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1. degree degree degree degree Decimal HEX Decimal HEX Decimal HEX Decimal HEX 572 23C 19 711 646 286 43 821 720 2D0 67 931 794 31A 92 040 573 23D 20 037 647 287 44147 721 2D1 68 256 795 31B 92 366 574 23E 20 363 648 288 44 473 722 2D2 68 582 796 31C 92 692 575 23F 20 689 649 289 44 798 723 2D3 68 908 797 31D 93 018 576 240 21 015 650 28A 45 124 724 2D4 69 234 798 SIE 93 344 577 241 21 340 651 28B 45 450 725 2D5 69 560 799 31F 93 669 578 242 21 666 652 28C 45 776 726 2D6 69 885 800 320 93 995 579 243 21 992 653 28D 46 102 727 2D7 70 211 801 321 94 321 580 244 22 318 654 28E 46 427 728 2D8 70 537 802 322 94 647 581 245 22 644 655 28F 46 753 729 2D9 70 863 803 323 94 973 582 246 22 969 656 290 47 079 730 2DA 71 189 804 324 95 298 583 247 23 295 657 291 47 405 731 2DB 71 515 805 325 95 624 584 248 23 621 658 292 47 731 732 2DC 71 840 806 326 95 950 585 249 23 947 659 293 48 056 733 2DD 72 166 807 327 96 276 586 24A 24 273 660 294 48 382 734 2DE 72 492 808 328 96 602 587 24B 24 598 661 295 48 708 735 2DF 72 818 809 329 96 927 588 24C 24 924 662 296 49 034 736 2E0 73 144 810 32A 97 253 589 24D 25 250 663 297 49 360 737 2E1 73 469 811 32B 97 579 590 24E 25 576 664 298 49 685 738 2E2 73 795 812 32C 97 905 591 24F 25 902 665 299 50 011 739 2E3 74121 813 32D 98 231 592 250 26 227 666 29A 50 337 740 2E4 74 447 814 32E 98 556 593 251 26 553 667 29B 50
2. PEEOCOSOOCORNOA o Servo Horn Horn Bolt BHT 2 6X8 Wheel Horn Bushing Wheel Horn Washer Wheel Horn Bolt PHM 3X8 Cable Guard type Joint L type Joint L type Joint Single Nut Bracket Bolt PHT 2X5 Joint Bolt PHM 2X5 Wire Harness 200mm lea lea lea lea lea lea Zea Zea Zea 4ea dea X DRS 0201 replaced by PHM 2X5 12ea lea Herkulex 2 2 Product Overview Smart Servo DRS 0101 and DRS 0201 are state of the art modular smart servos incorporating motor gear reducer control circutry and communications capability in one single package Both servos are capable of detecting and responding to internal changes in termerature and voltage supply Small light and easy to assemble structure Ours sevos make joint assembly an easy job with an added advantage of simple wiring Two connectors attached to each servo allows serial connection as well as parallel connection if required In relation to size weight and power requirement our servos have the highest stall torque in its class By introducing two different models of the same size but with different torque and speed our customers have the choice to choose and mix and match the servos
3. JOG TAG S JOG TAG Information Information Type Comments Type Comments Bytes Bits Bytes Bits 0 Case JOG 0 Case JOG 1 Desired Goal POS 1 Desired Goal POS 2 Calibration applied 2 Calibration applied 3 Case Infinite turn 3 Case Infinite turn 4 Desired PWM 4 Desired PWM 5 Infinite tum Sign 5 Infinite tum Sign 6 0X4000 MEMS Negative 6 OX4000 MEMS Negative 7 7 JOG 2 8 JOG 2 8 9 9 10 10 11 1 12 12 13 13 14 Sig Infinite turn 14 Sig Infinite turn 15 Reserved 0 15 Reserved 0 0 Stop flag 0 Stop flag 1 MODE 1 MODE 2 LED GREEN 2 LED GREEN 3 LED BLUE 3 LED BLUE SET 4 LED RED SE 1 4 LED RED 5 JOG Invalid No Action 5 JOG Invalid No Action 6 Reserved 0 6 Reserved 0 7 Reserved 0 7 Reserved 0 ID 1 Valid Range O 0XFE ID 1 Valid Range O 0XFE Playtime 1 Valid Range 0 OXFE MODE Comments 0 Position Control JOG 6 7 STAT Infinite turn Continuous Rotation Refer to Page 39 for detailed information on Status Error and Status Detail se Dongbu Robot HerkulexX Header Packet Size pID CMD Check Sumi Check Sum2 STAT 0 1 2 3 4 5 6 OxFF OxFF 7 Servo ID 0x07 Refer to Pg 20 Example2 OxFF OxFF 0x07 OxFD 0x07 OxFC 0x02 STAT ACK OxFF OxFF Ox09 OxFD 0x47 OxF2 Ox0C Optional Data Y 8 Data 0 Datal1 Ox00 0x40 0x00 0x40 6 8 ROLLBACK ID 253 ROLLBACK Factory Default ID and Baud Rate excepted ROLLBACK ACK When r ACK Policy is s
4. is r PWM MIN ane Aa AS Na E E de SIINO Position gt l Saluraton Offset gt lt s sasess eases ega r Saturator Slop 256 PWM Y PWM PERE E ISO O E Pri n gt eee ANE PER ss Position PWM limited by Dead Zone ae CEL NAN Gal AAA _ A ____ IEEE Saturator HE Saturator output PWM TAM IEEE Final output PWM PWM limited by Saturator p Calibration Difference RAM Register Address 47 Used to calibrate newtral point standard Used to make adjustments to compensate for assembly variations when servos are used to build a system Calibrated Difference is calculated by following formula Calibrated Position Absolute Position Calibration Difference Calibration Difference Calibrated Position ADC 512 Absolute Position ADC 512 RUA thinking MORE for U 49 Dongbu Robot Herkulex Status Error Status Details RAM Register Address 48 49 Status REG Status Error REG Status Error Bis 7 6 5 4 3 2 1 0 Bis 7 6 5 4 3 2 1 0 Bits Value Comment Bits Value Comment 0 0X01 Exceed Input Voltage limit 0 OX01 Moving flag 1 0X02 Exceed allowed POT limit 1 0X02 Inposition flag 2 0X04 Exceed Temperature limit 4 0X10 Overload detected 5 0X20 Driver fault detected 6 0X40 EEP REG distorted 6 0X40 MOTOR ON flag 7 0X80 reserved T 0X80 reserved X LED Policy Servo Policy Same as above When Invalid Pack
5. Type Check Sum2 Value CheckSum1 amp OxFE Byte 1 gt Dataln Number of Data depends on CMD and some CMD may not have Data field Refer to CMD for details Type Data Value Refer to CMD for details Byte Max216 thinking MORE for U o Dongbu Robot Herkulex 4 2 Register Map Register Map are values residing within the Servo and contain data pertaining to current servo status and operation Registers are either Non Volatile or Volatile Users are able to control the servos by using Request Packet and ACK Packet to either check or change the data in the Register Map Non Volatile memory retains data without power Once the power is turned on data in the Non Volataile memory in EEP Register are copied to the RAM Register which is Volatile memory Data in the Non Volatile memory does not have direct affect on the operation of the servo once it has been copied to the RAM Register Rebooting the servo will again copy the data from EEP Register to the RAM Register gt Address Address refers to the address of the Register To Read Write to the Register Register address must be included in the Packet gt Default Factory Default Value Rollback Protocol is used to return all values to Factory Default Value gt Valid Range Range of valid data values servo can have Input of data beyond the Valid Range will possibly result in unpredictable servo behavior RO Read Only RW Rea
6. Reserved 52 Reserved 1 Reserved 53 Calibration Difference 1 0 A28 127 RW Servo Compensation 2 Byte Variable Byte Order Little Endian Most significant byte is stored int the higher address Example e Position Kp Address is 30 31 To store 0x1234 4460 store the least significant first Address 30 0x34 and most significant digit last Address 31 0x12 Intel amp Alpha Processesors use Little Endian whereas most of the RISC Processers amp Mortorola Processors use Big Endian Max PMW Dead Zone PWM is the value representing engergy input to the Servo When the energy is increased servo torque or speed increases Max PWM Limits maximum PWM In other words limits the maximum energy supplied to the Servo Energy use is optimized by limiting the maximum torque or speed of the servo Dead Zone Servo moves to reach the exact Goal Position When the difference Error between the current position and the goal position becomes 0 the force drops to O and the servo stops Dead Zone provides flexibility to the servo operation by increasing the range where the force drops to 0 the difference Error is less than the Dead Zone servo assumes it has reached the goal position and stops What does operational flexibility mean In the graph below green line is the PWM level without the Max PWM and Dead Zone set The yellow line is the PWM level with the Max PWM and the Dead Zone set
7. A Caution Ignoring instructions with this symbol may risk bodily injury O Strictly Prohibited Compulsory requirement 1 2 Operating Precautions A Caution N Do not disassemble or modify the servo N Do not use power sources other than the recommended battery N Do not touch the servo casing immediately after the operation doc Dongbu Robot Herkulex Keep away from water sand and dust Do not use the servo for purposes other than installation in the indoor robot Do not use overt force to tum the servo horn Servo should not be left if locked position 1 3 Safe Battery Handling 0000 Alwasy use the appropriate battery charger to charge the battery pack Do not connect the battery packs in parallel configuration Never disassemble or modify the battery pack Do not use the battery pack with apparent external damage 1 4 Safe Storage A Caution To prevent accidents and damage do not store the servo under the conditions listed below Location with temperatures above 60 degree celsius or below 20 degree celsius Location with direct sunlight Location with high humidity Area with vibration Dusty area Area with possible electrostatic electricity Area within easy reach of children Herkulex Je Dongbu Robot 2 1 Parts List e O 070 O oo Oo
8. AROBOT 7A IS NM D YAN A GY ON lm 1 Safety Instructions 1 1 Meaning of Symbols 03p 1 2 Operating Precautions 03p 1 3 Safe Battery Handling 04p 1 4 Safe Storage 04p 2 Introduction 2 1 Paris List 05p 2 2 Product Overview 06p 2 3 Specification 09p 3 Assembly Instructions 3 1 Joint Assembly 10p 3 2 Joint Assembly Optional Bracket and Bolt Required 12p 3 3 Connector Pin amp System Assembly 17p 4 Operation 4 1 Communication Protocol 18p 4 2 Register Map 21p 5 Command Set 5 1 To Servo Module Request Packet 40p 5 2 To Controller ACK ACK Packet 40p 5 3 CMD Command Details 41p 6 Command Examples 420 Referenace 51p 1 Safety Instructions Thank you for purchasing our HerkuleX For your safety please read the instruction manual before using the HerkuleX with particular attention to the safety instructions below 1 1 Meaning of Symbols Any sections within the manual with the following symbols require special attention to safety Ignoring the instructions with this symbol can lead to serious bodily A Danger injury or death to the user and to those near by and high possibility of damage to the property and equipment Ignoring the instructions with this symbol can lead to possible bodily A W arning injury and death to the user and to those near by and high possibility of damage to the property and equipment
9. 642 282 42 518 716 2CC 66 627 790 316 90 737 864 360 114 847 643 283 42 844 717 2CD 66 953 791 317 91 063 865 361 115 173 644 284 43 169 718 2CE 67 279 792 318 91 389 866 362 115 498 645 285 43 495 719 2CF 67 605 793 319 91 715 867 363 115 824 57 ADC ADC ADC degree degree degree Decimal HEX Decimal HEX Decimal HEX 868 364 116 150 942 3AE 140 260 1016 3F8 164 369 869 365 116 476 943 3AF 140 585 1017 3F9 164 695 870 366 116 802 944 3B0 140 911 1018 3FA 165 021 871 367 117 127 945 3B1 141 237 1019 3FB 165 347 872 368 117 453 946 3B2 141 563 1020 3FC 165 673 873 369 117 779 947 3B3 141 889 1021 3FD 165 998 874 36A 118 105 948 3B4 142 215 1022 3FE 166 324 875 36B 118 431 949 3B5 142 540 1023 SFF 166 650 876 36C 118 756 950 3B6 142 866 877 36D 119 082 951 3B7 143 192 878 36E 119 408 952 3B8 143 518 879 36F 119 734 953 3B9 143 844 880 370 120 060 954 3BA 144 169 881 371 120 385 955 3BB 144 495 882 372 120 711 956 3BC 144 821 883 373 121 037 957 3BD 145 147 884 374 121 363 958 3BE 145 473 885 375 121 689 959 3BF 145 798 886 376 122 015 960 3C0 146 124 887 377 122 340 961 3C1 146 450 888 378 122 666 962 3C2 146 776 889 379 122 992 963 3C3 147 102 890 37A 123 318 964 3C4 147 427 891 37B 123 644 965
10. 73795 359 167 49 685 433 1B1 26 553 507 1FB 1 466 286 NE 73 469 360 168 49 360 234 1B2 26 227 508 1FC 5 40 287 11F 73 144 361 169 49 034 435 1B3 25 902 509 1FD 0 815 288 120 72 818 362 16A 48 708 436 1B4 25 576 510 1FE 0 489 289 121 72 492 363 16B 48 382 437 1B5 25 250 511 1FF 0 163 290 122 72 166 364 16C 48 056 438 1B6 24 924 512 200 0 163 291 123 71 840 365 16D 47 731 439 1B7 24 598 513 201 0 489 292 124 11 515 366 16E 47 405 440 1B8 24 273 514 202 0 815 293 125 71 189 367 16F 47 079 441 1B9 23 947 515 203 1 140 294 126 70 863 368 170 46 753 442 BA 23 621 516 204 1 466 295 127 70 537 369 171 46 427 443 1BB 23 295 517 205 1 792 296 128 7021 370 172 46 102 444 1BC 22969 518 206 2 118 297 129 69 885 371 173 45 776 445 1BD 22 644 519 207 2 444 298 12A 69 560 372 174 45 450 446 1BE 22 318 520 208 2 769 299 12B 69234 373 175 45 124 447 1BF 21 992 521 209 3 095 300 12C 68 908 374 176 44 798 448 1C0 21 666 522 20A 3 421 301 12D 68 582 375 177 44 473 449 1C1 21 340 523 20B 3 747 302 12E 68 256 376 178 44 147 450 1C2 21 015 524 20C 4 073 303 12F 67931 377 179 43 821 451 1C3 20 689 525 20D 4 398 304 130 67 605 378 TA 43 495 452 1C4 20 363 526 20E 4 724 305 131 67 279 379 17B 43 169 453 1C5 20 037 527 20F 5 050 306 132 66 953 380 17C 42 844 454 1C6 19 711 528 210 5 376 307 133 66 627 381 17D 42
11. ADC Position Coversion Chart ADC ADC ADC ADC degree degree degree degree Decimal HEX Decimal HEX Decimal HEX Decimal HEX 0 0 166 650 69 45 144 169 138 8A 121 689 207 CF 99 208 1 1 166 324 70 46 143 844 139 8B 121 363 208 DO 98 882 2 2 165 998 71 47 143 518 140 8C 121 037 209 D1 98 556 3 3 165 673 72 48 143 192 141 8D 120 711 210 D2 98 231 4 4 165 347 73 49 142 866 142 8E 120 385 211 D3 97 905 5 5 165 021 74 4A 142 540 143 8F 120 060 212 D4 97 579 6 6 164 695 75 4B 142 215 144 90 119 734 213 D5 97 253 7 7 164 369 76 4C 141 889 145 91 119 408 214 D6 96 927 8 8 164 044 77 4D 141 563 146 92 119 082 215 D7 96 602 9 9 163 718 78 4E 141 237 147 93 118 756 216 D8 96 276 10 A 163 392 79 4F 140 911 148 94 18 431 217 D9 95 950 11 B 163 066 80 50 140 585 149 95 118105 218 DA 95 624 12 C 162 740 81 51 140 260 150 96 117 779 219 DB 95 298 13 D 162 415 82 52 139 934 151 97 117 453 220 DC 94 973 14 E 162 089 83 53 139 608 152 98 117 127 221 DD 94 647 15 F 161 763 84 54 139 282 153 99 116802 222 DE 94321 16 10 161 437 85 55 138 956 154 9A 116 476 223 DF 93 995 17
12. gt Tick RAM Register Address 57 Shows actual length of the servo tick time Tick time can be changed from 0 255 tick time reverts back to O after 255 1 is equivalent to 11 2ms 255 is equivalent to 2 856sec gt Calibrated Position RAM Register Address 58 Shows Calibrated Position in raw data The relationship between Calibrated Position and Absolute Position is as follows Calibrated Position Absolute Position r Calibration Difference 47 Address Degree Position Raw Data X 0 325 thinking MORE for U se Dongbu Robot Herkulex EMA Z Absolute Position RAM Register Address 60 Shows uncalibrated current position in raw data Relationshop between Raw Data and actual degree IS as follows Degree Position Raw Data X 0 325 a gt Recommended Range Tg T 1023 lero 0 p Full Range 166 7 es 166 7 Diff Position RAM Register Address 60 Shows velocity measurement velocity is measured in 11 2ms intervals x r Diff Position 1 29 09deg sec PWM RAM Register Address 62 Shows current Torque in raw data maximum value is 1023 Absolute Goal Position RAM Register Address 66 Shows uncalibrated goal position in raw data Absolute Desired Trajectory Position RAM Register Address 68 Uncalibrated current goal position in Raw Data To arrive at user designated absolute goal position servo auto
13. 0x01 0x01 0x00 0x42 6 5 JOG ID 253 Position Control Position Goal 512 Green LED On Operating Time 60 672ms ID 253 Continuous Rotation Goal Speed 320 Blue LED On Operating Time 60 672ms se Dongbu Robot Herkulex Header Packet Size pID CMD Check Sumi Check Sum2 JOG 0 1 2 3 4 5 6 OxFF OxFF 7 5XI_JOG Servo ID 0x05 Refer to Checksum Formula Example1 OxFF OxFF 0x0C 12 OxFD 0x05 0x32 OxCC Example2 OxFF OxFF 0x0C 12 OxFD 0x05 Ox7E Ox80 Optional Data 8 9 10 Ii JOG S 0 JOG LSB JOG MSB SET ID playtime 0x00 0x02 0x04 OxFD Ox3C 40 Ox01 Ox0A OxOA 0x3C Refer to Packet structure below for explanation of each Bit in JOG Able to use Structure as below for convenience LSB Least Significant Bit first for Bit value Example1 SET 0x04 is Position Control Green LED On typedef struct int iJogData IS unsigned int uiReservedi sip unsigned int uiStop Sale unsigned int uiMode 1 0 Position Control unsigned int uiLED 3 Green Blue Red unsigned int uiJoglnvalid a unsigned int uiReserved2 SZ unsigned int ucID 8 unsigned char ucJoglime_ms VOG_TAG Bit Variable size or bit field may vary depending on the compiler or compiler setting The above example uses 16 bit variable The structure byte alignment of the process may vary as well The above example uses 1byte alignment as standard 6 6 S_JOG Example 1 ID 253 Position Control G
14. 11 161 111 86 56 138 631 155 9B 116 150 224 EO 93 669 18 12 160 785 87 57 138 305 156 9C 115 824 225 E1 93 344 19 13 160 460 88 58 137 979 157 9D 115 498 226 E2 93 018 20 14 160 134 89 59 137 653 158 9E 115 173 227 E3 92 692 21 15 159 808 90 5A 137 327 159 9F 114 847 228 E4 92 366 22 16 159 482 91 5B 137 002 160 AO 114 521 229 E5 92 040 23 17 159 156 92 5C 136 676 161 Al 114 195 230 E6 91 715 24 18 158 831 93 5D 136 350 162 A2 113 869 231 E7 91 389 25 19 158 505 94 5E 136 024 163 A3 113 544 232 E8 91 063 26 1A 458 179 95 5F 135 698 164 A4 113218 233 E9 90 737 27 1B 157 853 96 60 135 373 165 A5 112892 234 EA 90411 28 1C 157 527 97 61 135 047 166 A6 112 566 235 EB 90 085 29 1D 157 202 98 62 134 721 167 AZ 112 240 236 EC 89 760 30 1E 156 376 99 63 134 395 168 A8 11 915 237 ED 89 434 31 1F 156 550 100 64 134 069 169 A9 11 589 238 EE 89 108 32 20 156 224 101 65 133 744 170 AA 111 263 239 EF 88 782 33 21 155 898 102 66 133 418 171 AB 10 937 240 FO 88 456 34 22 155 573 103 67 133 092 172 AC 110 611 241 FA 88 131 35 23 155 247 104 68 132 766 173 AD 110 285 242 F2 87 805 36 24 154 921 105 69 132440 174 AE 109 960 243 F3 87479 37 25 154 595 106 6A 132 115 175 AF 109 634 244 F4 87 153 38 26 154269 107 6B 131789 176 BO 409 308 245 F5 86 827 39 27 153 944 108 6C 131 463 177 B1 108 982 246 F6 8
15. 12 869 330 14A 59 134 404 194 35 024 478 1DE 11 892 552 228 13 195 331 14B 58 808 405 195 34 698 479 1DF 11 566 553 229 13 521 332 14C 58 482 406 196 34 373 480 1E0 1 240 554 22A 13 847 333 14D 58 156 407 197 34 047 481 1E1 10 915 555 22B 14 173 334 14E 57 831 408 198 33 721 482 1E2 10 589 556 220 14 498 335 14F 57 505 409 199 33 395 483 1E3 10263 557 22D 14 824 336 150 57 179 410 19A 33 069 484 1E4 9 937 558 22E 15 150 337 151 56 853 411 19B 32 744 485 1E5 9 611 559 22F 15 476 338 152 56 527 412 19C 32 418 486 1E6 9 285 560 230 15 802 339 153 56 202 M3 19D 32 092 487 1E7 8 960 561 231 16 127 340 154 55 876 414 19E 31 766 488 1E8 8 634 562 232 16 453 341 155 55 550 415 19F 31 440 489 1E9 8 308 563 233 16 779 342 156 55 224 416 1A0 31 115 490 1EA 7 982 564 234 17 105 343 157 54 898 417 1A1 30 789 491 1EB 7 656 565 235 17 431 344 158 54 573 418 1A2 30 463 192 1EC 7 331 566 236 17 756 345 159 54 247 419 1A3 30 137 493 1ED 7 005 567 237 18 082 346 15A 53 921 420 1A4 29 811 494 1EE 6 679 568 238 18 408 347 15B 53 595 421 1A5 29 485 495 1EF 6 353 569 239 18 734 348 15C 53 269 422 1A6 29 160 496 1FO 6 027 570 23A 19 060 349 15D 52 944 423 1A7 28 834 497 1F1 5 702 571 23B 19 385 56 ADC ADC ADC ADC
16. 13037 240 FO 17 778 49 31 3 630 113 71 8 370 177 B1 13 111 241 F1 17 852 50 32 3 704 114 72 8 444 178 B2 13 185 242 F2 7 926 51 33 3 778 115 73 8 519 179 B3 3 259 243 F3 18 000 52 34 3 852 116 74 8 593 180 B4 3 333 244 F4 18 074 53 35 3 926 117 15 8 667 181 B5 13 407 245 F5 18 148 54 36 4000 18 76 8 741 182 B6 13 481 246 F6 18 222 55 37 4 074 119 TI 8 815 183 B7 3 556 247 F7 8 296 56 38 4148 120 78 8 889 184 B8 13630 248 F8 8 370 57 39 4222 121 79 8 963 185 B9 3 704 229 F9 18 444 58 3A 4 296 122 TA 9 037 186 BA 13 778 250 FA 18 519 59 3B 4 370 123 7B 9 111 187 BB 13 852 251 FB 8 593 60 3C 4444 124 7C 9 185 188 BC 13 926 252 FG 18 667 61 3D 4 519 125 7D 9 259 189 BD 14 000 253 FD 18 741 62 SE 4 593 126 7E 9 333 190 BE 14 074 254 FE 18 815 63 3F 4 667 127 9 407 191 BF 14 148 255 FF 18 889 53 ADC Temperature Coversion Chart ADC ADC ADC ADE Decimal HEX Decimal HEX Decimal HEX Decimal HEX 0 0 79 47 69 45 137 138 8A 29 33 207 CE 68 32 1 1 71 78 70 46 181 139 8B 29 76 208 DO 69 20 2 2 63 20 7 47 224 140 8C 30 18 209 D1 70 10 3 3 57 81 72 48 2 67 141 8D 30 60 210 D2 71 02 4 4 53 80 73 49 310 142 8E 31 03 211 D3 4137 5 5 50 58 7
17. 3C5 147 753 892 37C 123 969 966 3C6 148 079 893 37D 124 295 967 3C7 148 405 894 37E 124 621 968 3C8 148 731 895 37F 124 947 969 3C9 149 056 896 380 125 273 970 3CA 149 382 897 381 125 598 971 3CB 149 708 898 382 125 924 972 3CC 150 034 899 383 126 250 973 3CD 150 360 900 384 126 576 974 3CE 150 685 901 385 126 902 975 3CF 151 011 902 386 127 227 976 3D0 151 337 903 387 127 553 977 3D1 151 663 904 388 127 879 978 3D2 151 989 905 389 128 205 979 3D3 152 315 906 38A 128 531 980 3D4 152 640 907 38B 128 856 981 3D5 152 966 908 38C 129 182 982 3D6 153 292 909 38D 129 508 983 3D7 153 618 910 38E 129 834 984 3D8 153 944 911 38F 130 160 985 3D9 154 269 912 390 130 485 986 3DA 154 595 913 391 130 811 987 3DB 154 921 914 392 131 137 988 3DC 155 247 915 393 131 463 989 3DD 155 573 916 394 131 789 990 3DE 155 898 917 395 132 115 991 3DF 156 224 918 396 132 440 992 3E0 156 550 919 397 132 766 993 3E1 156 876 920 398 133 092 994 3E2 157 202 921 399 133 418 995 3E3 157 527 922 39A 133 744 996 3E4 157 853 923 39B 134 069 997 3E5 158 179 924 39C 134 395 998 3E6 158 505 925 39D 134721 999 3E7 158 831 926 39E 135 047 1000 3E8 159 156 927 39F 135 373 1001 3E9 159 482 928 3A0 135 698 1002 3EA 159 808 929 3A1 136 024 1003 3EB 160 134 930 3A2 136 350 1004 3EC 160 460 931 3A3 136 676 1005 SEI 160 785 932 3A4 137 002 1006 SEI 161 111 933 3A5 137 327 1007 3EF 161 437 934 3A6 137 653 1008 SF 161 763 935 3A7 137 979 1009 3F 162 089 936 3A8 138 305 1010 3E 162
18. 415 937 3A9 138 631 1011 3F3 162 740 938 3AA 138 956 1012 3F4 163 066 939 3AB 139 282 1013 3F 163 392 940 3AC 139 608 1014 3F6 163 718 941 3AD 139 934 1015 3F7 164 044 58
19. 663 741 2E5 74 773 815 32F 98 882 594 252 26 879 668 29C 50 989 742 2E6 75 098 816 330 99 208 595 253 21 205 669 29D 51 315 743 2E7 75 424 817 331 99 534 596 254 27 531 670 29E 51 640 744 268 75 750 818 332 99 860 597 255 27 856 671 29F 51 966 745 2E9 76 076 819 333 100 185 598 256 28 182 672 2A0 52 292 746 2EA 76 402 820 334 100 511 599 257 28 508 673 2A1 52 618 747 2EB 76 727 821 335 100 837 600 258 28 834 674 2A2 52 944 748 2EC 77 053 822 336 101 163 601 259 29 160 675 2A3 53 269 749 2ED 77 379 823 337 101 489 602 25A 29 485 676 2A4 53 595 750 2EE 77 705 824 338 101 815 603 25B 29 811 677 2A5 53 921 751 2EF 78 031 825 339 102 140 604 25C 30 137 678 2A6 54 247 752 2F0 78 356 826 33A 102 466 605 25D 30 463 679 2A7 54 573 753 2F1 78 682 827 33B 102792 606 25E 30 789 680 2A8 54 898 754 2F2 79 008 828 33C 103 118 607 25F 31 115 681 2A9 55 224 755 2F3 79 334 829 33D 103 444 608 260 31 440 682 2AA 55 550 756 2F4 79 660 830 33E 103 769 609 261 31 766 683 2AB 55 876 757 2F5 79 985 831 33F 104095 610 262 32 092 684 2AC 56 202 758 2F6 80 311 832 340 104 421 on 263 32 418 685 2AD 56 527 759 2F7 80 637 833 341 104 747 612 264 32 744 686 2AE 56 853 760 2F8 80 963 834 342 105 073 613 265 33 069 687 2AF 57 179 761 2F9 81 289 835 343 105 398 614 266 33 395 688 2B0 57 505 762 2FA 81 615 836 344 105 724 615 267 33 721 689 2B1 57 831 763 2FB 81 940 837 345 106 050 616 268 34 047 690 2B2 58 156 764 2FC 82 266 838 346 106 376 617 269 34 373 691 2B3 58 482 765 2FD 82 592
20. 839 347 106 702 618 26A 34 698 692 2B4 58 808 766 2FE 82 918 840 348 107 027 619 26B 35 024 693 2B5 59 134 767 2FF 83 244 841 349 107 353 620 26C 35 350 694 2B6 59 460 768 300 83 569 842 34A 107 679 621 26D 35 676 695 2B7 59 785 769 301 83 895 843 34B 108 005 622 26E 36 002 696 2B8 60 111 770 302 84 221 844 34C 108 331 623 26F 36 327 697 2B9 60 437 77 303 84 547 845 34D 108 656 624 270 36 653 698 2BA 60 763 772 304 84 873 846 34E 108 982 625 271 36 979 699 2BB 61 089 773 305 85 198 847 34F 109 308 626 272 37 305 700 2BC 61 415 774 306 85 524 848 350 109 634 627 273 37 631 701 2BD 61 740 715 307 85 850 849 351 109 960 628 274 37 956 702 2BE 62 066 776 308 86 176 850 352 110 285 629 275 38 282 703 2BF 62 392 777 309 86 502 851 353 110 611 630 276 38 608 704 2C0 62 718 778 30A 86 827 852 354 110 937 631 277 38 934 705 2C1 63 044 779 30B 87 153 853 355 111 263 632 278 39 260 706 2C2 63 369 780 30C 87 479 854 356 111 589 633 279 39 585 707 2C3 63 695 781 30D 87 805 855 357 111 915 634 27A 39 911 708 2C4 64 021 782 30E 88 131 856 358 112 240 635 27B 40 237 709 2C5 64 347 783 30F 88 456 857 359 112 566 636 27C 40 563 710 2C6 64 673 784 310 88 782 858 35A 112892 637 27D 40 889 71 2C7 64 998 785 311 89 108 859 35B 113 218 638 27E 41 215 712 2C8 65 324 786 312 89 434 860 35C 113 544 639 27F 41 540 713 2C9 65 650 787 313 89 760 861 35D 113 869 640 280 41 866 714 2CA 65 976 788 314 90 085 862 35E 114 195 641 281 42 192 715 2CB 66 302 789 315 90 411 863 35F 14 521
21. Reserved 5 Max Temperature 1 0x00 OXFE RW Maximum allowed temo OxDF 85 c 6 Min Voltage 1 0x00 OxFE RW Minimum allowed volgge Ox5B 6 714VDC 7 Max Voltage 1 0x00 OxFE RW Maximum allowed volage 0x89 10VDC 8 Acceleration Ratio 1 0x00 0x32 50 Rue 9 Max Acceleration 1 0x00 OFE T eee 10 Dead Zone 1 0x00 OxFE RW Outside control range 11 Saturator Offset 1 0x00 OxFE RW Refer to Pg 36 12 Saturator Slope 2 0x0000 Ox FFF RW Refer to Pg 36 14 PWM Offset 1 18 127 E oa 15 Min PWM 1 0x00 OxFE T 16 Max PWM 2 0000 lt 003F RW ag value 18 Overload PWM Threshold 2 OO000COZFFE RW Retro py fn range 20 Min Position 2 0x0000 0x03FF RW Minimum postion vaue 0 1023 22 Max Position 2 0x0000 0x03FF Rw Maximum postion value 01023 24 Position Kp 2 0x0000 Ox FFF RW Proportional Gain 26 Position Kd 2 0x0000 Ox7FFF RW Derivative Gain 28 Position Ki 2 0x0000 Ox7FFF RW Integral Gain D FesdiomerdisGan 2 0x0000 Ox7FFF RW Reler to Pg 35 32 rem end Gan 2 0x0000 Ox FFF RW Reterio Pa do 34 Reserved 2 Reserved 36 Reserved 2 Reserved 38 LED Blink Period 1 0x00 OxEE RW Alarm LED blink period according to Policy 24 11 2ms Tick 0x2D 504ms ADDRESS Type Bytes Valid Range RW Description 39 Delection Period 1 OOO OXFE RW KAMAR DSa 40 Dea ia fered 1 OOO OFE RW nenem O42 201ms 41 Stop Detection Period 1 0x0000 O
22. Temperature 320 Continuous Rotation 0 85 82 F 185F Communication Link ID Maximum Baud Rate Full Duplex Asynchronous Serial TTL Level Binary Packet Multi Drop 0 253 254 Broadcast only 0 67Mbps Feedback Position Speed Temperature Load Voltage etc Control Algorithm PID Feedforward Trapezoidal Velocity Profile Velocity Override Torgue Saturator amp Offset Overload Protection Neutral Calibration Dead Zone 54 Selectable Setting Parameters Servo Manager Kit Reguired 3mm 0 11 in 10 7mm 0 42 in 4 _ 33 6mm 1 32 jn Horn 29mm 1 14 jn 9 7mm 0 38 in 45mm 1 77 in 28 3mm 1 11 jn 19mm 0 75 in 14mm 0 55 jn 31mm 1 22 jn Refer to Pages 51 and 52 for connector specs thinking MORE for U Dongbu Robot Herkulex Cc O 5 V E 2a O E lt W 3 1 Joint Assembly Assembled Unit Assembly Diagram 0 9 Assembled Unit Assembly Diagram Herkulex UI fe 2 ke 2 te e thinking MORE for RUA a cl not included Assembled Unit Assembly Diagram cl not included Assembled Unit Assembly Diagram Assembled U
23. The yellow line shows the PWM dropping to 0 within the Dead Zone even though Goal Position has not been reached Looking at the right side of the graph even though the green line is above larger than the Max PWM actual PWM value yellow line is within the Max PWM Setting the Dead Zone too large will increase the discontinuous PWM section and lead to decreased controllability Recommended Dead Zone value is below 10 i 5 EA Before Setting Goal Position 8 Ml After Setting y Position li a Dead Zone Max PWM Dead Zone thinking MORE for U Dongbu Robot Herkulex Volatile Register RAM Register MAP Volatile Memory has direct affect on the operation of the Servo and reverts to default EEP Register value when the Servo is reboot even though RAM register value has been changed to change the servo operating parameters Read Write has to be performed to RAM Register value to operate the Servo change the operating parameters or to check servo status ADDRESS Type Bytes Valid Range RW Description Servo ID OxFE Can be used as 0 D 1 0x00 OxFD RW Broadcasting ID ID not assignable 1 ACK Policy 1 0x00 0x2 RW Refer to Pg 33 2 Alarm LED Policy 1 0x00 OX F RW Acivales alam LED according to Policy 3 Torque Policy 1 0x00 OXx F RW Releases Torque according to Plolcy 4 Reserved 1
24. once Operational parameters such as speed calibration compliance to external force LED could be set by writing directly to the register by using the Servo Manager downloaded from the web site or by using the Servo Manager Kit sold separately 0 325 degrees resolution provides very accurate smooth control and minimal vibration e Position Control Mode 0 320 possible but recommended range is within 0 300 e Speed Control Mode Continuous rotation possible with rotation speed control By controlling the torgue according to the discrepancy between the goal position and the actual position Compliance Control provides certain measure of elasticity to absorb the shock from the external force Data feedback from the internal temperature position and overload sensors e Internal temperature sensor monitors the motor and the circuit temperature and issues Overheating Protection Error if the temperature moves beyond set value e Overload Protection Error is issued when the load stress on the servo goes beyond the set value These safety features protec the sevo from the potential damage and prolongs the servo life se Dongbu Robot Herkulex Self Diagnosis Servos are capable of diagnosing seven different types of errors which are then indicated by the LED Servo UI is used to set the function and timing of the Overload Protection protects the servo when the overload occurs by releasing the torque Expandable Mu
25. 04 Red Whe Alarm LED is activated by the r Status Error or r Alarm LED Policy value in r LED Control is ignored gt Voltage RAM Register Address 54 Shows the ADC Analog Digital Conversion value of the input voltage in raw data The conversion formula to actual voltage is shown below Refer to the voltage ADC conversion table in page 49 Voltage 0 074 X ADC Temperature RAM Register Address 55 Shows the ADC Analog Digital Conversion value of the current temperature in raw data Refer to temperature ADC conversion table in page 51 Current Control Mode RAM Register Address 56 Shows the current control mode of the servo JOG S JOG CMD Packet is used to change the mode When r Torque Control is used to change the servo state to Torque On servo first refers to r Current Control Mode For example dafault mode of the servo when it is first powered up is Position Control Mode and when the servo state is changed to Torque On mode remains at Position Control Mode Servo has to be at Off state to change the control mode to Turn Velocity Control Mode With Torque Off use JOG S JOG CMD to switch to Turn Velocity Control Mode After the switch use r Torque Control to to turn Torque On and the mode will have switched to Turn Velocity Control Mode O Position Control 1 Turn Velocity Control Turn Velocity Control Infinite Turn Continuous Rotation Mode
26. 15 268 10C 79 334 62 3E 146 450 131 83 123 969 200 C8 101 489 269 10D 79 008 63 3F 146 124 132 84 123 644 201 C9 101 163 270 10E 78 682 64 40 145 798 133 85 123 318 202 CA 100 837 271 10F 78356 65 41 145 473 134 86 122 992 203 CB 100 511 272 110 78 031 66 42 145 147 135 87 122 666 204 CC 100 185 273 111 77 705 67 43 144 821 136 88 122 340 205 CD 99 860 274 112 77 379 68 44 144 495 137 89 122 015 206 CE 99 534 275 113 77 053 55 ADC ADC ADC degree degree degree degree Decimal HEX Decimal HEX Decimal HEX Decimal HEX 276 114 76 727 350 15E 52 618 424 1A8 5 376 198 1F2 4 398 271 115 76 402 351 15F 52 292 425 1A9 5 050 499 1F3 4 073 278 116 76 076 352 160 51 966 426 1AA 4 724 500 1F4 3 747 219 117 75 750 353 161 51 640 427 1AB 28 508 501 1F5 3 421 280 118 75 424 354 162 51 315 428 1AC 28 182 502 1F6 3 095 281 119 75 098 355 163 50 989 429 1AD 27 856 503 1F7 2 769 282 11A 74 773 356 164 50 663 430 1AE 27 531 504 1F8 2 444 283 11B 4 447 357 165 50 337 431 1AF 27 205 505 1F9 2 118 284 11C 74 121 358 166 50 011 432 1B0 26 879 506 1FA 1 792 285 11D
27. 15 65 173 AD 45 66 242 F 4 745 36 24 15 39 105 69 6 05 174 AE 46 19 243 F 4 765 37 25 14 71 106 6A 16 44 175 AF 46 73 244 F 4 784 38 26 417 107 6B 16 84 176 BO 47 28 245 F 4804 39 21 357 108 6C 17 23 177 BI 47 83 246 Fi 82 40 28 12 98 109 6D 17 62 178 B2 18 39 247 F7 4843 4 29 12 40 110 6E 18 02 179 B3 48 95 248 Fi 4 863 42 2A 183 111 6F 18 41 180 B4 49 52 249 F 4 882 23 2B 1 26 112 70 1881 181 B5 50 09 250 FA 4 902 44 2C 10 71 113 71 19 20 182 B6 50 68 251 FI 4 922 45 2D 10 16 114 72 19 60 183 B7 51 27 252 FC 4 941 46 2E 9 62 115 73 19 99 184 B8 51 86 253 Fi 4 961 47 2F 909 116 74 20 39 185 B9 52 47 254 Fi 4 980 48 30 8 56 117 75 20 79 186 BA 53 08 255 Fi 5 000 49 31 8 04 18 76 21 19 187 BB 53 70 50 32 53 119 71 21 58 188 BC 54 33 51 33 7 02 120 78 21 98 89 BD 54 96 52 34 6 52 121 79 22 38 90 BE 55 61 53 35 6 02 122 7A 22 78 191 BF 56 26 54 36 553 123 7B 23 18 92 CO 56 93 55 37 5 04 124 7C 23 59 193 Ci 57 60 56 38 5256 125 7D 23 99 194 C2 58 28 57 39 4 08 126 7E 24 39 195 C3 58 98 58 3A 36 127 7F 24 80 96 C4 59 68 59 3B 3 14 128 80 25 20 197 C5 60 40 60 3 267 129 81 25 61 98 06 61 13 61 3D 2 21 130 82 26 02 199 C7 61 87 62 3E 4 75 131 83 26 43 200 C8 62 63 63 SF 129 132 84 26 84 201 co 63 39 64 40 0 84 133 85 27 25 202 CA 64 17 65 A 0 39 134 86 27 66 203 CB 64 97 66 42 0 05 135 87 28 08 204 CC 65 78 67 23 0 49 136 88 28 50 205 CD 66 61 68 44 093 137 89 28 91 206 CE 67 46 54
28. 25 C 85 C Contact Resistance 30mQ MAX Withstanding Voltage AC1000V 1min Insulation Resistance 1000MQ MIN Applicable Wire Applicable P C B 1 2 1 6mm Applicable FPC FFC Solder Height Crimp Tensile Strength UL FILE NO E108706 thinking MORE for U Dongbu Robot Herkulex 2 00mm 0 079 PITCH CONNECTOR Housing Wire to Board YH200 Series TERMINAL ASSEMBLY DRAWING AWG 22 428 Material UNO DESCRIPTION TITLE MATERIAL 1 HOUSNG YH200 PAGG UL 94V Grade Available Pin PARTS NO A B Cc YH20002 58 44 20 YH200 03 78 64 40 YH200 04 98 84 80 YH200 06 118 104 80 YH20006 138 124 10 0 YH200 07 158 144 12 0 YH200 08 178 164 140 YH20009 198 184 180 YH200 10 218 204 180 YH200 11 238 24 20 0 YH200 12 258 244 220 YH200 13 28 264 240 YH200 14 298 284 260 YH200 15 318 304 28 0 Specification ITEM SPEC Voltage Rating AC DC 125V Current Rating ACDC 3A Operating Temperature 250 85 Contact Resistance 30mQ MAX Withstanding Voltage AC1000V 1min Insulation Resistance 1000MQ MIN Applicable Wire AWG 24 28 Applicable P C B E Applicable FPCFFC Solder Height Crimp Tensile Strength UL FILE NO E108706 Appl
29. 4 4A 3 52 143 8F 31 46 212 D4 4 157 6 6 47 86 75 4B 394 144 90 31 89 213 D5 4 176 7 FA 45 49 76 AC 4 37 145 91 32 32 214 D6 4 196 8 8 43 40 77 4D 478 146 92 32 76 215 D7 4216 9 9 41 51 78 4E 5 20 147 93 33 20 216 D8 4 235 10 A 39 79 79 4F 5 62 148 94 33 64 217 D9 4255 1 B 3820 80 50 6 03 149 95 34 08 218 DA 4275 12 C 36 73 81 51 644 150 96 34 53 219 DB 4294 13 D 3535 82 52 686 151 97 34 97 220 DC 4314 14 E 3406 83 53 727 152 98 35 42 221 DD 4 333 15 E 32 83 84 54 7 67 153 99 35 88 222 DE 4 353 16 10 3167 85 55 808 154 9A 36 33 223 DF 4 373 17 1 30 57 86 56 849 155 9B 36 79 224 E 4 392 18 12 29 51 87 57 8 89 156 9C 37 25 225 E 4412 19 13 528 50 88 58 9 29 157 9D 3772 226 E 4 431 20 14 2753 89 59 9 70 158 9E 38 18 227 E 4 451 21 5 2659 90 5A 10 10 159 9F 38 66 228 E 4471 22 16 2569 9 5B 10 50 160 A0 39 13 229 E 4 490 23 7 2A 82 92 5C 10 90 161 Ai 30 61 230 E 4510 24 18 2397 93 5D 11 30 162 A2 40 09 231 E7 4529 25 19 23 15 94 SE 11 70 163 A3 40 57 232 E 4 549 26 1A 236 95 5F 12 09 164 A4 41 06 233 E 4 569 27 1B 21 59 96 60 12 49 165 A5 41 56 234 E 4588 28 1C _ 20 83 97 61 12 89 166 AG 42 05 235 E 4 608 29 D 2010 98 62 13 28 167 A7 42 56 236 E 4 627 30 E 19 38 99 63 3 68 168 A8 43 06 237 E 4 647 3 F 1868 100 64 4 07 169 A9 43 57 238 E 4 667 32 20 58 00 101 65 4 47 170 AA 44 09 239 E 4 686 33 21 17 33 102 66 4 86 171 AB 44 61 240 Fi 4 706 34 22 1667 103 67 5 26 172 AC 45 13 241 F 4725 35 23 16 03 104 68
30. 518 455 1C7 19 385 529 21 5 702 308 134 66 302 382 17E 42 192 456 1C8 19 060 530 212 6 027 309 135 65 976 383 17F 41 866 457 1C9 18 734 531 213 6 353 310 136 65 650 384 180 41 540 458 1CA 18 408 532 214 6 679 311 137 65 324 385 181 41 215 459 1CB 18 082 533 215 7 005 312 138 64 998 386 182 40 889 460 1CC 7756 534 216 7 331 313 139 64 673 387 183 40 563 461 1CD 743 535 217 7 656 314 13A 64 347 388 184 40 237 162 1CE 17 105 536 218 7 982 315 13B 64 021 389 185 39 911 463 1CF 16 779 537 219 8 308 316 13C 63 695 390 186 39 585 464 1D0 16 453 538 21A 8 634 317 13D 63 369 391 187 39 260 465 1D1 16 127 539 21B 8 960 318 13E 63 044 392 188 38 934 466 1D2 15 802 540 21C 9 285 319 13F 62718 393 189 38 608 467 1D3 15 476 541 21D 9 611 320 140 62 392 394 18A 38282 468 1D4 15 150 542 ZE 9 937 321 141 62066 395 18B 37 956 469 1D5 4824 543 21F 10 263 322 142 61 740 396 18C 37 631 470 1D6 14 498 544 220 10 589 323 143 61 415 397 18D 37 305 471 1D7 14 173 545 221 10 915 324 144 61 089 398 18E 36 979 472 1D8 13 847 546 222 11 240 325 145 60 763 399 18F 36 653 473 1D9 13 521 547 223 11 566 326 146 60 437 400 190 36 327 474 1DA 13 195 548 224 11 892 327 147 60 111 401 191 36 002 475 1DB 12 869 549 225 12 218 328 148 59 785 402 192 35 676 476 1DC 12 544 550 226 12 544 329 149 59 460 403 193 35 350 477 1DD 12 218 551 227
31. 6 502 40 28 153 618 109 6D 131 137 178 B2 108 656 247 F7 86 76 41 29 153 292 10 6E 130 811 179 B3 108 331 248 F8 85 850 42 2A 152 966 111 6F 130 485 180 B4 108 005 249 F9 85 524 43 2B 152 640 112 70 130 160 181 B5 107 679 250 FA 85 198 44 2C 152 315 113 71 129 834 182 B6 107 353 251 FB 84 873 45 2D 151 989 114 72 129 508 183 B7 107 027 252 FC 84 547 46 2E 151 663 15 73 129 182 184 B8 106 702 253 FD 84 221 47 2F 151 337 116 74 128 856 185 B9 106 376 254 FE 83 895 48 30 151 011 117 75 128 531 186 BA 106 050 255 FF 83 569 49 31 150 685 118 76 128 205 187 BB 105 724 256 100 83 244 50 32 150 360 119 77 127 879 188 BC _ 105 398 257 101 82918 51 33 150 034 120 78 127 553 189 BD 105 073 258 102 82 592 52 34 149 708 121 79 127 227 190 BE 104 747 259 103 82 266 53 35 149 382 122 7A 126 902 191 BF 104 421 260 104 81 940 54 36 149 056 123 7B 126 576 192 co 104 095 261 105 81 615 55 37 148 731 124 7C 126 250 193 Ci 103 769 262 106 81 289 56 38 148 405 125 7D 125 924 194 C2 103 444 263 107 80 963 57 39 148 079 126 7E 125 598 195 C3 103 118 264 108 80 637 58 3A 147 753 127 7F 125 273 196 C4 102 792 265 109 80 311 59 3B 147 427 128 80 124 947 197 C5 102 466 266 10A 79 985 60 3C 147 102 129 81 124 621 198 C6 102 140 267 10B 79 660 61 3D 146 776 130 82 124 295 199 C7 1018
32. 89 on D3 5 630 20 14 1481 84 54 6 222 148 94 0 963 212 D4 5704 21 15 1 556 85 55 6 296 149 95 11 037 213 D5 15 778 22 16 630 86 56 6 370 150 96 11 111 214 D6 15 852 23 17 1 704 87 57 6 444 151 97 11 185 215 D7 15 926 24 18 1778 88 58 6519 152 98 11 259 216 D8 16000 25 19 1 852 89 59 6 593 153 99 1 333 217 D9 16 074 26 1A 1 926 90 5A 6 667 154 9A 11 407 218 DA 6 148 27 1B 2 000 91 5B 6 741 155 9B 11 481 219 DB 16 222 28 ic 2 074 92 5C 6815 156 9C 11 556 220 DC 6 296 29 1D 2148 93 5D 6 889 157 9D 11 630 221 DD 16 370 30 1E 2222 94 5E 6 963 158 9E 11 704 222 DE 16 444 31 1F 2 296 95 5F 7 037 159 9F 1778 223 DF 16 519 32 20 2 370 96 60 7111 160 AO 1 852 224 EO 6 593 33 21 2 444 97 61 7 185 161 AI 11 926 225 El 16 667 34 22 2519 98 62 7 259 162 A2 12 000 226 E2 16 741 35 23 2 593 99 63 7 333 163 A3 12074 227 E3 16 815 36 24 2 667 100 64 7 407 164 Ad 2148 228 E4 16 889 37 25 2741 101 65 7 481 165 A5 12 222 229 E5 6963 38 26 2 815 102 66 7 556 166 A6 2 296 230 E6 17 037 39 27 2 889 103 67 7 630 167 AZ 2370 231 E7 T7411 40 28 2 963 104 68 7 704 168 A8 12444 232 E8 17 185 AI 29 3 037 105 69 7 778 169 AQ 12 519 233 E9 7 259 42 2A sm 106 6A 7 852 170 AA 2593 234 EA 7 383 43 2B 3 185 107 6B 7 926 171 AB 12 667 235 EB 17 407 44 2C 3 259 108 6C 8 000 172 AC 12 741 236 EC 17 481 45 2D 3 333 109 6D 8 074 173 AD 12 815 237 ED 7 556 46 2E 3407 110 6E 8 148 174 AE 12889 238 EE 7 630 47 2F 3 481 111 6F 8 222 175 AF 12 963 239 EF 7 704 48 30 3 556 112 70 8 296 176 BO
33. Address 14 When the 0 point of the PWM is moved PWM will increase output by the amount of the Offset This output could be used to act as a compensator in a system where load is on one side Ex Gravity By moving the 0 point constant force directed towards 0 pont can applied Force purshing upwards when PWM position reached i I Position Position Goal Position PWM ES Before setting EA After setting gt Minimum PWM RAM Register Address 15 PWM output value does not fall below the r Min PWM Minimum PWM is used when there is jerky movement due to tight fitting or friction in the servo application system but assigning Minimum PWM that is too large may lead to unstable system Maximum PWM RAM Register Address 16 PWM output value does not exceed r Max PWM Battery life could be increased by limiting the Maximum PWM but it will also decrease the maximum servo torque p Relationship between Saturator amp PWM PWM results in servo output As seen in the graph below there are several parameters controlling the servo output These parameters can be manipulated to build optimum servo system To see the characteristics of each parameter refer to the detailed explanation section in the manual thinking MORE for U o Dongbu Robot Herkulex oe n PWM Dead Zone r Saturator Offset veda a eet ee rae Si oi ee Cee Pee se ee re r PWM MIN
34. Allowed POT Limit activated Actual operation is limited to Min Position 25 Max Position se Dongbu Robot RW Maximum operational angle When requested position angle is greater than Max Postion Exosed Allowed POT Limit activated Actual operation is limited to r Max Position Herkulex NO Type Bytes EEP ADDR RAM ADDR RW Description 26 Position Kp 2 30 24 RW Proportional Gain 27 Position Kd 2 32 26 RW Derivative Gain 28 Position Ki 2 34 28 RW Integral Gain 29 Position Feedforward 1st Gain 2 36 30 RW Refer to Pg 35 30 Position Feedforward 2nd Gain 2 38 32 RW Refer to Pg 35 31 Reserved 2 40 34 Reserved 32 Reserved 2 42 36 Reserved 33 LED Blink Period 1 AA 38 RW a A re period according to Temp Voltage error check interval 1 11 2ms 34 ADC Fault Check Period 1 45 39 RW Error activated if Temp V error lasts longer than the check interval Incomplete packet check interval 3 Packet Garbage 1 4 4 RW 12ms wu i 5 Check Period 9 0 Incomplete packet is deleted if it reamains longer than the error check interval Time limit to determine if the servo has stopped 36 Stop Detection 1 47 41 RW 1 11 2ms Period Servo confirmed Stopped if stoppage lasts past set time limit 37 Overload Detection Period 1 48 42 RW Overogd error check interval When position change is less than Sop Threshold 38 Stop Threshold 1 49 43 RW Serv
35. OxFE which is a special value that affects all the servos in the network x To avoid confusion with Servo ID ID within the packet is deonoted pID Type pID Value 0 OxFE Byte 1 gt CMD CMD is actual instructons for the servo to perfom when packet is received There are 9 types of CMD in Request Packet EEP WRITE 0x01 EEP READ 0x02 RAM WRITE 0x03 RAM READ 0x04 JOG 0x05 S JOG 0x06 STAT 0x07 ROLLBACK 0x08 REBOOT 0x09 ACK Packet also has equivalent set of CMD but to distinguish from the Request CMD ACK Packet adds 0x40 For example ACK Packet CMD for Request Packet EEP_WRITE 0x01 would be 0x41 Type CMD 0x01 0x09 Request Packet Value 0x41 0x49 ACK Packet Byte 1 thinking MORE for U se Dongbu Robot Herkulex Check Sumi Check Sum1 is used to check for errors in the Packet Check Sum1 is calculated as follows Check Sumi PacketSize pID CMD Data 0 Data 1 Dataln amp OxFE Header Check Sum1 Check Sum2 are not included in the calculation x AB Bit Exclusive OR Operator A is different from B 1 True same O False Type Check Sum1 Value PacketSize pID CMD Datal0 Data 1 Dataln amp 0xFE Byte 1 Check Sum2 Checksum is also used to check for errors in the Packet Check sum is calculated as follows Check Sum CheckSum1 amp OxFE x SA Bit Not Operator A 0 1 True A 1 O False
36. S oD oono Rw ES oa 16 Dead Zone 1 0x00 0x00 OxFE RW Outside control sensor range 17 Saturator Offset 1 0x00 Ox00 OxFE RW Refer to Pg 36 18 Saturator Slope 2 OxO0000 0x0000 Ox7FFF RW Refer to Pg 36 20 PWM Offset 1 0x00 128 127 i Ia 21 Min PWM 1 0x00 OX0O OFE RW Ro value 22 Max PWM 2 Ox03FF 0100005 0X03FF RW Repez VM vale 24 Me da 2 0x03FE 0x0000 OEFE RW o e treshold range 26 Min Position 2 0x0015 0x0000 Ox03FF Rw Minimum position value 0 1023 28 Max Position 2 Ox03EA 0x0000 0x03FF Rw Maximum postion value 0 1023 30 Position Kp 2 Ox01B8 0x0000 Ox7FFF RW Proportional Gain 32 Position Kd 2 Ox1F40 Ox0000 Ox7FFF RW Derivative Gain 34 Position Ki 2 0x0000 0x0000 Ox7FFF RW Integral Gain 36 Postton Feed forward 2 040000 OOOOO OFFF RW Refer to Py 35 38 Postion Feedionward 2 640000 00000 gt OFFF RW Referio Py 35 40 Reserved 2 Reseved 42 Reserved 2 Reserved 44 LED Blink Period 1 Ox2D te Di ac OM 45 ADC Fault Check Period 1 Ox2D O00 OFE RW oi a 6 erod X2 000 ORE RW irem Onto Oe i Soo Delio Ped OdB 0x00 OxFE hy Stop detection check period 11 2ms Tick 0x1B 302ms da ADDRESS Type Bytes Default Valid Range RW Description Overload Check Interval 48 Overload Detection Period 1 0x96 0x00 OxFE RW 112ma Tick 0x96 1685 49 Stop Threshold 1 0x03 0x00 OxFE RW Stop Threshold 50 Inposition Margin 1 0x03 0x00 OxFE RW Offset Threshold 51 Reserved 1
37. Servo connectors have same Pin assingment as the diagram below Multi Drop Network makes expansion easy RS232 Cable Pin Description 1 GND RS232 Cable 2 VDD 3 TXD 4 RXD S A Caution Servos must be cross connected to the PC or Motion Controller Examples of cross connection would be Servo TXD to PC or Motion Controlller RXD Servo RXD to PC or Motion Controller TXD A Caution Do not connect the servo directly to the PC without using the Motion Controller or Signal Converter Even though both PC and the servo uses serial protocol TXD RXD they are not directly compatible due to electrical difference A Caution If using custom made Wire Harness make sure to check that connector pin assingments are in correct order Servo LED will blink once if it is receiving power properly If the LED does not blink check the connector pin assignment and the power supply Voltage and Amp thinking MORE for U o Dongbu Robot Herkulex 4 Operation 4 1 Communications Protocol Servo Controller communicates with the servos in the network by sending a Reguest Packet and receiving ACK Packet back from the servo The example below shows the controller sending a Reguest Packet to the Servo n and receiving ACK packet back from the Servo n Regardless of the number of servos in the network only the servo with correct ID n w
38. W When r Temperature is greater than Max Temperature Gius Error Exceed Temperature Limit activated 12 Max Temperature 1 11 5 Minimum operational voltage When Servo input voltage r Voltage is below 13 Min Voltage 1 12 6 RW r Min Voltage Status Error Exceed Voltage Limit activated Voltage 0 074 X ADC Maximum operational voltage lt When Servo input voltage r Voltage is greather 14 Max Voltage 1 13 7 RW tranrMex Votage Status Error Exceed Voltage Limit activated Voltage 0 074 X ADC thinking MORE for U se Dongbu Robot Herkulex NO Bytes EEP ADDR RAM ADDR Description 15 Acceleration Ratio RW Acceleration ratio regarding velocity Profile Ratio of operation time of Motion command LJOG S_JOG Acceleration ratio is same as decceleration ratio Maximum Acceleration Ratio value is 50 Ex When operating time is 100ms and r Acceleration Ratio is 20 Acceleration time is 100 X 0 2 20ms When r Acceleration Ratio is 0 speed profile is rectangle When r Acceleration Ratio is below 50 velocity profile is triangle 16 Max Acceleration Time RW Maximum acceleration me 1 112ms When maximum acoeleration time Max Acceleration Time is 254 2 844sec x When Max Acceleration Time is O velocity profile is rectangle 17 Dead Zone RW Outside control range Dead Zone only funtions within position control 18 Saturatio
39. X7FFF RW er eval 42 Overload Detection Period 1 Ox00 OxFE RW maa li 43 Stop Threshold 1 0x00 OxFE RW Stop Threshold 44 Inposition Margin 1 0x00 OxFE RW Offset Threshold 45 Reserved 1 Reserved 46 Reserved 1 Reserved 47 Calibration Difference 1 128 127 RW Servo compersation 48 Status Error 1 0x00 Ox7F RW Refer to Pg 39 49 Status Detail 1 0x00 Ox7F RW Refer to Pg 39 50 Reserved 1 Reserved 51 Reserved 2 Reserved 52 Torque Control 1 MASK 0x60 RW Torque enable states Refer to Pg 28 53 LED Control 1 Ox00 0x07 RW Ox01 Green 0x02 Blue 0x04 Red 54 Voltage 2 Ox00 OxFE RO a ci s 55 Temperature 2 0x00 OxFE RO si Qi 56 Current Control Mode 2 0 1 RO a mie E 57 Tick 2 0x00 OxFF RO 11 2ms Tick 58 Calibrated Position 2 RO Calbrated current position Raw Data 10Bit 0 1023 60 Absolute Position 2 RO Uncalibrated absolute position Raw Data 62 Differential Position 2 RO Position change 11 2ms 64 PWM 2 RO Torgue Raw Data 66 Reserved 2 Reserved 68 Absolute Goal Position 2 RO Uncalibrated goal position Raw Data 70 Tra ado RSS 2 RO Current intermediate goal position in trajectory 72 Desired Velocity 1 RO Desired speed based on speed profile Raw Data thinking MORE for U se Dongbu Robot Herkulex NO Type Bytes EEP ADDR RAM ADDR RW Description 1 Model No1 1 0 _ RO Servo Model Name 2 Model No2 1 1 3 Versioni 1 2 RO Firmware 0 unu 4 Version2 1 3 x fo
40. ached if the deviation is less than r Inposition Margin p Saturator Offset Saturator Slope RAM Register Address 11 12 Saturation Offset and Saturation Slope work in similar manner to the PWM However by controlling the limit per given section accurate Saturator can be designed to provide flexible and elastic response to the external force The garph below shows the PWM with several settings The thick grey line show the PWM without the Saturator Offset and Slope settings The red line shows the actual PWM output with the Saturator Offset amp Slope set The blue dotted line shows the boundary of the force restrained by the Saturator The restrain by the Saturator on PWM value increases when near the goal position and decreases when further away from the goal position The effect on PWM is smiliar to having a spring installed near the goal position resulting in low strength near the goal position and strength increasing with distance Assuming the servo is stopped at the goal position Saturator allows flexible response to external force and provides assistance when trying to hold delicate object E Before Saturator Goal Position ME After Saturator PWM A PWM Max 4 PWM Saturator Slop GOAL Position gt Position Position Position Position Saturation Offset Dead Zone Spor TRAM 1 PWM Max PWM thinking MORE for U se Dongbu Robot Herkulex PWM Offset RAM
41. d Write RO refers to read only Registers Writing to RO Register will result in error RO Registers hold fixed values such as Model Version or sensor values used for feedback RW refers to Registers which be both read and written to e Reg_Name Refers to Reg_Name in EEP Register x r Reg Name Refers to Reg Name in RAM Register ADDRESS Type Bytes Default Valid Range RW Description 0 Model Not 1 Ox01 7 RO Shows DRS 0101 model 1 Model No2 1 0x01 RO For DRS 0201 Model Not is 0x02 2 Versioni 1 0x00 RO Firmware Version 3 Version2 1 0x90 RO thinking MORE for U se Dongbu Robot Herkulex ADDRESS Type Bytes Default Valid Range RW Description 4 Baud Rate 1 0x10 Refer to Pg 26 RW Communication Speed 5 Reserved 1 0x00 Reserved 6 D 1 OFD OOTD RIN Ono ID no esserci 7 ACK Policy 1 0x01 0x00 0x2 RW Refer to Pg 33 8 Alarm LED Policy 1 Ox7F 0x00 Ox7F RW Activates alam LED according to policy 9 Torque Policy 1 0x35 0x00 Ox7F RW Releases torque according to policy 10 Reserved 1 Reserved 11 Max Temperature 1 OxDE 0x00 OxFE RW Maimumalowed temp ODF 85 C 12 Min Voltage 1 0x5B 0x00 OxFE RW Minimum alowed volage 0x5B 6714DCV 13 Max Voltage 1 0x89 0x00 OxFE RW Maximum allowed votage 0x89 10DCV 14 Acceleration Ratio 1 Ox19 040004250 RW to acceleration or deceeleraton TC
42. ervo Status r Status Error Status Detail STAT STAT Packet always receive reply Change all values in EEP Register to Factory default value ROLLBACK DD and Baud Rate maybe exempted from Factory Default by using ID Skip Baud Skip Byte REBOOT e Reboot Servo e Dongbu Robot HerkulexX 6 Command Examples 5 1 EEP READ Request 4 Bytes of information from EEP Register Ox1E Address of Servo ID 253 4 Bytes from EEP Register OxlE Address are e Position Kp and e Position Kd Header Packet Size pID CMD EEP_READ 0 1 2 3 4 OxFF OxFF 9 Servo ID 0x02 Example1 OxFF OxFF 0x09 9 OxFD Ox02 Check Sum1 Check Sum2 Data EEP_READ 5 6 y Refer to Checksum formula mana paa Example1 OXEC 0X12 Ox1E 0x04 Request to read Length of values from EEP Register Address Data length is 2Bytes Address 1Byte Length 1Byte be imp 7 Standad Size 2 Data length Servo ID OxFD 253 0x02 Refer to Pg 40 E Checksum1 PacketSize pID CMD Data 0 Data 1 amp OxFE Refers to starting address of EEP Register being Read Ox1E 30 in the example is starting address of Position Kp Data 1 Refers to number of Bytes to be READ from the starting address 0x04 in the example means 4Bytes will be read In other words 4Bytes from Position Kp starting address will be read Position Kp 2Bytes variablejand Position Kd 2Bytes variable will be read Dongbu Robot HerkuleX ACK Pack
43. et Header Packet Size pID CMD Check Sumi Check Sum2 EEP_READ 0 1 2 3 4 5 6 ACK of Examplel OxFF OxFF OxOF OxFD 0x42 0x4C OxB2 Data 7 8 9 10 11 12 13 14 Datal0 Datal1 Datal4 Datal5 Address Length Datal2 Datal3 Datal4 Datal5 Status Error Status Detail OxlE 0x04 OxB8 Ox01 0x40 Ox1F 0x00 0x00 CMD Request Packet CMD 0x02 0x40 Reply with 0x42 e Position Kp 440 0x1B8 Position Kd 8000 0x1F40 Last 2Bytes of all ACK Packet contain Status Error 1Byte and Status Detail 1Byte 6 2 EEP WRITE ID 253 e Position Kp Kd Address 0x1E 30 4Bytes Register Ko 200 0x00C8 Kd 1000 0x03E8 Write Header Packet Size pID CMD Check Sumi Check Sum2 EEP WRITE 0 1 2 3 4 5 6 OxFF OxFF 7 2 Length Servo ID 0x01 Refer to Checksum Formula Example1 OxFF OxFF 0x0D 13 OxFD Ox01 OXC8 0X36 Data x 8 9 11 12 ile at Date Datal2 Datal3 Datelal Data 5 OxlE 0x04 0XC8 OX00 0XE8 0X03 Datal2 Data 5 Datal2 Data 3 will be changed to e Position Kp and Datal4 Data 5 will be changed to e Position Kp You must input Byte in reverse order by Little Endian rule Refer to Pages 23 for Little Endian EEP Register To apply changed EEP Register value Servo has to be reboot first thinking MORE for U Dongbu Robot Herkulex 6 3 RAM_WRITE ID 253 LED Control Address 0x35 53 Request Green LED On ID 253 r Status Error Status Detail Re
44. et occurs detailed X LED Policy When Check bit error occurs information is record in Status Detail Register LED RED blinks consistently x Moving Inposition MOTOR ON flag are Servo Policy When Check bit error occurs Read only Torgue is released to Freerun state MOTOR ON Torgue ON Yellow lines above points to error detail when Status Error shows Invalid Packet 0x08 Invalid Packet can be divided into 5 different causes 4 shows in the Status Detail and other Portions of Status Detail are Read only but can be Written to by the Protocol Read only values are just ignored not actually Written to thinking MORE for U o Dongbu Robot Herkulex 5 Sane Set F To control the Servo CMD is sent to the servo from the Controller in Binary format Our servos are controlled by 9 different CMDs Once the Servo receives Request Packet with included CMD Servo performs requested operation and returns the result to the Controller by ACK Packet 5 1 To Servo Module Request Packet Type CMD Explanation EEP_WRITE 0x01 Write Length number of values to EEP Register Address EEP_READ 0x02 Request Length number of values from EEP Register Address May not reply depending on r ACK Policy RAM_WRITE 0x03 Write Length number of values to RAM Register Address Request Lenght number of values from RAM Register Address RAMEREAD 0x04 May not reply depending on r ACK Policy Able to se
45. et to 2 meaning Always Reply Send ACK Packet Header Packet Size pID CMD Check Sumi Check Sum2 ROLLBACK 0 1 2 3 4 5 6 OxFF OxFF 9 Servo ID 0x08 Refer to Pg 20 Example OxFF OxFF Ox09 OxFD 0x08 OxFC 0x02 ROLLBACK ACK OxFF OxFF 0x09 OxFD 0x48 OxFC 0x02 Optional Data T 8 Datal0 Data 1 ID Skip Band Skip 1 1 00 0x40 thinking MORE for U se Dongbu Robot HerkuleX 6 9 REBOOT ID 254 Reboot REBOOT ACK 2222 When r ACK Policy is set to 2 meaning Always Reply Send ACK Packet Header Packet Size pID CMD Check Sumi Check Sum2 REBOOT 0 1 2 3 4 5 6 OxFF OxFF 7 Servo ID 0x09 Refer to Pg 20 Example1 OxFF OxFF 0x07 OxFD 0x09 0xF2 Ox0C REBOOT ACK OxFF OxFF Ox09 OxFD Ox49 OxBC 0x42 Optional Data 7 8 Datal0 Datal1 0x00 0x00 Dongbu Robot HerkuleX Reference 2 00mm 0 079 PITCH CONNECTOR 68 5 1 Barang PCB ASSY PARTS NO Material YW200 Series UNO DESCRIPTION TITLE MATERIAL Wire to Board 1 WAFER YW200 PA66 UL 94V Grade Wafer DIP 2 PIN Brass Tin plated Straight Available Pin YW200 15 28 0 Specification Voltage Rating AC DC 125V Current Rating AC DC 3A Operating Temperature
46. ication Terminal YT200 119 page thinking MORE for U Dongbu Robot Herkulex ADC Voltage Coversion Chart AD AD AD AD C VIN C VIN VIN C VIN Decimal HEX Decimal HEX Decimal HEX Decimal HEX 0 0 0 000 64 40 2741 128 80 9 481 192 CO 4 222 1 1 0 074 65 Al 4815 129 81 9 556 193 C1 14 296 2 2 0 148 66 42 4889 130 82 9 630 194 C2 14 370 3 3 0 222 67 43 4 963 131 83 9 704 195 C3 14 444 4 4 0 296 68 44 5 037 132 84 9778 196 C4 14 519 5 5 0 370 69 45 5 111 133 85 9 852 197 Us 4 593 6 6 0 444 70 46 5 185 134 86 9 926 198 06 4 667 7 7 0 519 71 47 5 259 135 87 10 000 199 C7 14 741 8 8 0 593 72 48 5 383 136 88 0 074 200 c8 14 815 9 9 0 667 73 49 5 407 137 89 0 148 201 C9 14 889 10 A 0 741 74 4A 5 481 138 8A 0 222 202 CA 14 963 ti B 0 815 75 4B 5 556 139 8B 0 296 203 CB 15 037 12 0 889 76 AC 5 630 140 8C 10 370 204 CC 15 111 13 D 0 963 TI 4D 5 704 141 8D 10 444 205 CD 15 185 14 E 1 037 78 4E 5778 142 8E 10 519 206 CE 5 259 15 F 1 111 79 4F 5 852 143 8F 0 593 207 CF 5 333 16 10 1185 80 50 5 926 144 90 0 667 208 DO 15 407 17 1 1 259 81 51 6 000 145 91 10 741 209 D1 15 481 18 12 1 333 82 52 6 074 146 92 0 815 210 D2 5 556 19 13 1 407 83 53 6 148 147 93 108
47. ill acknowledge the Reguest Packet and send the ACK Packet to the controller TX Reguest Packet Controller or PC RX ACK Packet Data Bit 8 a Stop Bit 1 Communication j Parity None Protocol Flow Control None Baud Rate 57 600 115 200 0 2M 0 25M 0 4M 0 5M 0 667M The communications speed of the PC communication ports or USB to Serial Cable can be limited by the hardware or by the device driver If problem occurs check the Baud Rate of the involved port of peripheral to make sure it supports 115 200bps If the supported Baud Rate can not found set the Baud Rate to 115 200bps or 57 600bps and try again The default factory setting for DRS 0101 and DRS 0201 is 115 200bps Type Header Packet Size pID CMD Check Sumi Check Sum Dataln Value OxFF OxFF 7223 0 OxFE 19 Refer to Detail Refer to Detail Refer to Detail Byte 1 1 1 1 1 1 1 MAX 216 KA thinking MORE for U 285 Dongbu Robot Herkulex Header Indicates start of the Packet Type Header Value OxFF OxFF Byte 1 1 Packet Size Refers to total Packe size in Bytes from Header to Data The maximum Packet Size 233 if the packet size is larger than 223 Bytes packet may not be recognized Minimum packet size is 7 which is packet without any data gt DID Unique DID value can range from O 253 which is total number of servos in the network Care must be taken when using pID value of
48. lti Drop type Network with 1 n configuration single controller connected to multiple n number of servos Controller or 232 Gender Communication BUS RXD User has direct control the three independently controlled LEDs Red Green Blue which are used for diagnostics and decorative purposes LED commands are sent together with the Operation command In case of an error diagnostics function ignores all LED commands and the Red LED starts to blink periodically according to the setting Ball bearing installed on the 4th gear shaft will prevent wear sloping and provide protection from external shocks that can bend the shaft or throw the gear out of mesh x DRS 0101 Plastic Bushing x DRS 0201 Metal Ball Bearing se Dongbu Robot Herkulex 3 2 3 Specification Dimension Weight 45mm W x 24 0mm D x 31mm H 45g 1 59 oz 45mm W x 24 0mm D x 31mm H 60g 2 12 oz DRS 0201 1 77 in W x 0 94 in D x 1 22 in H Reduction Ratio Gear Material 1 266 Super Engineering Plastic Heavy Duty Metal DRS 0201 Input Voltage Rated Current Motor 7 12VDC Optimized 7 4V 450mA 7 4V 1 7kgf cm 670mA O 7 4V 2 2kgf cm DRS 0201 Carbon Brush Cored DC Metal Brush Coreless DC DRS 0201 Stall Torque Maximum Speed 12kgf cm 166 8 ozf in 0 166s 60 7 4V 2Akgf cm 333 6 ozf in 0 147s 60 7 4V DRS 0201 Resolution 0 325 Operating Angle
49. matically plans out the trajectory to the goal position using the velocity profile Absolute Desired Trajectory Position is a current goal position or intermediate goal position to be reached on the way to final goal position Refer to the diagram to see the relationship between Absolute Goal Position and the Absolute Desired Trajectory Position thinking MORE for U Dongbu Robot Herkulex 4 BN ESTR aa ia 2 D Abselute Goal 8 Play iTime Position g Absolute Desired Desired Velocity Time Time 7 4 Command Current Command Current recevied recevied ACK Policy RAM Register Address 1 Sets ACK Packet reply policy when Request Packet is received 0 No reply to any Request Packet 1 Only reply to Read CMD 2 Reply to all Request Packet When the CMD is STAT ACK Packet will be sent regardless of r ACK Policy x There is no reply when the pID in Request Packet is 254 Broadcast pID with an exception of STAT CMD in which case reply will be sent Alarm LED Policy RAM Register Address 2 Sets Alarm LED policy when Error is detected When r LED Policy amp r Status Error is TRUE Alarm LED starts to blink Alarm LED blink period is set by r LED Blink Period When r LED Policy amp r Status Error is TRUE Any values written to r LED Control will be ignored to prevent confusion with Error state Error status r Stat
50. n angle is greater than r Max Position Exceed Allowed POT Limit in r Max Position becomes active and the operation is limited to r Max Position Default value is OX3EA approximately 159 8 Refer to conversion chart in Pg 53 for actual angle Position Kp RAM Register Address 24 Shows the Proportional Gain Increasing the Position Kp increases the response time but over response vibration overshoot will result if the increase is too large Position Kd RAM Register Address 26 Shows the Derivative Gain Increasing the Position Kd will suppress the over response vibration overshoot from Position Kp but unstability may result if the increase is too large gt Position Ki RAM Register Address 28 Shows the Intergral Gain Applied to correct small offset in Steady State May result in response lag if the increase is too large gt Position Feedforward Kd RAM Register Address 30 Shows Position Feedforward 1St Gain Applied to increase Servo response time Position Feedforward Kdd RAM Register Address 32 Shows Position Feedforward 2nd Gain applied to increase Servo response time LED Blink Period RAM Register Address 38 Shows the Alarm LED blink period set by the LED Policy when error occurs 1 is equivalent to 11 2ms Default value is Ox2D Approximately 504ms ADC Fault Check Period RAM Register Address 39 Temperature Input voltage error check interval 1 is equivalent
51. nd JOG command to maximum 43 servos 1JOG 0x05 JOG can set the operation timing of individual Servo JOG Refer to Pg 48 for details Able to send JOG command to maximum 53 servos S JOG 0x06 S_JOG All the Servos operate simultaneously at same time S JOG Refer to Pg 48 for details Status Error Status Detail request STAT 0x07 Always send reply reagardless of r ACK Policy Change all EEP Regsters to Factory Default value ROLLBACK Ox08 id from Factory Default depending on ID Skip and Baud Skip setting REBOOT 0x09 Request Reboot 5 2 To Controller ACK ACK Packet Type CMD Meaning e CMD 0x01 Reply Packet EEP_WRITE wen Default is no reply Reply possible by changing r ACK Policy setting EEP READ 0x42 Repy with n number of values from EEP Register Address May not reply depending on r ACK Policy setting KA thinking MORE for U 285 Dongbu Robot HerkuleX Type CMD Explanation CMD 0x03 Reply Packet RAM WE Default is no reply reply possible by changing r ACK Policy setting RAM_READ 0x44 di i r ACK Policy setting JOG 0x45 l MSN ee L Ga by changing r ACK Policy setting S_JOG na o o Li oe by changing r ACK Policy setting STAT 0x47 Status Error Status Detail Reply Always Reply regadless of r Ack Policy ROLLBACK 0x48 CO L a ap by changing r ACK Policy setting REBOOT 0x49 CMD Ox09 Reply Packet Default is n
52. nit Assembly Diagram Herkulex u 5 S 5 2 DD c o thinking MORE for 3 2 Joint Assembly Optional Brcket and Bolt Required Assembled Unit Assembly Diagram Assembled Unit Assembly Diagram Assembled Unit se Dongbu Robot Herkulex Assembled Unit Assembly Diagram Assembled Unit Assembly Diagram PAS N MENS PHM 2X6 Option ELM ASS A Assembled Unit Assembly Diagram Jp Wa Assembled Unit Assembly Diagram 5 S 5 2 DD c o thinking MORE for U o Herkulex li Assembled Unit Assembled Unit Assembled Unit Assembled Unit Assembly Diagram Assembly Diagram Assembly Diagram Assembly Diagram Herkulex thinking MORE for U 5 cc gt 2 O 6 A one HerkulexX O 2 O E E E 8 8 8 1 lt N E E E 8 S 5 D D D amp gs 2 A A a gt 2 O 2 O E E 3 3 3 lt 1 lt 5 oe 5 2 ke fe A thinking MORE for U Assembled Unit Assembly Diagram Assembled Unit Assembly Diagram Assembled Unit Assembly Diagram HerkulexX 5 S 5 2 ke fe A thinking MORE for U 3 3 Connector Pin amp System Assembly All the Servo to
53. o reply reply possible by changing r ACK Policy setting x ACK option changeable by using r ACK Policy x ACK Packet CMD is Request Packet CMD 0x40 x Last 2 Bytes of the ACK Packet includes r Status Error Status Detail 5 3 CMD Command Detailed Explanation CMD Explanation Request to read Length of values from EEG Register Address EEP READ Optional Data length is 2 Request to read Length of values from RAM Register Address RAM READ Optional Data length is 2 Reguest to write Length of values to EEG Register Address eee e Optional Data length is Address amp Length 1 Byte each Length Byte Request to write Length of values to RAM Register Address RAM_WRITE Optional Data length is Address amp Length 1 Byte each Length Byte Send instructions to multiple servos simultaneously able to set position time to each servo independenlly Able to set goal position time arrival time to each independently Jog requires 5Bytes of data for each servo Optional Data length of 50Bytes required if sending instructions to 10 servos simultaneously JOG Able to send instructions to multiple servos simultaneousy All serovs have same operational timing All servos arrive at goal position at same time S Jog rquires Ibyte for Playtime and 4Bytes for each servo Optional Data length of 41Bytes required if sending instructions to 10 servos simultaneously S JOG Request S
54. o seen as having stopped Ea a grab i jati ition t 39 Inposiion Margin 1 50 44 RW TinpesitonMeroni racognizod as godi position reached 40 Reserved 1 51 45 Reserved 41 Reserved 2 52 46 Reserved i calibrate a pe ioe 42 Calibration Difference 1 53 47 RW icalibration Diference n e MCalibraton Difference Absolute postion Newtral point 512 _ Shows 7 different status 43 Status Error 1 48 RW Refer to Pg 39 Shows 7 different status 44 Status Detail 1 49 RW Refer to Pg 39 45 Reserved 1 50 Reserved 46 Reserved 1 51 Reserved Torque enable states 0x40 Break On 0x60 Torque On 0x00 Torque Free When Torque enabled Mode depends on Current Control Mode before Torque On x r C t Control Mode defaults t 47 Torque Control 1 52 Ra thinking MORE for U se Dongbu Robot Torque On Operation possible state x Break On Opeation command JOG S JOG not possible Torque Free Similar to Break On Joints manually movable Herkulex NO Type Bytes EEP ADDR RAM ADDR RW Description Servo LED control When corresponding Bit value 1 On 0 Off 0x01 Green 0x02 Blue 0x04 Red 18 LED Control 1 53 RW x When alam LED aciveted by Status Error and r Alarm LED Policy r Led Control Write value ignored 49 Voltage 1 54 RO Input Voltage 0 074 X ADC 50 Temperature 1 55 RO Internal Servo Temperature Current time Ser
55. oal Position 512 Red LED On Operating Time 60 672ms Example 2 ID 253 Continuous Rotation Goal Speed 704 Blue LED On Operating Time 60 672ms thinking MORE for U se Dongbu Robot Herkulex Header Packet Size pID CMD Check Sumi Check Sum2 S_JOG 0 1 2 3 4 5 6 OxFF OxFF 7H5XI JOG Servo ID 0x06 Refer to Checksum Formula Example1 OxFF OxFF Ox0C 12 OxFD 0x06 0x30 OxCE Example2 OxFF OxFF Ox0C 12 OxFD 0x06 OxFE Ox00 Optional Data 7 8 9 10 if S JOG S 0 PLAY TIME JOG LSB JOG MSB SET ID 0x3C 60 0x00 0x02 0x04 OxFD Ox3C 60 40 0x01 OxOA OxOA Refer to Packet structure below for explanation of each Bit in S JOG Able to use Structure as below for convenience LSB Least Significant Bit first for Bit value Example1 SET Ox04 is Position Control Green LED On typedef struct int iJogData lo unsigned int uiReservedi li unsigned int uiStop al unsigned int uiMode 1 1 Speed Control unsigned int uiLED 3 Green Blue Red unsigned int uiJoglnvalid 8 unsigned int uiReserved2 SE unsigned int ucID 8 SJOG TAG Bit Variable size or bit field may vary depending on the compiler or compiler setting The above example uses 16 bit variable The structure byte alignment of the process may vary as well The above example uses 1byle alignment as standard thinking MORE for U dor Dongbu Robot Herkulex JOG S JOG Packet Structure
56. quest to Clear Address 0x30 48 to 0 ID 253 r Torgue Control Request to write 0x60 to Address 0x34 52 for Torque On x Make sure to haveTorque On before JOG S JOG command to avoid error Header Packet Size DID CMD Check Sumi Check Sum2 RAM WRITE 0 1 2 8 4 5 6 OxFF OxFF 7 2 Length Servo ID 0x03 Refer to Checksum Formula Example1 OxFF OxFF Ox0A 10 OxFD Ox03 OxCO Ox3E Example2 OxFF OxFF Ox0B 11 OxFD 0x03 OxC6 0x38 Example3 OxFF OxFF Ox0A 10 OxFD 0x03 OxAO Ox5E Optional Data 7 8 9 10 eee Dela Datal2 Data 3 0x35 0x01 0x01 0x30 0x02 0x00 0x00 0x34 0x01 Ox60 6 4 RAM_READ ID 253 Read 1 Byte from Address 0x35 53 Addressed Register is r LED Control o Dongbu Robot Herkulex Reply to RAM READ CMD 0x04 with Packet reply CMD is 0x44 last 2Bytes of All ACK Packet contain r Status Error and r Status Detail ACK Packet reply option can be changed by r ACK Policy 0x01 is r LED Control value it means Green LED is on Data 3 is Status Error No Error Data 4 0x42 means Torque On and Inposition Arrived at goal position Header Packet Size pID CMD Check Sumi Check Sum2 RAM READ 0 1 2 3 4 5 6 OxFF OxFF 7 2 Length Servo ID 0x03 Refer to Checksum Formula Example1 OxFF OxFF Ox09 9 OxFD Ox04 OxC4 Ox3A Ren aka OxFF OxFF OxOC OxFD 0x44 OxC2 Ox3C Optional Data 7 8 9 10 11 2 Datel Data 2 Data 3 Data 4 0x35 0x01 0x35
57. r DRS 0201 Model Not is 0x02 Default Baud Rate is 115 200bps 0x02 666 666bps 0x03 500 000bps 0x04 400 000bps 5 Baud Rate 1 4 RW 0x07 250 000bps 0x09 200 000bps e 0x10 115 200bps 0x22 57 600bps Baud Rate error within 396 6 Reserved 1 5 Reserved e Servo ID Error when same ID exists within the same network 7 ID 1 6 0 RW Range 0 253 x pID up to 254 Servo ID maximum 253 Sets ACK packet reply policy when Request packet received 0 No reply 1 Only reply to Read CMD 8 ACK Policy 1 7 1 RW 2 Reply to all Request Packet When CMD is STAT ACK packe will be sent regardless of r ACK Policy x When pID Boradcast pID is 254 no reply Exception when CMD is STAT Sets Alarm LED policy when error LED Policy amp r Status Error TRUE LED blink LED blink period set by LED Bink Period 9 Alarm LED Policy 1 8 2 RW When error LED blink Ignore LED Control value Resolve r Status Error Error to make r LED Control function normally Servo Policy amp r Status Error TRUE Torque release Torque Off e When Torque released by errorTorgue On not possible regardless of value in r Torque Control 10 Torque Policy 1 9 3 RW Smode TRGGR On even after Status Error has been resolved Enable Toque On using r Torque Control after r Status Error has been resolved 11 Reserved 1 10 4 Reserved Maximum operational temperature R
58. r Offset RW Select Offset at Saturator curve Not applicapable in nfinite Turn continuous turn 19 Saturator Slope RW Saturator does not work when r Staturation Slop 0 Actual Saturator Slop r Saturator Slop 256 Not applicapable infinite Turn Mode continuous turn 20 PWM Offset RW PWM Offset value PWM increases by r PWM Offset amount When PWM is at maximum value Servo at current load outputs maximum Torque and speed x When PAM is 0 Servo stooped Maximum PWM value 1023 Notapplcapebe innfinite Tum continuous tum 21 Min PWM RW Minimum PWM Sets Minimum Torque x When PWM is at maximum value Servo at Current load outputs maximum Torque and speed When PWM is 0 Servo stopped Maximum PWM value 1023 Max PWM RW Maximum PWM Sets Maximum Torque Smaller this value Maximum Servo Torque decreases x When PWM is at maximum value Servo at Current load outputs maximum Torque and speed x When PAM is 0 Servo stooped Maximum PWM value 1023 23 Overload PWM Threshold RW Sets overload activation point Extemal force divided into 01023 steps Overload error when force Overload PWM Threshold is exerted for period longer than Overload Detection Period Not activated when This value is 1023 24 Min Position RW Minimum operational angle When requested position angle is less than Min Position Exceed
59. tio parameter shows a trapezoidal tyoe speed profile Increasing the acceleration ratio will lead to sudden change in speed accompanied by vibration as shows in blue rectangle graph Decreasing the ratio will show slow increase in Speed with smooth movement as in green triangle graph gt Velocity o gt Play Time Acceleration Time Deceleration Maximum Acceleration Time RAM Register Address 9 Controls maximum acceleration time 1 is equaivalent to11 2ms Maximum acceleration time r Maximum Acceleration Time 254 is equivalent to 2 844sec When r Maximum Acceleration Time is 0 velocity Profile is rectangle gt Torque Control RAM Register Address 52 Controls Torque eanable states 0x40 Break On 0x60 Torque On 0x00 Torque Free When the torque is enabled it s mode depends on Current Control Mode If the servo was on Position Control Mode when Torque ON is enabled it will remain in that mode x r Current Control Mode defaults to Position Control 0 when servo is first powered on x Control commands will only function when Torque On is enabled JOG S JOG x Control commands will not function when Break On is enabled JOG S JOG Joints can be manually manipulated when Torque Free is enabled LED Control RAM Address 53 Controls the LEDS When Bit value below is 1 On 0 Off 0x01 Green HerkulexX se Dongbu Robot 0x02 Blue 0x
60. to 11 2ms Error activated if the Temerature Input voltage error lasts longer than the check interval Default value is 0x2D Approximately 504ms Packet Garbage Check Period RAM Register Address 40 Incomplete Packet error check interval 1 is equivalent to 11 2ms Incomplete Packet is deleted if it remains longer than the check interval Default value is Ox12 Approximately 201ms thinking MORE for U se Dongbu Robot HerkuleX Stop Detection Period RAM Register Address 41 Set time limit by which the servo stoppage is measured to determine if it has stopped 1 is eguivalent to 11 ms If the servo stoppage lasts beyond the time limit it is determined to be stopped Default value is Ox1B Approximately 302ms Overload Detection Period RAM Register Address 42 Set time limit by which the servo overload is measured to determine if the overload has occured If the overload period lasts beyond the time limit it is determined to be overloaded Default value is 0x96 Approximately 1 68s p Stop Threshold RAM Register Address 43 The servo is seen as not moving stopped when the position movement of the servo is less than the r Stop Threshold The servo is determined to be stopped if the stoppage lasts longer than the r Stop Detection Period gt Inposition Margin RAM Register Address 44 Standard value to determine if the goal position has been reached Goal position is judged to have been re
61. to assemble custom joints e DRS 0101 Stall Torque 12kgf cm 7 4DCV 166 8 ozf in Speed 0 166s 60 7 4DCV e DRS 0201 Stall Torque 24kgf cm 7 4DCV 333 6 ozf in Speed 0 147s 60 7 4DCV Smooth Movement Once the servo receives a movement commana it automatically creates a trapezoidal type speed profile like the diagram below to control the position With the servo operating according to the acceleration deceleration profile it suppresses vibrations caused by the sudden acceleratiion and deceleration as found in the square type speed profile and increases the energy efficiency while leading to smoother movement The servo chooses the trapezoidal type speed profile as a default but profile could be changed according to usage to trapezoidal type square type or triangle type Increasing Accelated Period 4 Time ei ei a es soit on ch a EN n Velocity Increasing Aecelated Period thinking MORE for U Je Dongbu Robot Herkulex Manufactured using Super Engineering Plastic our servos are highly durable impact resistant and designed to withstand even the high torgue stress levels that go beyond the tolerance specs of Engineering Plastic Gears Using Multi Drop TTL Full Duplex UART Serial communications protocol with maxium speed of 0 667Mbps single command can set the speed position LED operational compliance stop and operational status of up to 254 servos simultaneoulsy at
62. us Error must be resloved first for LED Control to function properly x ASB Bit And Operator 1 True only whe A and B are both True gt Torque Policy RAM Register Address 3 Sets Torque Off policy when Error is detected When r Servo Policy amp r Status Error is TRUE Torque is released Torque Off Under the Error condition servo will not return to Torque ON state regardless of the value written to r Torque Control Servo does not automatically revert to Torque On state even after r Status Error has been resolved Enable Torque On using r Torque Control after r Status Error has been resloved x ASB Bit And Operator 1 True only whe A and B are both True Herkulex thinking MORE for U Dongbu Robot Maximum Temperature RAM Register Address 5 Maximum operational temperature shown in Raw Data When internal servo temperature r Temperature exceeds r Max Temperature Exceeded Temperature Limit in r Status Error becomes active Resulting Alarm LED and Torque status can be changed using r LED Policy r Servo Policy Default value is OxDFlapproximatley 85 C Refer to conversion chart Pg 51 for actual temerature x A8B 1 True only whe A and B are both True gt Minimum Voltage RAM Register Address 6 Mininmum input voltage shown in Raw Data When servo input voltage r Voltage is below r Min Voltage Exceeded Voltage Limit in r Status Error becomes acti
63. ve Resulting Alarm LED and Torque status can be changed using r LED Policy r Servo Policy Default value is 0x5B approximately 6 74V Refer to conversion chart Pg 49 for actual voltage gt Maximum Voltage RAM Register2 Address 7 Maximum input voltage shown in Raw Data When servo input voltage r Voltage is exceeds r Max Voltage Exceeded Voltage Limit in r Status Error becomes active Resulting Alarm LED and Torque status can be changed using r LED Policy r Servo Policy Default value is Ox89 approximately 10 14V Refer to conversion chart Pg 49 for actual voltage gt Overload PWM Threshold RAM Register Address 18 Sets overload activation point The overload point from external force can set from 01028 Overload activates when external force is greater them r Overload PWM Threshold Overload does not activate when the given value is greater than 1023 gt Minimum Position RAM Register Address 20 Minimum operational angle in Raw Data When requested position angle is less than r Min Position Exceed Allowed POT Limit in r Min Position becomes active and the operation is limited to r Min Position Default value is 0x15 approximately 159 8 Refer to conversi on charge in Pg 53 for actual angle thinking MORE for U dec Dongbu Robot Herkulex gt Maximum Position RAM Register Address 22 Maximum operational angle in Raw Data When requested positio
64. vo control mode e JOG S JOG CMD Packet used to change control mode 51 Current Control 1 56 RO When Torque On using r Toraue Control Mode Servo refers to r Current Control Mode 0 Position Control 1 Turn Velocity Control Continuous rotation e Servo operating time Max setting 28672sec 52 Tick 1 57 RO 0255 1 11 2ms Calibrated Calibrated position Raw Data 53 Position 2 56 RO Refer to r Calibration Difference PE Absolute position Raw Data 54 Absolute Position 2 E 58 RO Angle r Absolute Position X 0 325 f la e Shows speed measurement interval 11 2ms 56 PWM 2 62 RO Current Torque 1023 Max Torque 57 Reserved 2 64 Reserved Absolute Goal position Raw Data 58 Absolute Goal 2 66 RO User selected Goal Position Position Uncalibrated value e Current Intermediate goal position based Absolute Desired on velocity Profile Raw Data 59 Trajectory Position 2 68 RO r Absolute Desired Trajectory Position is current goal position Current intermediate goal speed based 60 Desired Velocity 2 70 RO on velocity Profile Raw Data thinking MORE for U Dongbu Robot e r Desired Velocity velocity required at current time Herkulex Acceleration Ratio RAM Register Address 8 Acceleration Ratio is controlled by changing the parameter value and any change in the acceleration ratio is applied to the decceleration ratio by exactly the same amount The default Acceleration Ra

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