 Hdr ID Flg Adr Len Cnt Sum FAAF 01 1 10 1 FF FF 001 11 ID 1 17 3 0 1 RS485 Table 4 2 3 2 1 0 0 0 0 0 0 0 0 1 ACK NACK
38. 0000H 90 FC7CH 90 ID 1 CW 85 0 1 0 1 85 0 850 0352H CW Angle Limit L 0x52 CW Angle Limit H 0x03 Hdr ID Flg Adr Len Cnt Dat Sum FA AF 017001708 02 01 5203 5B 2 ID 1 CCW 85 0 FCAEH COW Angle_Limit OxAE CCW Angle_Limit_H 0xFC Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01100 OA 02 01 AEFC 5A No 14 No 15 2 Hex Read OFF
39. 0x01 Firmware Virsion 01H 2 2 H Hight byte L Low byte NEN sbit ID 23 29 2 Target Position 29 2 16 0x0124 Target Position L 24H Target Position H 01 22 4 2 ROM Table 4 5 ROM 7 b3 No WE TE 01H Servo ID 00H Reserved 07H Baud Rate 00H Reserved 84H CW Angle Limit L 03H CW Angle Limit H 7CH CCW Angle Limit L FCH CCW Angle Limit H FOH Load Limit L 00H Load Limit H 00H Temp Limit L 00H Temp Limit H 00H Reserved 00H Reserved 00H Reserved 00H Reserved 00H Reserved 00H Reserved 00H Reserved 00H Reserved
40. 11 3 RS401CR RS402CD RPU 10 RS485 RS601CR r ss RS401CR RPU 10 4 RS402CD Fm C TB RV71EH 7 4V 4W RS485 RPU 10 u pn m 2 mm 4 Fig 3 1 RPU 10 RPU 10 RPU 10 48 E 3A4 50 485
41. 1200 FBS0H 10 10000ms 1000 03E8HD Hdr ID Flg Adr Len Cnt Dat Sum FAAF 01 100 1E 04 01 50 8 8 03 5A 29 No 34 1 Hex Read Write 10ms lt 2 9 5 00H FFH RR ID 1 300ms 10ms 1EH Hdr ID Flg Adr Len Cnt Dat Sum FA AF 011 001 22 01 01 1E 3D No 35 1 Hex Read Write 100 1 100
42. 01H CW Compliance Margin 01H CCW Compliance Margin 02H CW Compliance Slope 02H CCW Compliance Slope 40H Punch L 01H Punch H 2 RS402CD FFH 28 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 01 100 04011011 05 0 ID ID ID ROM ID No 6 1 Hex Read Write Table 4 6 00H 9 600bps 05H 57 600bps 0
43. 21 p Aa 1131 1 171 1 11 1 1 1 1 1 1 1 1 1 AE 22 4 1 2 27581 9 08 1802 7 u 2 EK 22 No 0 No 1 2 Hex Read 22 No 2 61 141 F Hex Read 22 4 2 ROM 23 No 4 HRID 1 Hex Read Write 24 No 6 1 Hex Read Write 24 No 8 No 9 No 10 No 11 2 Hex Read Write 5 No 14 No 15 2 Hex XED Read 25 2 No 24 No 25 1 Hex Read Write 26 No 26 No 27 1 Hex Read Write 26 No 28 No 29 2 Hex RED Read Write 26 4 3 JE RAM 28 No 30 No 31 2 Hex Read Write 29 No 32 No 33 2 Hex Read Write
44. I 1 E x Max Torque CCW Compliance Margin CW Fig 4 1 1 12 1 Punch 0120H Hdr ID Flg Adr Len Cnt Dat Sum FA AF 011 00 16 02 1 01 2001 35 2 ID 1 CW Compliance Margin 01H CCW Compliance Margin 01H CW Compliance Slope 10H CCW Compliance Slope 10H Punch 0120H No 18 No 23 6byte Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 12 106 01 01 01 10 10 20 01 35 27 R W RW RW RW RW RW RW RW RW d d Table 4 7 RAM 10ms ON PID
45. 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 Length 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 FAAF 01 OF 2A 11021 001 6 3 ACK Flags bit0 1 bit1 0 bit2 0 bit3 0 ACK
46. 1M23Z01801 User s Manual Ver 2 03 RS401CR RS402CD Command Type Servo for Robot Futaba L E 50009015 SL u nu uuu iu LE 4 CDS a mna sipasakuna sha maenas OON 4 eE 0 207 ES a Susstusahusauuahumuua nunana nuan aku Qu 4 RE 6 NRNN N EE 6 2 o E A EE N T 0 7 et A E E A E E E 7 MA A A 8 SR NR 9 a a T E 10 S ET E E E E E E E 10 10 e l a AO 10 ki 10 T Fk 10 i 10 BEAT S I 11 e a 1 1 1 00 12 12 OCR AYA pe 12 750 485 13 4 ee 14 CN 14 14 ODN 14 14 14 EOE akakuta ashuan huy Yayaka aka asa 15 OA IT VR E E NG E 15 SPSS Sa p ap E Sha E 19 USE Pa yp Watu
47. AH 460 800bps 01H 14 400bps 06H 76 800bps 0BH 691 200bps 02H 19 200bps 07H 115 200bps 0CH 1 382 400bps 03H 28 800bps 08H 153 600bps 04H 38 400bps 09H 230 400bps 07H 115 200bps 115 200bps ID 1 Baud_Rate 38 400bps Baud Rate 04H Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 1 001106 01 01 04 03 ID ROM ROM 24 No 8 No 9 No 10 No 11 2 Hex 0 CW CCW CW Angle Limit 0 0000H 90 0384H CCW Angle Limit 0
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