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Introduction

Last Updated : 5 November, 2014

Safety Information

DANGER

Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

  • Keep away from the robot while its moving..
  • Do not touch with the robot with wet hands.
  • Turn off power of the robot whenever robot is problematic.

WARNING

Information appearing in a WARNING concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

  • Setup robot in an environment low on dust and humidity.
  • The robot must always be attached to the based when powered on.
  • The robot wiring must be checked prior to powering on.
  • The robot connection to power supplly must be check prior to powering on.
  • Do not change wiring on Robotis Manipulator while powered on.

CAUTION

Information appearing in a CAUTION concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

  • Keep robot’s workspace clear of object.
  • Ensure wiring is not tangled up on every joint.
  • Make sure USB2Dynamixel and PC does not interfere with the robot’s moving

Package Contents

Name Quantity
Manipulator 1
USB2Dyanmixel 1
4P Cable(500mm) 2
Power Cable(1,200mm) 2
4P expansion hub 1
Power expansion hub 1
Gripper(optional) 1
Support(optional) 2
Base Plate(optional) 1
3x8 wrench bolt 20
3x12 wrench bolt 20

Layout

Dimension of Manipulator-H

Dimension of Manipulator-L

Wiring

Specifications

Item Description
DOF 6 DOF
Payload 3kg
Weight 5kg
Operating voltage 24V
Resolution Joint 1 : -π(rad) ~ π(rad) , -251000 ~ 251000 (pulse)
Joint 2 : -π(rad) ~ π(rad) , -251000 ~ 251000 (pulse)
Joint 3 : -π(rad) ~ π(rad) , -251000 ~ 251000 (pulse)
Joint 4 : -π(rad) ~ π(rad) , -251000 ~ 251000 (pulse)
Joint 5 : -π(rad) ~ π(rad) , -151875 ~ 151875 (pulse)
Joint 6 : -π(rad) ~ π(rad) , -151875 ~ 151875 (pulse)
Dynamixel Pro
Model Name
Joint 1, 2 : H54-200-S500-R
Joint 3, 4 : H54-100-S500-R
Joint 5, 6 : H42-20-S300-R
Operating Range Joint 1 : -π(rad) ~ π(rad)
Joint 2 : -π/2(rad) ~ π/2(rad)
Joint 3 : -π/2(rad) ~ 3π/4(rad)
Joint 4 : -π(rad) ~ π(rad)
Joint 5 : -π/2(rad) ~ π/2(rad)
Joint 6 : -π(rad) ~ π(rad)
Default ID Joint 1 (ID:1), Joint 2 (ID:2), Joint 3 (ID:3),
Joint 4 (ID:4), Joint 5 (ID:5), Joint 6 (ID:6)
Motor type Brushless DC Servo(H54 Series),
Coreless DC Motor(H42 Series)
Position sensor type Absolute Encoder(for Homing),
Incremental Encoder(for Control)
Communications RS485

D-H Configuration

Link Link Length(mm) Link Twist(rad) Joint Offset(mm) Joint Angle(rad) DXL Angle(rad)
1 0 -π/2 0 0 0
2 265.69 0 0 0
3 30 -π/2 0 0
4 0 -π/2 258 0 0
5 0 -π/2 0 0 0
6 0 0 0 0 0

Home Position

The diagram below shows the “home position” of the Dynamixel PROs from Robotis Manipulator.