V-SERVO「VS-SV3310」 取扱説明書
Contents
1. 0x00 Ox1f 10 031 n 1 1 n ADR ADR ADRess RAM FLASH 1 WDx Write Data WRF 0x00 n RDx Read Data n RDF 0x00 WRF 0 RDF 0 FLASH2. J A E TLTK 3 1 LVSerial V SERVO LVSerial UART 2 3 3V TTL LVTTL 2 0V H 0 8V L RS232C TTL UART LVTTL 3 2 RAM RAM FLASH FLASH RAM
3. 50 0x46 2 Read Write RAW VI shutdown 0x05d1 10V 27 5 SD_VI 4096 V SERVO PWM_EN 0 VIB_OTH 0x48 1 Read Write RAV vibration output threshold 0x70 VIB_OTH VIB_STH PWM PWM_PSO 29 VIB_STH 0x49 1 Read Write RAV vibration speed threshold Ox7f VIB_OTH VIB_STH PWM PWM_PSO B
4. ooo PWM EN 0x00 3 8 ID SID V SERVO V SERVO SID SID V SERVO 3 9 7 14 28 3 7 1 8 7 1 14 2 28 4 7 e s 4 slzlilol y SISI ISI2Is o V FRBEEESTSTA TS T2 TI 2 llnlolslsli 28 sl I3 y 1 2 FB is e v oT
5. Oxbf 0x41 0x4f 0x01 1 M_POS 3 10 3 FLASH Send Ox80 SID Ox00 n ADR L ADRH WDO WDi WD n 1 CSUM Recv QUELS STATUS SID Serial ID V SERVO ID 0x00 0x3e 10 0 62 63 Ox3f 0x00 0x1f 10 0 lt 31 n 1 1
6. 0x00 FLASH RAM 3 5 RAM FLASH RAM FLASH SYS_ULK 0x14 RAM 0x55 SYS_ULK FLASH 0x55 3 6 V SERVO V SERVO RAM RAM
7. 512 RAM RAM 15 3 11 SYS_ ID PWM_ FB_ M_
8. 8 9 1 8 1 W 1 4 m
9. BST_ SYS_PN 0x00 2 Read Write R 0x03e8 1000 V SERVO 0x00 SYS_VER 0x02 2 Read Write R 0x0064 100 V SERVO ID SYS UID 0x04 4 Read Write R 0x01234567 V SERVO ID WLATALa3 kID SYS_SID 0x08 1 Read Write R W 0x00 V SERVO ID V SERVO ID V SERVO
10. 2 1 7 2 1 2 2 B4P VH LF SN JST VHR 4N JST SVH 21T P1 1 JST MISO UART RX Master In Slave Out GND GND Vcc V SERVO MOSI UART Master Out Slave In 2 3 2 8 1 V SERVO V SERVO VS SV3310 1 63 V SERVO ID MISO 2 3 2 UART UART
11. SYS_RST 0x09 1 Read Write RAV system reset FUPD 0x00 SYS_BR 0x0a 2 Read Write RAV system baudrate 0x0480 1152 115 2kbps SYS BRx100 bps 17 RSy SYS TO 0x0c 2 Read Write RAV feedback period 0x03fc 1020 2kHz V SERVO 24500000 Hz 12 SYS TO SID SYS_RID 0x0e 1 Read Write RAW SID randomize 0x10 0x3e SYS_SID RAM FLASH SYS_SID
12. 3 4 5 6 7
13. 21 M VE 0x24 2 Read Write R measured VE 27 5x EVE 4096 M_TEMP 0x26 2 Read Write R measured temp 90 0x024 60 0 0045 0 1 80 0x0da9 22 Read Write M VI 0x28 2 R measured VI Read Write M_IERR 0x2a 2 R measured IERR L FB_TPOS 0x30 2 Read Write RAV feedback target pos 0x0800 center
14. V SERVO VS SV3310 0x200 0xe00 23 74 FB PG 0x32 1 Read Write RAV feedback Pgain 0x20 FB_DG 0x33 1 Read Write RAV feedback Dgain 0x20 FB_EG 0x34 1 Read Write RAV feedback Egain 0x04 FB_IG 0x35 1 Read Write RW feedback 0x00 24 FB ILIM 0x36 2 Read Write RAV
15. 2 15 28 e mail infodesk vstone co jp URL http www vstone co jp URL http vstone co jp top products robot v2 vservo TEL 06 4808 8701 FAX 06 4808 8702 2013 07 04 33
16. Name adr size r w description default value SYS_PN 0x00 2 R system product number 0x03e8 SYS_VER 0x02 2 R system version 0x0064 SYS_UID 0x04 4 R system unique ID 0x01234567 SYS SID 0x08 1 R W system short ID 0x00 SYS RST 0x09 1 R W system reset FUPD 0x00 SYS BR 0x0a 2 R W system baudrate 0x0480 115 2kbps Name adr size r w description default value SYS TO 0x0c 2 R W feedback period 0x03fc 2kHz SYS_RID 0x0e 1 R W SID randomize 0x00 SYS_PCT 0x10 1 R W feedback n 0x10 SYS DCT 0 11 1 R W feedback vd 0x20 SYS DCT 0x12 1 R W feedback ve_n 0x08 SYS_ULK 0x14 1 R W Unlock 0x55 ram amp flash 0x00 name adr size r w description default value PWM PSN 0x18 1 R W PWM prescale normal 0x01 24kHz PWM_PSA 0x19 1 R W PWM prescale alarm 0x20 766Hz PWM_SST Oxla 2 R W PWM soft start time 0x07d0 1sec PWM SLP 0x1c 2 R W PWM output slope limit 0x007f PWM_PSO Oxle 1 R W PWM prescale overload 0x08 name adr size r w description default value M POS 0x20 2 R measured pos M SPD 0x22 2 R measured spd M VE 0x24 2 R measured VE _ 0 26 2 R measured temp M VI 0x28 2 R measured VI M_IERR 0x2a 2 R measured IERR 2 name adr size r w description default value FB_TPOS 0x30 2 R W feedback target pos 0x0800 center FB_PG 0x32 1 R W feedback Pgain 0x20 FB_DG 0x33 1 R W feedback Dgain 0x20 FB_EG 0x34 1 R W feedback Egain 0x0
17. SYS_TO M_POS 3 10 2 RAM Send 0 0 510 WDO WD1 WD n 1 Recv RDO RD1 RD n 1 SID Serial ID V SERVO ID 0x00 0x3e 10 0 62 63 0x3f BST LEN 8 WDx Write Data n 1 burst wr adrx RDx Read Data n 1 burst_rd_adrx burst wr adrx burst rd adrx BST LEN
18. PID URL URL http vstone co jp top products robot v2 vservo 1 1 MEET 1 EE Tu EE 2 m RR RR 2 TER eerte en e Pt Er e E Eie EHE 3 3 2 9 CER E ABO iiie a tendente bod da be d iA 4 p ic MUI I Sm 4 2 3 1 V SERVO i 4 PER MUA UH P 5 2 8 3 EOD RAS e Det b a RR RE EC e p Rm eee qi 5 6 8 1 EVSerial Qu AE 73 ER ee ee 6 3 LTE 6 EN S 6 MIN 6 SE5 amp RAM EEASHE Ln 7 8 8217 JEASBIZEOCEU MEO pande b pb etd 11 8 8 ID SID RSS L1G 11 3 9
19. SYS PCT 0x10 1 Read Write R feedback pot_n 0x10 18 SYS_DCT 0x11 1 Read Write R feedback vd_n 0x20 SYS_ECT 0x12 1 Read Write R feedback ve_n 0x08 y PWM_ULK 0x14 1 Read Write RAV unlock 0x55 ram amp flash 0x00 RAM 0x55 RAM FLASH 19 BPWM PWM_PSN 0x18 1 Read Write RAV PWM prescale normal 0x01 24kHz PWM 23926 HZ PWM PSN PWM_PSA 0x19 1 Read Write RAV PWM prescale alarm 0x20 766
20. 3 3 RAM RAM 0x00 0x5f 2kHz 3 4 FLASH RAM FLASH FLASH RAM FLASH RAM FLASH FLASH FLASH 512 0x00 0x5f
21. Ox33 FB DG Ox34 FB EG Ox35 FB IG 2 4 1 31 0 7 RAO BST RAT 0x58 0x5f 1 Read Write R W burst read adr 0 7 0x20 M_POS 0 0x21 M_POS 1 0x26 M_TEMP 0 0x27 M_TEMP 1 0x3e PWM_OUT 0 0x3f PWM_OUT 1 0x28 M_VI 0 0x29 M V 1 2 4 1 32 4 555 0012
22. PWM EN 0 PWM_EN 2 PWM _EN 1 PWM SST BPWM PWM LIM 0x3c 1 Read Write RW PWM limit maxduty 0x78 PWM PWM 0 0x00 100 0x7f PWM 26 BPWM 0x3d 1 Read Write RAV PWM punch 0x08 PWM PWM 0 0x00 100 0x7f PWM BPWM PWM OUT 0x3e 2 Read Write R PWM output PWM 27 AL_TEMP 0x40 2 Read Write RAV temp alarm 0x0e56 95deg 90 0x0824 60 0 00
23. 3 4 FB ggg vo ve i6 iv ve 4 8 10 LVSerial 8 1 1152kbps 12 3 10 1 RAM Send 0x80 SID RF RDF n ADR WDO WD1 WD n 1 RDO RD1 RD n 1 RDF 0x40 Recv RDF 0x00 SID Serial Id V SERVO ID 0x00 0x3e 10 0 62 63 Ox3f WRF WRite Flag 0x40 0x00 RDF ReaD Flag 0x20 0x00
24. feedback ierr limit 0x0200 FB 0x38 1 Read Write RAV feedback pos deadband 0x08 FB 0x39 1 Read Write RAW feedback spd deadband 0x04 25 FB EDB 0x3a 1 Read Write RAV feedback VE deadband 0x20 BPWM PWM EN 0x3b 1 Read Write R W PWM enable 0 free 1 soft start 2 enable 0x00 PWM
25. n ADR ADR_L ADRess_L 1 V SERVO RAM 0x00 0x5f ADR_L ADR H ADRess H 1 V SERVO RAM 0x00 0x5f 0 WDx n RDx n CSUM ADR L ADR H WDO WD n 1 0 0x7f AND CSUM STATUS 0x40 SID 0x00 SID 14 2
26. V SERVO UART LVTTL 3 3V UART UART LVTTL 3 3V 100Q TOCPUTX TOLVSerial MOSI TO CPU RX TO LVSerial MISO 100 1 LVTTL UART TTL 5V 5V 3V3 10k TO CPU TX TO LVSerial MOSI TO CPU RX TO LVSerial MISO HD74LV1GWO07A 2 TTL 2 3 3
27. c5 AE PRISOUNC Ace ea ntu AY ee Rum Scop d RE 12 E 12 31021RAM 13 14 3z108 EEASR EE 15 16 127058 1 1 45 x 93 x76 mm 387g 327kgf cm 16 8V 0 2555 60 16 8V 330 10V 18V LVSerial 7 1 2 1 2
28. 4 FB_IG 0x35 1 R W feedback Igain 0x00 FB ILIM 0x36 2 R W feedback ierr limit 0x0200 FB PDB 0x38 1 R W feedback pos deadband 0x08 FB DDB 0x39 1 R W feedback spd deadband 0x04 FB EDB 0x3a 1 R W feedback VE deadband 0x20 PWM_EN 0x3b 1 R W PWM enable 0 free 1 soft start 2 enable 0x00 PWM _LIM 0x3c 1 R W PWM limit maxduty 0x78 PWM PCH 0x3d 1 R W PWM punch 0x08 PWM_OUT 0x3e 2 R PWM output 0x0000 name adr size r w description default value AL TEMP 0x40 2 R W temp alarm 0x0e56 95deg SD_TEMP 0x42 2 R W temp shutdown 0x0e83 100deg AL VI 0x44 2 R W VI alarm 0x06fb 12V SD_VI 0x46 2 R W VI shutdown 0x05d1 10V VIB_OTH 0x48 1 R W vibration output threshold 0x70 VIB_STH 0x49 1 R W vibration speed threshold Ox7f name adr size r w description default value BST DUM Ox4d 1 R W dummy for burst write 0x00 BST LEN 0x4e 1 R W burst length 0x04 BST_SYN 0x4f 1 R W burst sync 0x00 BST 0x50 1 R W burst write adr 0 0x30 FB_TPOS 0 BST_WA1 0x51 1 R W burst write adr 1 0x31 FB_TPOS 1 BST_WA2 0x52 1 R W burst write adr 2 Ox3b PWM EN BST 0x53 1 R W burst write adr 3 Ox4d BST DUM BST WA4 0x54 1 R W burst write adr 4 Ox3Z FB PG BST WA5 0x55 1 R W burst write adr 5 Ox33 FB DG BST WA6 0x56 1 R W burst write adr 6 Ox34 FB EQ BST WA7 0x57 1 R W burst write adr 7 Ox35 FB IG BST RAO 0x58 1 R W burst read 0 0x20 M_P
29. 45 80 0x0da9 PWM PWM_PSN PWM_PSA PWM PSA 1kHz V SERVO SD TEMP 0x42 2 Read Write RAV temp shutdown 0x0e83 100deg 90 0x0824 60 0 0045 80 0x0da9 V SERVO PWM_EN 0 28 AL VI 0x44 2 Read Write RAV VI alarm OxO6fb 12V 275x AL VI V 4096 PWM PWM_PSN PWM PSA PWM PSA 1kHz V SERVO
30. Hz PWM 23926 HZ PWM PSA SST 0x1a 2 Read Write RAW PWM soft start time 0x07d0 2000 1sec SYS_TO0 SYS TO sec PWM SST 20 PWM_PSO 0x1e 1 Read Write R PWM prescale overload 0x08 PWM 23926 Hz PWM PSO OV_OTH OV_STH M POS 0x20 2 Read Write R measured pos M SPD 0x22 2 Read Write R measured spd
31. OS 0 BST_RA1 0x59 1 R W burst read 1 0x21 M_POS 1 BST_RA2 0x5a 1 R W burst read 2 0x26 M_TEMP 0 BST_RA3 0x5b 1 R W burst read 3 0x27 M_TEMP 1 BST_RA4 0x5c 1 R W burstread adr 4 0x3e PWM_OUT 0 BST_RA5 0x5d 1 R W burst read 5 0x3f PWM_OUT 1 BST_RA6 0x5e 1 R W burst read 6 0x28 M_V0 BST_RA7 Ox5f 1 R W burst read adr 7 0x29 M_VI 1 10 3 7 SYS ULK 0x55 FB_TPOS PWM EN O0x01 PWM SST 1 BST LEN 2 BST WAO Ox30 FB BST_WA1 0x31 FB_TPOS 1 BST RA0 O0x20 M POS BST RA1 0x21 M POS 1
32. ST_DUM 0x4d 1 Read Write RAV dummy for burst write 0x00 BST LEN 0x4e 1 Read Write RAV burst length 0x04 30 BST_SYN 0x4f 1 Read Write RAV burst sync 0x00 BST SYN 0 BST SYN 0 0 0 7 WAO0 BST WAT 0x50 0x57 1 Read Write R W burst write adr 0 7 0x30 FB_TPOS 0 0x31 FB_TPOS 1 Ox3b PWM EN Ox4d BST DUM Ox32 FB PG
33. V SERVO VS SV3310 V SERVO VS SV3310 VS SV3310 2008 2008 TeenSize 130cm 26kg Vstone Tichno Maxon PWM LVSerial V SERVO 63
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