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MX-64AR, MX-64AT (Protocol 2.0)

Specifications

Item Specifications
MCU ARM CORTEX-M3 (72 [MHz], 32Bit)
Position Sensor Contactless absolute encoder (12Bit, 360 [°])
Maker : ams(www.ams.com), Part No : AS5045
Motor Coreless(Maxon)
Baud Rate 8,000 [bps] ~ 4.5 [Mbps]
Control Algorithm PID control
Resolution 4096 [pulse/rev]
Backlash 20 [arcmin] (0.33 [°])
Operating Modes Current Control Mode
Velocity Control Mode
Position Control Mode (0 ~ 360 [°])
Extended Position Control Mode (Multi-turn)
Current-based Position Control Mode
PWM Control Mode (Voltage Control Mode)
Weight MX-64AR/AT: 135 [g]
MX-64R/T: 126 [g]
Dimensions (W x H x D) 40.2 x 61.1 x 41 [mm]
Gear Ratio 200 : 1
Stall Torque 5.5 [N.m] (at 11.1 [V], 3.9 [A])
6.0 [N.m] (at 12 [V], 4.1 [A])
7.3 [N.m] (at 14.8 [V], 5.2 [A])
No Load Speed 58 [rev/min] (at 11.1 [V])
63 [rev/min] (at 12 [V])
78 [rev/min] (at 14.8 [V])
Radial Load 1 40 [N] (10 [mm] away from the horn)
Axial Load 1 20 [N]
Operating Temperature -5 ~ +80 [°C]
Input Voltage 10.0 ~ 14.8 [V] (Recommended : 12.0 [V])
Command Signal Digital Packet
Physical Connection RS485 / TTL Multidrop Bus
TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity
ID 253 ID (0 ~ 252)
Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
Case Material Engineering Plastic(Front, Middle, Back)
1 Metal(Front)
Gear Material Full Metal Gear
Standby Current 100 [mA]

1 Applies to alumium housing products(MX-28AR/AT, MX-64AR/AT, MX-106R/T).


DANGER
(May cause serious injury or death)

  • Never place items containing water, flammables, or solvents near the product.
  • Never place fingers, arms, toes, and other body parts near product during operation.
  • Cut the power off if the product begins to emit strange odors or smoke.
  • Keep product out of reach of children.
  • Check input polarity before installing wiring or cables.


CAUTION
(May cause injury or damage to product)

  • Always comply with operating environment specifications including voltage, current, and temperature.
  • Do not insert blades or other sharp objects during product operation.


ATTENTION
(May cause injury or damage to product)

  • Do not disassemble or modify the product.
  • Do not drop or apply strong impacts to the product.

Performance Graph

NOTE : The given Stall torque rating for a servo is different from it’s continuous output rating, and may also differ from it’s expected real world performance.

Stall torque is the maximum momentary torque output the servo is capable of, an is generally how RC servos are measured. The Performance graph, or N-T curve, from the above graph is measured under conditions simulating a gradually increasing load.

The actual real world performance of the servo will generally be closer to the performance graph measurements, not the rated stall torque. For this reason, the performance graph is broadly used in the industrial field.

Generally, the Maximum Torque shown through Performance Graph testing is less than the maximum Stall Torque.

CAUTION - When supplying power:

  • It is recommended to use a ROBOTIS controller or SMPS2DYNAMIXEL power adapter.

  • Do not connect or disconnect DYNAMIXEL actuator cables while power is being supplied.

Control Table

The Control Table is a structure of data implemented in the device. Users can read a specific Data to get status of the device with Read Instruction Packets, and modify Data as well to control the device with WRITE Instruction Packets.

CAUTION

  1. MX(2.0) Firmware is different from MX series’ control table and address. Please check the control table address before usage.
  2. MX(2.0) Firmware inherits DYNAMIXEL-X function. Therefore, it supports DYNAMIXEL Protocol 1.0 and DYNAMIXEL Protocol 2.0, and various Operating Modes, Secondary ID, Drive Mode, Bus Watchdog, etc. Please refer to the control table for more details.

Control Table, Data, Address

The Control Table is a structure that consists of multiple Data fields to store status or to control the device. Users can check current status of the device by reading a specific Data from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the device by changing specific Data in the Control Table. The Address is a unique value when accessing a specific Data in the Control Table with Instruction Packets. In order to read or write data, users must designate a specific Address in the Instruction Packet. Please refer to DYNAMIXEL Protocol 2.0 for more details about Instruction Packets.

NOTE : Two’s complement is applied for the negative value. For more information, please refer to Two’s complement from Wikipedia.

Area (EEPROM, RAM)

The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values when the power is reset(Volatile). On the other hand, data in the EEPROM Area is maintained even when the device is powered off(Non-Volatile).

Data in the EEPROM Area can only be written to if Torque Enable(64) is cleared to ‘0’(Torque OFF).

Size

The Size of data varies from 1 ~ 4 bytes depend on their usage. Please check the size of data when updating the data with an Instruction Packet. For data larger than 2 bytes will be saved according to Little Endian.

Access

The Control Table has two different access properties. ‘RW’ property stands for read and write access permission while ‘R’ stands for read only access permission. Data with the read only property cannot be changed by the WRITE Instruction. Read only property(‘R’) is generally used for measuring and monitoring purpose, and read write property(‘RW’) is used for controlling device.

Initial Value

Each data in the Control Table is restored to initial values when the device is turned on. Default values in the EEPROM area are initial values of the device (factory default settings). If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the device is turned on. Initial Values in the RAM area are restored when the device is turned on.

Control Table of EEPROM Area

Address Size(Byte) Data Name Description Access Initial
Value
0 2 Model Number Model Number R 311
2 4 Model Information Model Information R -
6 1 Firmware Version Firmware Version R -
7 1 ID DYNAMIXEL ID RW 1
8 1 Baud Rate Communication Baud Rate RW 1
9 1 Return Delay Time Response Delay Time RW 250
10 1 Drive Mode Drive Mode RW 0
11 1 Operating Mode Operating Mode RW 3
12 1 Secondary(Shadow) ID Secondary ID RW 255
13 1 Protocol Type Protocol Type RW 2
20 4 Homing Offset Home Position Offset RW 0
24 4 Moving Threshold Velocity Threshold for Movement Detection RW 10
31 1 Temperature Limit Maximum Internal Temperature Limit RW 80
32 2 Max Voltage Limit Maximum Input Voltage Limit RW 160
34 2 Min Voltage Limit Minimum Input Voltage Limit RW 95
36 2 PWM Limit Maximum PWM Limit RW 885
38 2 Current Limit Maximum Current Limit RW 1941
40 4 Acceleration Limit Maximum Acceleration Limit RW 32767
44 4 Velocity Limit Maximum Velocity Limit RW 285
48 4 Max Position Limit Maximum Position Limit RW 4,095
52 4 Min Position Limit Minimum Position Limit RW 0
63 1 Shutdown Shutdown Error Information RW 52

Control Table of RAM Area

Address Size(Byte) Data Name Description Access Initial
Value
64 1 Torque Enable Motor Torque On/Off RW 0
65 1 LED Status LED On/Off RW 0
68 1 Status Return Level Select Types of Status Return RW 2
69 1 Registered Instruction REG_WRITE Instruction Flag R 0
70 1 Hardware Error Status Hardware Error Status R 0
76 2 Velocity I Gain I Gain of Velocity RW 1920
78 2 Velocity P Gain P Gain of Velocity RW 100
80 2 Position D Gain D Gain of Position RW 0
82 2 Position I Gain I Gain of Position RW 0
84 2 Position P Gain P Gain of Position RW 850
88 2 Feedforward 2nd Gain 2nd Gain of Feed-Forward RW 0
90 2 Feedforward 1st Gain 1st Gain of Feed-Forward RW 0
98 1 BUS Watchdog DYNAMIXEL BUS Watchdog RW 0
100 2 Goal PWM Desired PWM Value RW -
102 2 Goal Current Desired Current Value RW -
104 4 Goal Velocity Desired Velocity Value RW -
108 4 Profile Acceleration Acceleration Value of Profile RW 0
112 4 Profile Velocity Velocity Value of Profile RW 0
116 4 Goal Position Desired Position RW -
120 2 Realtime Tick Count Time in Millisecond R -
122 1 Moving Movement Flag R 0
123 1 Moving Status Detailed Information of Movement Status R 0
124 2 Present PWM Present PWM Value R -
126 2 Present Current Present Current Value R -
128 4 Present Velocity Present Velocity Value R -
132 4 Present Position Present Position Value R -
136 4 Velocity Trajectory Desired Velocity Trajectory from Profile R -
140 4 Position Trajectory Desired Position Trajectory from Profile R -
144 2 Present Input Voltage Present Input Voltage R -
146 1 Present Temperature Present Internal Temperature R -
168 2 Indirect Address 1 Indirect Address 1 RW 224
170 2 Indirect Address 2 Indirect Address 2 RW 225
172 2 Indirect Address 3 Indirect Address 3 RW 226
… … … … … …
218 2 Indirect Address 26 Indirect Address 26 RW 249
220 2 Indirect Address 27 Indirect Address 27 RW 250
222 2 Indirect Address 28 Indirect Address 28 RW 251
224 1 Indirect Data 1 Indirect Data 1 RW 0
225 1 Indirect Data 2 Indirect Data 2 RW 0
226 1 Indirect Data 3 Indirect Data 3 RW 0
… … … … … …
249 1 Indirect Data 26 Indirect Data 26 RW 0
250 1 Indirect Data 27 Indirect Data 27 RW 0
251 1 Indirect Data 28 Indirect Data 28 RW 0
578 2 Indirect Address 29 Indirect Address 29 RW 634
580 2 Indirect Address 30 Indirect Address 30 RW 635
582 2 Indirect Address 31 Indirect Address 31 RW 636
… … … … … …
628 2 Indirect Address 54 Indirect Address 54 RW 659
630 2 Indirect Address 55 Indirect Address 55 RW 660
632 2 Indirect Address 56 Indirect Address 56 RW 661
634 1 Indirect Data 29 Indirect Data 29 RW 0
635 1 Indirect Data 30 Indirect Data 30 RW 0
636 1 Indirect Data 31 Indirect Data 31 RW 0
… … … … … …
659 1 Indirect Data 54 Indirect Data 54 RW 0
660 1 Indirect Data 55 Indirect Data 55 RW 0
661 1 Indirect Data 56 Indirect Data 56 RW 0

CAUTION : Protocol 1.0 does not support addresses greater than 256. Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(64) is cleared to ‘0’.

Model Number(0)

This address stores model number of DYNAMIXEL.

Firmware Version(6)

This address stores firmware version of DYNAMIXEL.

ID(7)

The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction Packet. 0~253 (0xFD) values can be used as an ID, and 254(0xFE) is occupied as a broadcast ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected DYNAMIXEL simultaneously.

NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face communication failure or may not be able to detect DYNAMIXEL with an identical ID.

NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packets will not be returned for READ or WRITE Instructions regardless of the set value of Stuatus Return Level (68). For more details, please refer to the Status Packet section for DYNAMIXEL Protocol 2.0

Baud Rate(8)

The Baud Rate(8) determines serial communication speed between a controller and DYNAMIXEL.

Value Baud Rate Margin of Error
7 4.5M [bps] 0.000 [%]
6 4M [bps] 0.000 [%]
5 3M [bps] 0.000 [%]
4 2M [bps] 0.000 [%]
3 1M [bps] 0.000 [%]
2 115,200 [bps] 0.000 [%]
1(Default) 57,600 [bps] 0.000 [%]
0 9,600 [bps] 0.000 [%]

NOTE : Less than 3% of the baud rate error margin will not affect to UART communication.

NOTE : For the stable communication with higher Baudrate using U2D2, configure USB Latency value to the lower.
USB Latency Setting

Return Delay Time(9)

If the DYNAMIXEL receives an Instruction Packet, it will return the Status Packet after the time of the set Return Delay Time(9).
Note that the range of values is 0 to 254 (0XFE) and its unit is 2 [μsec]. For instance, if the Return Delay Time(9) is set to ‘10’, the Status Packet will be returned after 20[μsec] when the Instruction Packet is received.

Unit Value Range Description
2[μsec] 0 ~ 254 Default value ‘250’(500[μsec])
Maximum value: ‘508’[μsec]

Drive Mode(10)

The Drive Mode(10) configures Drive Mode of DYNAMIXEL.

Bit Item Description    
Bit 7(0x80) - Unused, always ‘0’    
Bit 6(0x40) - Unused, always ‘0’    
Bit 5(0x20) - Unused, always ‘0’    
Bit 4(0x10) - Unused, always ‘0’    
Bit 3(0x08) - Unused, always ‘0’    
Bit 2(0x04) Profile Configuration [0] Velocity-based Profile: Create a Profile based on Velocity
[1] Time-based Profile: Create Profile based on time
※ See What is the Profile		    
Bit 1(0x02) - Unused, always ‘0’    
Bit 0(0x01) Normal/Reverse Mode [0] Normal Mode: CCW(Positive), CW(Negative)
[1] Reverse Mode: CCW(Negative), CW(Positive)		    

NOTE : Time-based Profile is available from firmware V42.

NOTE : If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to 1, rotational direction is inverted.
Thus, Position, Velocity, Current, PWM will have a inverted direction.
This feature can be very useful when configuring symmetrical joint.

Operating Mode(11)

Value Operating Mode Description
0 Current Control Mode DYNAMIXEL only controls current(torque) regardless of speed and position. This mode is ideal for a gripper or a system that only uses current(torque) control or a system that has additional velocity/position controllers.
1 Velocity Control Mode This mode controls velocity. This mode is identical to the Wheel Mode(endless) from existing DYNAMIXEL. This mode is ideal for wheel-type robots.
3(Default) Position Control Mode This mode controls position. This mode is identical to the Joint Mode from existing DYNAMIXEL. Operating position range is limited by the Max Position Limit(48) and the Min Position Limit(52). This mode is ideal for articulated robots that each joint rotates less than 360 degrees.
4 Extended Position Control Mode(Multi-turn) This mode controls position. This mode is identical to the Multi-turn Position Control from existing DYNAMIXEL. 512 turns are supported(-256[rev] ~ 256[rev]). This mode is ideal for multi-turn wrists or conveyer systems or a system that requires an additional reduction gear. Note that Max Position Limit(48), Min Position Limit(52) are not used on Extended Position Control Mode.
5 Current-based Position Control Mode This mode controls both position and current(torque). Up to 512 turns are supported(-256[rev] ~ 256[rev]). This mode is ideal for a system that requires both position and current control such as articulated robots or grippers.
16 PWM Control Mode (Voltage Control Mode) This mode directly controls PWM output. (Voltage Control Mode)

NOTE : When the Operating Mode(11) switches to another mode, value of Gains, such as Velocity PI(76, 78); Position PID(80, 82, 84); Feedforward(88, 90), will be reset fitting to a selected Operating Mode(11). Beside, the profile generator and the data of determining the limit value will be reset either. See the next description for more details.

  1. The Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’
  2. The Goal PWM(100) and Goal Current(102) are reset to the value of PWM Limit(36) and Current Limit(38) respectively
  3. When the Operating Mode(11) is Current-based Position Control Mode, Position PID(80, 82, 84) and PWM Limit(36) values will be reset.

Note that the changed value of Position PID(80, 82, 84) and PWM Limit(36) can be read via the Control Table.

NOTE : PWM stands for Pulse Width Modulation that modulates PWM Duty to control motors. It changes pulse width to control average supply voltage to the motor, and this technique is widely used in the motor control field.

  1. PWM Control Mode is similar to the Wheel Mode of AX and RX series.
  2. Input Goal PWM(100) value to control supply voltage for DYNAMIXEL in PWM Control Mode.

NOTE : Present Position(132) represents a 4 byte continuous range from -2,147,483,648 to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full rotation in the following cases:

  1. When the Operating Mode(11) is changed to Position Control Mode.
  2. When torque is turned on in Position Control Mode.
  3. When the actuator is turned on or when rebooted using a Reboot Instruction.

Note that a Present Position(132) value that has been reset to the absolute value within a single rotation will still be affected by the configured Homing Offset(20) value.

Secondary(Shadow) ID(12)

The Secondary(Shadow) ID(12) assigns a secondary ID to the DYNAMIXEL.
The Secondary ID(12) can be shared to group between DYNAMIXELs and to synchronize their movement, unlike ID(7) which must be unique and not be overlapped to use. Be aware of differences between the Secondary ID(12) and ID(7) by reading the following.

Values Description
0 ~ 252 Activate Secondary ID function
253 ~ 255 Deactivate Secondary ID function, Default value ‘255’

Secondary ID(12) Example

As mentioned, the Secondary ID(12) can be assigned with the same values unlike the ID(7). See the following Secondary ID(12) example to understand the address properly. Note that The assigned ID(7) on each DYNAMIXELs is ‘1’, ‘2’, ‘3’, ‘4’ or ‘5’ and they are not overlapped to be assigned.

  1. Set Secondary ID of five DYNAMIXELs (Assigned ID(7) of each is ‘1’,’2’,’3’,’4’ or ‘5’, not overlapped) to ‘5’.
  2. Send Write Instruction Packet(ID(7) = 1, LED(65) = 1).
  3. The DYNAMIXEL with ID ‘1’ turns on its LED by the Instruction Packet, and Status Packet will be returned.
  4. Send Write Instruction Packet(ID(7) = 5, LED(65) = 1).
  5. All DYNAMIXELs turns on their LED, but Status Packet of ID ‘5’ will be returned only.
  6. Set the Secondary ID of all DYNAMIXELs to ‘100’.
  7. Send Write Instruction Packet(ID(7) = 100, LED(65) = 0).
  8. All DYNAMIXELs turns off their LED. As no DYNAMIXEL uses ID 100, but uses the same Secondary ID, the Status Packet will not be returned.

Protocol Type(13)

DYNAMIXEL protocol type (either DYNAMIXEL Protocol 1.0 or 2.0) can be selected using Protocol Type(13).

It is recommended to use an identical protocol type for multiple DYNAMIXEL.

Value Description Compatible DYNAMIXEL
1 DYNAMIXEL Protocol 1.0 AX Series, DX Series, RX Series, EX Series, MX Series with Firmware below v39
2(default) DYNAMIXEL Protocol 2.0 MX-28/64/106 with Firmware v39 or above, X Series, PRO Series

WARNING : To modify the data of Protocol Type(13), use the DYNAMIXEL Wizard 2.0 as R+ Manager 2.0 is not compatible with the Protocol 1.0 products.

NOTE : The protocol 2.0 is more stable and safety for use than Protocol 1.0. Accessing some of the Control Table area might be denied if protocol 1.0 is selected. This manual complies with protocol 2.0. Please refer to the Protocol 1.0 and Protocol 2.0 of e-Manual for more details about the protocol.

NOTE : Please refer to the Protocol Compatibility table for product.

Homing Offset(20)

The Home Offset(20) adjusts the home position. The offest value is added to the Present Position(132).

Present Position(132) = Actual Position + Homing Offset(20)

Unit Value Range
about 0.088 [°] -1,044,479 ~ 1,044,479
(-255 ~ 255[rev])

NOTE : In case of the Position Control Mode(Joint Mode) that rotates less than 360 degrees, any invalid Homing Offset(20) values will be ignored(valid range : -1,024 ~ 1,024).

WARNING : Even if Drive Mode(10) is set to the Reverse Mode, the sign of Homing Offset(20) value is not reversed.

Moving Threshold(24)

The Moving Threshold(24) determines whether the DYNAMIXEL is in motion or not.
When the absolute value of Present Velocity(128) is greater than the Moving Threshold(24), Moving(122) is set to ‘1’. Otherwise it is cleared to ‘0’.

Unit Range Description
about 0.229 rpm 0 ~ 1,023 All velocity related Data uses the same unit

Temperature Limit(31)

The Temperature Limit(31) limits operating temperature of the DYNAMIXEL.
When the Present Temperature(146) is greater than the Temperature Limit(31), the Overheating Error Bit(0x04) and Alert Bit(0x80) in the Hardware Error Status(70) will be set. If Overheating Error Bit(0x04) is configured in the Shutdown(63), Torque Enable(64) will be set to ‘0’ (Torque OFF). See the Shutdown(63) for more detailed information.

Unit Value Range Description
About 1° 0 ~ 100 0 ~ 100°

CAUTION : Do not set this value higher than its default. In case that DYNAMIXEL encounters temperature warning alarm (Overheating Error Bit(0x04)), let it cool for 20 minutes or more. Otherwise, it may cause severe damage in operating.

Min/Max Voltage Limit(32, 34)

The Min Voltage Limit(32) and Max Voltage Limit(34) determine the maximum and minimum operating voltages.
When the Present Input Voltage(144) indicating the present input voltage to the device exceeds the range of Max Voltage Limit(32) and Min Voltage Limit(34), the Input Voltage error Bit(0x10) in the Hardware Error Status(70) will be set, and the Status Packet will send Alert Bit(0x80) via the Error field.
If Input Voltage Error Bit(0x10) in the Shutdown(63) is set, Torque Enable(64) will be set to ‘0’(Torque OFF).
For more details, please refer to the Shutdown(63) section.

Unit Value Range Description
About 0.1 [V] 95 ~ 160 9.5 ~ 16.0 [V]

PWM Limit(36)

The PWM Limit(36) indicates maximum PWM output. Goal PWM(100) can’t be configured with any values exceeding PWM Limit(36). PWM Limit(36) is commonly used in all operating mode as an output limit, therefore decreasing PWM output will result in decreasing torque and velocity. For more details, please refer to the Gain section of each operating modes.

Unit Range
about 0.113 [%] 0(0 [%]) ~ 885(100 [%] )

Current Limit(38)

The Current Limit(38) indicates maximum current(torque) output limit. The Goal Current(102) can’t be configured with any values exceeding the Current Limit(38). The Current Limit(38) is used in Torque Control Mode and Current-based Position Control Mode, therefore decreasing the Current Limit(38) will result in decreasing torque of DYNAMIXEL. For more details, please refer to the Position PID Gain(80 ~ 84).

Unit Value Range
about 3.36[mA] 0 ~ 1,941

NOTE : Current Limit(38) could be differ by each DYNAMIXEL so please check the Control Table.

Acceleration Limit(40)

This value indicates maximum Profile Acceleration(108). Profile Acceleration(108) can’t be configured with any values exceeding Acceleration Limit(40). Profile Acceleration(108) is used in all operating mode except PWM Control Mode in order to generate a desired trajectory. For more details, see What is the Profile.

Unit Value Range
214.577 Rev/min2 0 ~ 32,767

Velocity Limit(44)

Velocity Limit(44) indicates the maximum value of Goal Velocity(104). For more details, see Goal Velocity(104).

Unit Value Range
0.229rpm 0 ~ 1,023

NOTE: The default value of Velocity Limit(44) has been decreased since Firmware V42.

Min/Max Position Limit(48, 52)

The Min and Max Position Limit(48, 52) limit maximum and minimum desired positions for Position Control Mode(Joint Mode) within the range of 1 rotation(0 ~ 4,095).
Therefore, Goal Position(116) should be configured within the position limit range.
These values are not used in Extended Position Control Mode and Current-based Position Control Mode.

Unit Value Range
0.088 [°] 0 ~ 4,095(1 rotation)

NOTE : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control Mode with a single turn.

Shutdown(63)

The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during the operation. Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be generated. For instance, when ‘0x05’ (binary : 00000101) is defined in Shutdown(63), DYNAMIXEL can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor’s output becomes 0 [%].

REBOOT is the only method to reset Torque Enable(64) to ‘1’(Torque ON) after the shutdown.

Check Alert Bit(0x80) in an error field of Status Packet or a present status via Hardware Error Status(70). The followings are detectable situations.

Bit Item Description  
Bit 7 - Unused, Always ‘0’  
Bit 6 - Unused, Always ‘0’  
Bit 5 Overload Error(default) Detects that persistent load that exceeds maximum output  
Bit 4 Electrical Shock Error(default) Detects electric shock on the circuit or insufficient power to operate the motor  
Bit 3 Motor Encoder Error Detects malfunction of the motor encoder  
Bit 2 Overheating Error(default) Detects that internal temperature exceeds the configured operating temperature  
Bit 1 - Unused, Always ‘0’  
Bit 0 Input Voltage Error Detects that input voltage exceeds the configured operating voltage  

NOTE :

  1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above)
  2. If Shutdown occurs, reboot the device.
    • H/W REBOOT : Turn off and turn on the power again
    • S/W REBOOT : Transmit REBOOT Instruction (For more details, refer to the Reboot section of e-Manual.)

Torque Enable(64)

Torque Enable(64) determines Torque ON/OFF. Writing ‘1’ to Torque Enable’s address will turn on the Torque and all Data in the EEPROM area will be locked.

Value Description
0(Default) Torque Off
1 Torque On and lock EEPROM area

NOTE : Present Position(132) can be reset when Operating Mode(11) and Torque Enable(64) are updated. For more details, please refer to the Homing Offset(20) and Present Position(132).

LED(65)

The LED(65) determines LED On or Off.

Bit Description
0(Default) Turn OFF the LED
1 Turn ON the LED

NOTE : Check the status of DYNAMIXEL by the counts of flickering LED.

Status LED Representation
Booting LED flickers once
Factory Reset LED flickers 4 times
Alarm LED flickers
Boot Mode LED On

Status Return Level(68)

The Stuatus Return Level (68) decides how to return Status Packet when DYNAMIXEL receives an Instruction Packet.

Value Responding Instructions Description
0 PING Instruction Returns the Status Packet for PING Instruction only
1 PING Instruction
READ Instruction		 Returns the Status Packet for PING and READ Instruction
2 All Instructions Returns the Status Packet for all Instructions

NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packet will not be returned for READ or WRITE Instructions regardless of Stuatus Return Level (68). For more details, please refer to the Status Packet section for DYNAMIXEL Protocol 2.0.

Registered Instruction(69)

Indicates whether the Write Instruction is registered by Reg Write Instruction

Value Description
0 No instruction registered by REG_WRITE.
1 Instruction registered by REG_WRITE exists.

NOTE : If ACTION instruction is executed, the Registered Instruction (69) will be changed to 0.

Hardware Error Status(70)

The Hardware Error Status(70) indicates hardware error status.

The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during the operation. Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be generated. For instance, when ‘0x05’ (binary : 00000101) is defined in Shutdown(63), DYNAMIXEL can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor’s output becomes 0 [%].

REBOOT is the only method to reset Torque Enable(64) to ‘1’(Torque ON) after the shutdown.

Check Alert Bit(0x80) in an error field of Status Packet or a present status via Hardware Error Status(70). The followings are detectable situations.

Bit Item Description  
Bit 7 - Unused, Always ‘0’  
Bit 6 - Unused, Always ‘0’  
Bit 5 Overload Error(default) Detects that persistent load that exceeds maximum output  
Bit 4 Electrical Shock Error(default) Detects electric shock on the circuit or insufficient power to operate the motor  
Bit 3 Motor Encoder Error Detects malfunction of the motor encoder  
Bit 2 Overheating Error(default) Detects that internal temperature exceeds the configured operating temperature  
Bit 1 - Unused, Always ‘0’  
Bit 0 Input Voltage Error Detects that input voltage exceeds the configured operating voltage  

NOTE :

  1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above)
  2. If Shutdown occurs, reboot the device.
    • H/W REBOOT : Turn off and turn on the power again
    • S/W REBOOT : Transmit REBOOT Instruction (For more details, refer to the Reboot section of e-Manual.)

Velocity PI Gain(76, 78)

The Velocity PI Gains(76, 78) indicate gains of Velocity Control Mode.
Velocity P Gain of DYNAMIXEL’s internal controller is abbreviated to KVP and that of the Control Table is abbreviated to KVP(TBL).

  Controller Gain Conversion Equations Range Description
Velocity I Gain(76) KVI KVI = KVI(TBL) / 65,536 0 ~ 16,383 I Gain
Velocity P Gain(78) KVP KVP = KVP(TBL) / 128 0 ~ 16,383 P Gain

Below figure is a block diagram describing the velocity controller in Velocity Control Mode. When the instruction transmitted from the user is received by DYNAMIXEL, it takes following steps until driving the horn.

  1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal Velocity(104).
  2. Goal Velocity(104) is converted to desired velocity trajectory by Profile Acceleration(108).
  3. The desired velocity trajectory is stored at Velocity Trajectory(136).
  4. PI controller calculates PWM output for the motor based on the desired velocity trajectory.
  5. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value.
  6. The final PWM value is applied to the motor through an Inverter, and the horn of DYNAMIXEL is driven.
  7. Results are stored at Present Position(132), Present Velocity(128), Present PWM(124) and Present Current(126).

NOTE : Ka stands for Anti-windup Gain and β is a conversion coefficient of position and velocity that cannot be modified by users. For more details about the PID controller, please refer to the PID Controller at wikipedia.

Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90)

These Gains are used in Position Control Mode and Extended Position Control Mode. Position P Gain of DYNAMIXEL’s internal controller is abbreviated to KPP and that of the Control Table is abbreviated to KPP(TBL).

  Controller Gain Conversion Equations Range Description
Position D Gain(80) KPD KPD = KPD(TBL) / 16 0 ~ 16,383 D Gain
Position I Gain(82) KPI KPI = KPI(TBL) / 65,536 0 ~ 16,383 I Gain
Position P Gain(84) KPP KPP = KPP(TBL) / 128 0 ~ 16,383 P Gain
Feedforward 2nd Gain(88) KFF2nd KFF2nd(TBL) / 4 0 ~ 16,383 Feedforward Acceleration Gain
Feedforward 1st Gain(90) KFF1st KFF1st(TBL) / 4 0 ~ 16,383 Feedforward Velocity Gain

Below figure is a block diagram describing the position controller in Position Control Mode and Extended Position Control Mode. When the instruction from the user is received by DYNAMIXEL, it takes following steps until driving the horn.

  1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal Position(116).
  2. Goal Position(116) is converted to desired position trajectory and desired velocity trajectory by Profile Velocity(112) and Profile Acceleration(108).
  3. The desired position trajectory and desired velocity trajectory is stored at Position Trajectory(140) and Velocity Trajectory(136) respectively.
  4. Feedforward and PID controller calculate PWM output for the motor based on desired trajectories.
  5. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value.
  6. The final PWM value is applied to the motor through an Inverter, and the horn of DYNAMIXEL is driven.
  7. Results are stored at Present Position(132), Present Velocity(128), Present PWM(124) and Present Current(126).

NOTE:

  • In case of PWM Control Mode, both PID controller and Feedforward controller are deactivated while Goal PWM(100) value is directly controlling the motor through an inverter. In this manner, users can directly control the supplying voltage to the motor.
  • Ka is an Anti-windup Gain that cannot be modified by users.
    For more details about the PID controller and Feedforward controller, please refer to the PID Controller and Feed Forward.

Below figure is a block diagram describing the current-based position controller in Current-based Position Control Mode. As Current-based Position Control Mode is quite similar to Position Control Mode, differences will be focused in the following steps. The differences are highlighted with a green marker in the block diagram as well.

  1. Feedforward and PID controller calculates desired current based on desired trajectory.
  2. Goal Current(102) decides the final desired current by setting a limit on the calculated desired current.
  3. Current controller calculates PWM output for the motor based on the final desired current.
  4. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM value.
  5. The final PWM value is applied to the motor through an Inverter, and the horn of DYNAMIXEL is driven.
  6. Results are stored at Present Position(132), Present Velocity(128), Present PWM(124) and Present Current(126).

NOTE : Ka is an Anti-windup Gain that cannot be modified by users.

BUS Watchdog(98)

The Bus Watchdog(98) is a safety device (Fail-safe) to stops the DYNAMIXEL if the communication between the controller and DYNAMIXEL communication (RS485, TTL) is disconnected due to an unspecified error. The communication is defined as all the Instruction Packet in the DYNAMIXEL Protocol.

  Values Description
Range 0 Deactivate Bus Watchdog Function, Clear Bus Watchdog Error
Range 1 ~ 127 Activate Bus Watchdog (Unit: 20 [msec])
Range -1 Bus Watchdog Error Status

The Bus Watchdog function monitors the communication interval (time) between the controller and DYNAMIXEL when Torque Enable(64) is ‘1’(Torque ON).
If the measured communication interval (time) is larger than the set value of Bus Watchdog(98), the DYNAMIXEL will stop. Bus Watchdog(98) will be changed to ‘-1’ (Bus Watchdog Error). If the Bus Watchdog Error screen appears, the Goal Value (Goal PWM(100), Goal Current(102), Goal Velocity(104), Goal Position(116)) will be changed to read-only-access. Therefore, if a new value is written to the Goal Value, the Status Packet will send the Data Range Error via its Error field. If the value of Bus Watchdog(98) is changed to ‘0’, Bus Watchdog Error will be cleared.

NOTE : For details of the Data Range Error, please refer to the Protocol 2.0

NOTE: Bus Watchdog (98) is available from firmware v38.

Bus Watchdog (98) Example

The following is the example of the operation of the Bus Watchdog function.

  1. After setting the Operating Mode(11) to speed control mode, change the Torque Enable(64) to ‘1’.
  2. If ‘50’ is written in the Goal Velocity(104), the DYNAMIXEL will rotate in CCW direction.
  3. Change the value of Bus Watchdog(98) to ‘100’ (2,000 [ms]). (Activate Bus Watchdog Function)
  4. If no instruction packet is received for 2,000 [ms], the DYNAMIXEL will stop. When it stops, the Profile Acceleration(108) and Profile Velocity(112) are applied as ‘0’.
  5. The value of Bus Watchdog(98) changes to ‘-1’ (Bus Watchdog Error). At this time, the access to the Goal Value will be changed to read-only.
  6. If ‘150’ is written to the Goal Velocity(104), the Data Range Error will be returned via Status Packet.
  7. If the value of Bus Watchdog(98) is changed to ‘0’, Bus Watchdog Error will be cleared.
  8. If “150” is written in the Goal Velocity(104), the DYNAMIXEL will rotate in CCW direction.

Goal PWM(100)

When the Operating Mode(11) is PWM Control Mode, both the PID and Feedforward controllers will be deactivated as the Goal PWM(100) value directly controls a motor via an inverter. But on the other Operating Mode(11), the Goal PWM(100) limits PWM value only. Read Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90) or Velocity PI Gain(76, 78) for how Goal PWM (100) works with the gains.

Unit Range
about 0.113 [%] -PWM Limit(36) ~ PWM Limit(36)

NOTE: Goal PWM(100) can not exceed PWM Limit(36).

Goal Current(102)

Use Goal Current(102) to set a desired current when the Operating Mode(11) is Torque Control Mode. Also, the Goal Current(102) can be used to set a limit to current in Current-based Position Control Mode. Note that the Goal Current(102) can not be set larger than the Current Limit(38).

Unit Value Range
about 3.36[mA] -Current Limit(38) ~ Current Limit(38)

NOTE : Applying high current to the motor for long period of time might damage the motor.

Goal Velocity(104)

Use the Goal Velocity(104) to set a desired velocity when the Operating Mode(11) is Velocity Control Mode.

Note that the Goal Velocity(104) is not used to limit moving velocity.

Unit Value Range
0.229 rpm -Velocity Limit(44) ~ Velocity Limit(44)

NOTE: Goal Velocity(104) can not exceed Velocity Limit(44).

NOTE : The maximum velocity and maximum torque of DYNAMIXEL is affected by supplying voltage.
Therefore, if supplying voltage changes, so does the maximum velocity. This manual complies with recommended supply voltage.

NOTE : If Profile Acceleration(108) and Goal Velocity(104) are modified simultaneously, modified Profile Acceleration(108) will be used to process Goal Velocity(104).

Profile Acceleration(108)

When the Drive Mode(10) is Velocity-based Profile, Profile Acceleration(108) sets acceleration of the Profile.
When the Drive Mode(10) is Time-based Profile, Profile Acceleration(108) sets acceleration time of the Profile.
The Profile Acceleration(108) is to be applied in all control mode except Current Control Mode or PWM Control Mode on the Operating Mode(11).

For more detailed information, see What is the Profile

Velocity-based Profile Values Description
Unit 214.577 [rev/min2] Sets acceleration of the Profile
Range 0 ~ 32767 ‘0’ represents an infinite acceleration
Time-based Profile Values Description
Unit 1 [msec] Sets accelerating time of the Profile
Range 0 ~ 32737 ‘0’ represents an infinite acceleration time(‘0 [msec]’).
Profile Acceleration(108, Acceleration time) will not exceed 50% of Profile Velocity (112, the time span to reach the velocity of the Profile) value.

NOTE : Time-based Profile is available from the firmware version 42.

Profile Velocity(112)

When the Drive Mode(10) is Velocity-based Profile, Profile Velocity(112) sets the maximum velocity of the Profile.
When the Drive Mode(10) is Time-based Profile, Profile Velocity(112) sets the time span to reach the velocity (the total time) of the Profile.
Be aware that the Profile Velocity(112) is to be only applied to Position Control Mode, Extended Position Control Mode or Current-based Position Control Mode on the Operating Mode(11).

For more detailed information, see What is the Profile.

NOTE: Velocity Control Mode only uses Profile Acceleration(108) without the Profile Velocity(112).

Velocity-based Profile Values Description
Unit 0.229 [rev/min] Sets velocity of the Profile
Range 0 ~ 32767 ‘0’ represents an infinite velocity
Time-based Profile Values Description
Unit 1 [msec] Sets the time span for the Profile
Range 0 ~ 32737 ‘0’ represents an infinite velocity.
Profile Acceleration(108, Acceleration time) will not exceed 50% of Profile Velocity (112, the time span to reach the velocity of the Profile) value.

NOTE : Time-based Profile is available from the firmware V42.

Goal Position(116)

The Goal Position(116) sets desired position. From the front view of DYNAMIXEL, CCW is an increasing direction, whereas CW is a decreasing direction. The way of reaching the Goal Position(116) can differ by the Profile provided by DYNAMIXEL. See the What is the Profile for more details.

Mode Values Description
Position Control Mode Min Position Limit(52) ~ Max Position Limit(48) Initial Value : 0 ~ 4,095
Extended Position Control Mode -1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Current-based Position Control Mode -1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]
Unit Description
0.088 [deg/pulse] 1[rev] : 0 ~ 4,095

NOTE : The Profile Velocity(112) and the Profile Acceleration(108) are applied in below cases.

NOTE : When turning off the power supply or changing Operation Mode on Extended Position Control Mode, the value of Present Position is reset to the absolute position value of single turn .

NOTE : Present Position(132) represents a 4 byte continuous range from -2,147,483,648 to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full rotation in the following cases:

  1. When the Operating Mode(11) is changed to Position Control Mode.
  2. When torque is turned on in Position Control Mode.
  3. When the actuator is turned on or when rebooted using a Reboot Instruction.

Note that a Present Position(132) value that has been reset to the absolute value within a single rotation will still be affected by the configured Homing Offset(20) value.

Realtime Tick(120)

The Realtime Tick(120) indicates DYNAMIXEL’s time.

Unit Value Range Description
1 ms 0 ~ 32,767 The value resets to ‘0’ when it exceeds 32,767

Moving(122)

The Moving(122) indicates whether DYNAMIXEL is in motion or not.
If absolute value of Present Velocity(128) is greater than Moving Threshold(24), Moving(122) is set to ‘1’.
Otherwise, it will be cleared to ‘0’.
However,the Moving(122) will always be set to ‘1’ regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction.

Value Description
0 Movement is not detected
1 Movement is detected, or Profile is in progress(Goal Position(116) instruction is being processed)

Moving Status(123)

The Moving Status(123), one byte data, provides additional information about the movement.
Following Error(0x08) and In-Position(0x01) are available under Position Control Mode, Extended Position Control Mode, Current-based Position Control Mode.

For more details about the mode, see the Operating Mode(11).

Bit Value Information Description
Bit 7 X - Reserved
Bit 6 X - Reserved
Bit 4
Bit 5		 11
10
01
00		 Velocity Profile 11 : Trapezoidal Profile
10 : Triangular Profile
01 : Rectangular Profile
00 : Profile not used(Step)
Bit 3 0 or 1 Following Error DYNAMIXEL is following the desired position trajectory
0 : Following
1 : Not following
Bit 2 X - Reserved
Bit 1 0 or 1 Profile Ongoing Profile is in progress with Goal Position(116) instruction
0 : Profile completed
1 : Profile in progress
Bit 0 0 or 1 In-Position DYNAMIXEL has arrived to the desired position
0 : Not arrived
1 : Arrived

NOTE : The Triangular velocity profile is configured when Rectangular velocity profile cannot reach to the Profile Velocity(112).

NOTE : In-Position bit will be set when the positional deviation is smaller than a predefined value under Position related control modes.

Present PWM(124)

This value indicates present PWM. For more details, please refer to the Goal PWM(100).

Present Current(126)

This value indicates current Current. For more details, please refer to the Goal Current(102).

Present Velocity(128)

This value indicates present Velocity. For more details, please refer to the Goal Velocity(104).

Present Position(132)

The Present Position(132) indicates present Position. For more details, see the Goal Position(116).

NOTE : Present Position(132) represents a 4 byte continuous range from -2,147,483,648 to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full rotation in the following cases:

  1. When the Operating Mode(11) is changed to Position Control Mode.
  2. When torque is turned on in Position Control Mode.
  3. When the actuator is turned on or when rebooted using a Reboot Instruction.

Note that a Present Position(132) value that has been reset to the absolute value within a single rotation will still be affected by the configured Homing Offset(20) value.

Velocity Trajectory(136)

The Velocity Trajectory(136) is a desired velocity trajectory created by Profile. Operating method can be changed based on its Operating Mode(11). For more details, see the What is the Profile.

  1. Velocity Control Mode : When Profile reaches to the endpoint, The Velocity Trajectory(136) becomes equal to the Goal Velocity(104).
  2. Position Control Mode, Extended Position Control Mode, Current-based Position Control Mode : Velocity Trajectory is used to create Position Trajectory(140). When Profile reaches to an endpoint, Velocity Trajectory(136) is cleared to ‘0’.

Position Trajectory(140)

The Position Trajectory(140) is a desired position trajectory created by the Profile.
The Position Trajectory(140) is used only when the Operating Mode(11) is the Position Control Mode, Extended Position Control Mode or Current-based Position Control Mode.
For more details, see What is the Profile.

Present Input Voltage(144)

The Present Input Voltage(144) indicates present voltage that is being supplied. For more details, see the Max/Min Voltage Limit(32, 34).

Present Temperature(146)

The Present Temperature(146) indicates internal temperature of DYNAMIXEL. For more details, see the Temperature Limit(31).

Indirect Address, Indirect Data

Indirect Address and Indirect Data are useful when accessing two remote addresses in the Control Table as sequential addresses. - Sequential addresses increase Instruction Packet efficiency. Addresses that can be defined as Indirect Address is limited to RAM area(Address 64 ~ 661).

Indirect Address Range Description
64 ~ 661 EEPROM address can’t be assigned to Indirect Address

Indirect Address and Indirect Data Examples

Example 1 Allocating Size 1 byte LED(65) to Indirect Data 1(224).

  1. Indirect Address 1(168) : change the value to ‘65’ which is the address of LED.
  2. Set Indirect Data 1(224) to ‘1’ : LED(65) also becomes ‘1’ and LED is turned on.
  3. Set Indirect Data 1(224) to ‘0’ : LED(65) also becomes ‘0’ and LED is turned off.

Example 2 Allocating Size 4 byte Goal Position(116) to Indirect Data 2(225), 4 sequential bytes have to be allocated.

  1. Indirect Address 2(170) : change the value to ‘116’ which is the first address of Goal Position.
  2. Indirect Address 3(172) : change the value to ‘117’ which is the second address of Goal Position.
  3. Indirect Address 4(174) : change the value to ‘118’ which is the third address of Goal Position.
  4. Indirect Address 5(176) : change the value to ‘119’ which is the fourth address of Goal Position.
  5. Set 4 byte value ‘1,024’ to Indirect Data 2 : Goal Position(116) also becomes ‘1024’ and DYNAMIXEL moves.

NOTE : In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address, all address must be allocated to Indirect Address like the above Example 2.

NOTE : Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.

How to Assemble

Optional Frames

Horns

Combination Structures

Maintenance

Horn and Bearing Replacement

The horn is installed on the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back.

Installing the Horn

Place the thrust horn washer into the actuator before inserting the horn. You must carefully align the horn to the wheel gear serration by aligning dots.

Once alignment is properly done, gently push the center of the horn toward the actuator. Make sure that the horn washer is in place as you tighten the bolt.

Installing the Bearing Set

You may need to remove the bearing set from the previous actuator and reinstall it into the new actuator. The bearing set can also be purchased separately. As bearing set is rotating freely, therefore alignment is not required when assembling to DYNAMIXEL.

Gear Replacement

When gears inside DYNAMIXEL are damaged or worn out, replace the gears in DYNAMIXEL to maintain the good condition.

See the following video on how to replace the gears properly.

DYNAMIXEL Calibration

Calibrate the DYNAMIXEL after the gear replacement to arrange the gears in the right position.

See the following video on how to calibrate the DYNAMIXEL properly using software.

NOTE:

  • As the USB2Dynamixel has been discontinued, a U2D2 is required to comunicate with DYNAMIXEL via PC using the software in the video.
  • Alternatively, you can calibrate the DYNAMIXEL (X / MX only) using the DYNAMIXEL Wizard 2.0 instead of using the R+ Manager 2.0 used in the video.

Reference

NOTE
Compatibility Guide
Harness Compatibility

What is the Profile

The Profile is an acceleration/deceleration control method to reduce vibration, noise and load of the motor by controlling dramatically changing velocity and acceleration.
It is also called Velocity Profile as it controls acceleration and deceleration based on velocity.
DYNAMIXEL provides 3 different types of Profile. The following explains 3 Profiles.
Profiles are usually selected by the combination of Profile Velocity(112) and Profile Acceleration(108).

When given Goal Position(116), DYNAMIXEL’s profile creates desired velocity trajectory based on present velocity(initial velocity of the Profile).
When DYNAMIXEL receives updated desired position from a new Goal Position(116) while it is moving toward the previous Goal Position(116), velocity smoothly varies for the new desired velocity trajectory.
Maintaining velocity continuity while updating desired velocity trajectory is called Velocity Override.
For a simple calculation, let’s assume that the initial velocity of the Profile is ‘0’.
The following explains how Profile processes Goal Position(116) instruction in Position Control mode, Extended Position Control Mode, Current-based Position Control Mode.

  1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal Position(116) (If Velocity-based Profile is selected).
  2. Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
  3. Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and total travel distance(ΔPos, the distance difference between desired position and present position).
  4. Selected Profile type is stored at Moving Status(123).
  5. DYNAMIXEL is driven by the calculated desired trajectory from Profile.
  6. desired velocity trajectory and desired position trajectory from Profile are stored at Velocity Trajectory(136) and Position Trajectory(140) respectively.
Condition Types of Profile
VPRFL(112) = 0 Profile not used
(Step Instruction)
(VPRFL(112) ≠ 0) & (APRF(108) = 0) Rectangular Profile
(VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) Trapezoidal Profile

NOTE : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal Profiles are supported. Velocity Override are supported as well. Acceleration time(t1) can be calculated as below equation.

Velocity-based Profile : t1 = 64 * {Profile Velocity(112) / Profile Acceleration(108)}
Time-based Profile : t1 = Profile Acceleration(108)

NOTE : If Time-based Profile is selected, Profile Velocity(112) is used to set the time span of the Profile(t3), while Profile Acceleration(108) sets accelerating time(t1) in millisecond[ms]. Profile Acceleration(108) will not exceed 50% of Profile Velocity(112) value.

Certifications

Please inquire us for information regarding unlisted certifications.

FCC

Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one more of the following measures:

  • Reorient or relocate the receiving antenna.
  • Increase the separation between the equipment and receiver.
  • Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
  • Consult the dealer or an experienced radio/TV technician for help.

WARNING
Any changes or modifications not expressly approved by the manufacturer could void the user’s authority to operate the equipment.

Connector Information

Item TTL RS-485
Pinout 1 GND
2 VDD
3 DATA		 1 GND
2 VDD
3 DATA+
4 DATA-
Diagram
Housing
MOLEX 50-37-5033
MOLEX 50-37-5043
PCB Header
MOLEX 22-03-5035
MOLEX 22-03-5045
Crimp Terminal MOLEX 08-70-1039 MOLEX 08-70-1039
Wire Gauge for DYNAMIXEL 21 AWG 21 AWG

WARNING: To enhance user safety and to prevent proprietary risk or damage, be sure to check the pinout installed on DYNAMIXEL and the board. The Pinout of DYNAMIXEL may differ depending on a manufacturer of connector.

Drawings

Please also checkout ROBOTIS Download Center for software applications, 3D/2D CAD, and other useful resources!

Communication Circuit

To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.

TTL Communication

NOTE: Above circuit is designed for 5V or 5V tolerant MCU. Otherwise, use a Level Shifter to match the voltage of MCU.

RS-485 Communication

NOTE: Above circuit is designed for 5V or 5V tolerant MCU. Otherwise, use a Level Shifter to match the voltage of MCU.

The power of DYNAMIXEL is supplied via Pin1(-), Pin2(+).
(The above circuit is built into DYNAMIXEL’s controller only)
In the above circuit diagram, the direction of data signal of TxD and RxD in the TTL Level is determined according to the level of TX_Enable_5V as follows:
In case of TX_Enable_5V = High: The signal of TxD is output to D+ and D-
In case of TX_Enable_5V = Low: The signal of D+ and D- is output to RxD