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L42-10-S300-R

Specifications

Item	Specifications
MCU	ARM CORTEX-M4 (168 [MHz], 32Bit)
Motor	Coreless
Baud Rate	9,600 [bps] ~ 10.5 [Mbps]
Operating Modes	Torque Control Mode Velocity Control Mode Position Control Mode Extended Position Control Mode
Weight	257 [g]
Dimensions (W x H x D)	42 x 72 x 42 [mm]
Resolution	4,096 [pulse/rev]
Gear Ratio	303.75 : 1
Backlash	< 6 [arcmin], 0.1 [°]
Radial Load	280 [N] (10 [mm] away from the horn)
Axial Load	100 [N]
No Load Speed	29.7 [rev/min]
No Load Current	0.72 [A]
1 Continuous Speed	27.9 [rev/min]
1 Continuous Torque	1.2 [N.m]
1 Continuous Current	0.8 [A]
Output	10 [W]
Operating Temperature	5 ~ 55 [°C]
Input Voltage	24.0 [V]
Command Signal	Digital Packet
Protocol Type	RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
Physical Connection	RS485 Multidrop Bus
ID	253 ID (0 ~ 252)
Standby Current	80 [mA]

1 These specifications are calculated based on the specifications of the core motor.
Please consult ROBOTIS for the long term use or special use, or else refer to the Performance Graph for general use.

Performance Graph

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.

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(562) 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	Access	Initial Value	Range	Unit
0	2	Model Number	R	35,072	-	-
2	4	Model Information	R	-	-	-
6	1	Firmware Version	R	-	-	-
7	1	ID	RW	1	0 ~ 252	-
8	1	Baud Rate	RW	1	0 ~ 13	-
9	1	Return Delay Time	RW	250	0 ~ 255	-
11	1	Operating Mode	RW	3	1, 3	-
13	4	Homing Offset	RW	0	-2,147,483,648 ~ 2,147,483,647	1 [pulse]
17	4	Moving Threshold	RW	10	0 ~ 2,147,483,647	-
21	1	Temperature Limit	RW	80	0 ~ 100	1 [°C]
22	2	Max Voltage Limit	RW	400	0 ~ 400	0.1 [V]
24	2	Min Voltage Limit	RW	150	0 ~ 400	0.1 [V]
26	4	Acceleration Limit	RW	-	0 ~ 2,147,483,647	-
30	2	Torque Limit	RW	987	0 ~ 987	-
32	4	Velocity Limit	RW	-	0 ~ 2,147,483,647	-
36	4	Max Position Limit	RW	2048	-2,147,483,648 ~ 2,147,483,647	1 [pulse]
40	4	Min Position Limit	RW	-2047	-2,147,483,648 ~ 2,147,483,647	1 [pulse]
44	1	External Port Mode 1	RW	0	0 ~ 3	-
45	1	External Port Mode 2	RW	0	0 ~ 3	-
46	1	External Port Mode 3	RW	0	0 ~ 3	-
47	1	External Port Mode 4	RW	0	0 ~ 3	-
48	1	Shutdown	RW	30	0 ~ 255	-
49	2	Indirect Address 1	RW	634	562 ~ 949	-
51	2	Indirect Address 2	RW	635	562 ~ 949	-
53	2	Indirect Address 3	RW	636	562 ~ 949	-
…	2	Indirect Address N	RW	…	562 ~ 949	-
559	2	Indirect Address 256	RW	889	562 ~ 949	-

Control Table of RAM Area

Address	Size(Byte)	Data Name	Access	Initial Value	Range	Unit
562	1	Torque Enable	RW	0	0 ~ 1	-
563	1	LED Red	RW	0	0 ~ 255	-
564	1	LED Green	RW	0	0 ~ 255	-
565	1	LED Blue	RW	0	0 ~ 255	-
586	2	Velocity I Gain	RW	40	0 ~ 65535	-
588	2	Velocity P Gain	RW	440	0 ~ 65535	-
594	2	Position P Gain	RW	64	0 ~ 65535	-
596	4	Goal Position	RW	-	Min Position Limit(40) ~ Max Position Limit(36)	1 [pulse]
600	4	Goal Velocity	RW	0	-Velocity Limit(32) ~ Velocity Limit(32)	-
604	2	Goal Torque	RW	0	-Torque Limit(30) ~ Torque Limit(30)	-
606	4	Goal Acceleration	RW	0	0 ~ Acceleration Limit(26)	-
610	1	Moving	R	-	-	-
611	4	Present Position	R	-	-	1 [pulse]
615	4	Present Velocity	R	-	-	-
621	2	Present Current	R	-	-	-
623	2	Present Input Voltage	R	-	-	0.1 [V]
625	1	Present Temperature	R	-	-	1 [°C]
626	2	External Port Data 1	R/RW	0	0 ~ 4,095	-
628	2	External Port Data 2	R/RW	0	0 ~ 4,095	-
630	2	External Port Data 3	R/RW	0	0 ~ 4,095	-
632	2	External Port Data 4	R/RW	0	0 ~ 4,095	-
634	1	Indirect Data 1	RW	0	0 ~ 255	-
635	1	Indirect Data 2	RW	0	0 ~ 255	-
636	1	Indirect Data 3	RW	0	0 ~ 255	-
…	1	Indirect Data N	RW	0	0 ~ 255	-
889	1	Indirect Data 256	RW	0	0 ~ 255	-
890	1	Registered Instruction	R	0	-	-
891	1	Status Return Level	RW	2	0 ~ 2	-
892	1	Hardware Error Status	R	0	-	-

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(562) is cleared to ‘0’.

Model Number(0)

This address stores model number of DYNAMIXEL.

Model Name	Model Number
L42-10-S300-R	35072 (0x8900)

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)

Baud Rate determines serial communication speed between a controller and DYNAMIXEL.

Value	Baud Rate
8	10.5M
7	4.5M
6	4M
5	3M
4	2M
3	1M
2	115,200
1(Default)	57,600
0	9,600

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

NOTE : For the stable communication with higher Baudrate, 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]

Operating Mode(11)

Value	Operating Mode	Description
1	Velocity Control Mode	This mode controls Velocity and Torque. Position will not be controlled.
3(Default)	Position Control Mode	This mode controls Position, Velocity and Torque.

Moving Threshold(17)

This value helps to determine whether the DYNAMIXEL is in motion or not.
If Present Velocity(615) is bigger than Moving Threshold(17) value, Moving(610) is set to ‘1’. Otherwise Moving(610) is cleared to ‘0’.
This value determines whether DYNAMIXEL is in motion or not.

Value Range
0 ~ 2,147,483,647

Temperature Limit(21)

This value limits operating temperature.
When the Present Temperature(625) that indicates internal temperature of DYNAMIXEL is greater than the Temperature Limit(21), the Overheating Error Bit(Bit 2) in the Hardware Error Status(892) will be set.
If Overheating Error Bit(Bit 2) is configured in the Shutdown(48) when Overheating Error occurs, Torque Enable(562) is cleared to ‘0’ and Torque will be disabled.
For more details, please refer to the Shutdown(48) section.

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

CAUTION : Do not set the temperature higher than the default value. When the temperature alarm shutdown occurs, wait for 20 minutes to cool the temperature before reuse. Keep using the product with high temperature can cause severe damage to DYNAMIXEL.

Min/Max Voltage Limit(22, 24)

These values are maximum and minimum operating voltages.
When present input voltage acquired from Present Input Voltage(623) exceeds the range of Max Voltage Limit(36) and Min Voltage Limit(40), Input Voltage Error Bit(Bit 0) in the Hardware Error Status(892) will be set to ‘1’.
If Input Voltage Error Bit(Bit 0) is configured in the Shutdown(48) when Input Voltage Error occurs, Torque Enable(562) is cleared to ‘0’ and Torque will be disabled.
For more details, please refer to the Shutdown(48) section.

Unit	Value Range	Description
About 0.1V	0 ~ 400	0 ~ 40.0V

Acceleration Limit(26)

This data indicates maximum value of Goal Acceleration(606).
Goal Acceleration(606) can’t be configured with any values exceeding the Acceleration Limit(26).

Attempting to write an exceeding value will result transmitting Data Limit Error(0x06) in the Error field of the Status Packet.
Goal Acceleration(606) is used in all operating mode except Current(Torque) Control Mode in order to generate a desired trajectory.

Value Range
0 ~ 2,147,483,647

Torque Limit(30)

This value indicates torque limit. Goal Torque(604) can’t exceed this value.
Attempting to write an exceeding value will fail and result in receiving a Limit Error Bit from the Status Packet.

Value Range
0 ~ 32,767

Velocity Limit(32)

This value indicates velocity limit.
The Goal Velocity(600) can’t exceed this value.
Attempting to write an exceeding value will fail and result in receiving a Limit Error Bit from the Status Packet.

Value Range
0 ~ 2,147,483,647

Min/Max Position Limit(36, 40)

These values limit maximum and minimum desired positions.
The Goal Position(596) can’t exceed these values.
Attempting to write an exceeding value will fail and result in receiving a Limit Error Bit from the Status Packet.
The position value range is -2,147,483,648 ~ 2,147,483,647 while the position limit value ranges are vary by products, so please refer to below table.
In Extended Position Control Mode, these limits will be ignored.

Model Name	Limit Value Range
H54-200-S500-R H54-100-S500-R	-250,961 ~ 250,961
H42-20-S300-R	-151,875 ~ 151,875
M54-60-S250-R M54-40-S250-R	-125,708 ~ 125,708
M42-10-S260-R	-131,593 ~ 131,593
L54-50-S290-R	-103,846 ~ 103,846
L54-50-S500-R L54-30-S500-R	-180,692 ~ 180,692
L54-30-S400-R	-144,197 ~ 144,197

External Port Mode, External Port Data

External ports that can be used for various purposes are provided.
The property of each port is configured by the External Port Mode (44, 45, 46, 47) and data of external port is controlled by the External Port Data(626, 628, 630, 632).

External Port Mode	Mode	Description
0	AI(Analogue Input)	Converts External Port signal to 12[bit] digital value
1	DO_PP(Digital Output Push-Pull)	Use External Port as a digital output port(3.3V level)
2	DI_PU(Digital Input Pull-Up)	Use External Port as a digital input port Floating connection will be considered as ‘1’
3(default)	DI_PD(Digital Input Pull-Down)	Use External Port as a digital input port Floating connection will be considered as ‘0’

External Port Mode	Access	Details	Electrical Characteristics
Common	-	-	0 ~ 3.3[V], 0 ~ 5[mA] VESD(HBM) : 2[kV]
0(AI)	Read	Converts External Port signal to digital value External Data = signal x (4,095 / 3.3)	Resolution : 12[bit] (0 ~ 4,095)
1(DO_PP)	Write	0 : Set External Port output to 0[V] 1 : Set External Port output to 3.3[V]	Output High level(VOH) : 2.4 [V] (min) Output Low level(VOL) : 0.5 [V] (max)
2(DI_PU) 3 (DI_PD)	Read	0: External Port input is 0[V] 1 : External Port input is 3.3[V]	Input High level(VIH) : 2.3 [V] (min) Input Low level(VIL) : 1.0 [V] (max) Pull-Up/Down : 40 [kΩ] (typ)

※ VESD(HBM) : ESD(Electrostatic Discharge) Voltage(human body model)

External expansion port location and pin function

Remove bolts and cover plate to reveal External Port connector.

Pin 1	Pin 2	Pin 3	Pin 4	Pin 5	Pin 6
GND	3.3V	PORT1	PORT2	PORT3	PORT4

Shutdown(48)

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 as Shutdown(48), DYNAMIXEL can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). If those errors are detected, Torque Enable(562) is cleared to ‘0’ and the motor output becomes 0[%]. In order to reuse DYNAMIXEL Pro in shutdown status, REBOOT has to be done. The followings are detectable situations.

Bit	Item	Description
Bit 7	-	-
Bit 6	-	-
Bit 5	Overload Error(default)	Detect persistent load that exceeds maximum output
Bit 4	Electrical Shock Error(default)	Detect electric shock on the circuit or insufficient power to operate the motor
Bit 3	Motor Encoder Error	Detect malfunction of the motor encoder
Bit 2	Overheating Error	Detect internal temperature exceeds the configured operating temperature
Bit 1	Motor Hall Sensor Error	Motor hall sensor value exceeds normal range
Bit 0	Input Voltage Error	Detect input voltage exceeds the configured operating voltage

NOTE : If Shutdown occurs, use below method to reboot DYNAMIXEL’s.

1. H/W REBOOT : Turn off the power and turn on again
2. S/W REBOOT : Transmit REBOOT Instruction (For more details, please refer to the Protocol section of e-Manual.)

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 562 ~ 892). If specific address is allocated to Indirect Address, Indirect Address inherits features and properties of the Data from the specific Address. Property includes Size(Byte length), value range, and Access property(Read Only, Read/Write). For instance, if address 563(LED Red) is allocated to Indirect Address 1(49), Indirect Data 1(634) will have the exactly same value of LED Red(563).

Example 1

Allocating 1 byte LED(563) to Indirect Data 1(634).

1. Indirect Address 1(49) : change the value to ‘563’ which is the address of LED Red.
2. Set Indirect Data 1(634) to ‘1’ : LED Red(563) also becomes ‘1’ and Red LED will be turned on.
3. Set Indirect Data 1(634) to ‘0’ : LED Red(563) also becomes ‘0’ and Red LED will be turned off.

Example 2

Allocating Size 4 byte Goal Position(596) to Indirect Data 2(635), 4 sequential bytes have to be allocated.

1. Indirect Address 2(51) : change the value to ‘596’ which is the first address of Goal Position.
2. Indirect Address 3(53) : change the value to ‘597’ which is the second address of Goal Position.
3. Indirect Address 4(55) : change the value to ‘598’ which is the third address of Goal Position.
4. Indirect Address 5(57) : change the value to ‘599’ which is the fourth address of Goal Position.
5. Set 4 byte value 305,419,896(0x12345678) to Indirect Data 2 : Goal Position(596) also becomes 305,419,896(0x12345678) as below.

Indirect Data Address	Goal Position Address	Saved HEX Value
635	596	0x78
636	597	0x56
637	598	0x34
638	599	0x12

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.

Torque Enable(562)

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(611) can be reset when Operating Mode(11) and Torque Enable(562) are updated. For more details, please refer to the Homing Offset(13) and Present Position(611).

RGB LED(563)

Controls the RGB LED on DYNAMIXEL PRO.

Address	Color	Range
563	Red	0 ~ 255
564	Green	0 ~ 255
565	Blue	0 ~ 255

Position PID Gain(594, 592, 590)

These Gains are used in Position Control Mode. Below figure is a block diagram describing the Position Control Mode. K_PD, K_PI, K_PP stands for Position D Gain, Position I Gain and Position P Gain respectively.

Gain Value Range
0 ~ 32,767

Goal Position(596)

Desired position can be set with Goal Position(596). This value can’t be smaller than the Min Position Limit(40) or larger than Max Position Limit(36). When CW/CCW Angle Limit are exceeded the status packet sends an Angle limit error bit (bit 1) to 1. The alarm LED is triggered and initiate shutdown.

Model	Angle Range	Position Range	Description
L42-10-S300-R	0° ~ 360 °	0 ~ 4,095

Goal Velocity(600)

• Position Control Mode Speed for Goal Position. Range is from 0 ~ 1,023 (0x3FF) and 0.114rpm is a RPM conversion unit. If Goal Velocity is set to ‘0’, maximum rpm will be used. For example, if Goal Velocity is set to ‘1,023’, 1,023 * 0.114rpm = 116.62rpm

• Speed Control Mode It is a velocity to a desired direction. -1,023 ~ 1,023 (0x3FF) can be used, and the conversion unit is about 0.114rpm. If a value in the range of 0 ~ 1,023 is used, rotating direction is CCW and ‘0’ will stop rotation. If a value in the range of -1,023 ~ 0 is used, rotating direction is CW and ‘0’ will stop rotation.

  NOTE : Please check the maximum rpm of DYNAMIXEL. The motor cannot exceed the maximum rpm with the higher Moving Speed value.

Goal Torque(604)

It is the value of the maximum torque limit. 0 ~ 1,023(0x3FF) is available, and the unit is about 0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. If the power is turned on, the value of Torque Limit(30) is used as an initial value.

Goal Acceleration(606)

Goal Acceleration(606) can be used to set a desired acceleration. This value is used in Velocity Control Mode and Position Control Mode. The profile control will be enabled when both Goal Acceleration(606) and Goal Velocity(600) are not ‘0’. Please refer to the Goal Velocity(600) for RPM conversion constant.

Value Range	Unit
-2,147,483,647 ~ 2,147,483,647	214 RPM2 @ Core Motor

Moving(610)

This value indicates whether DYNAMIXEL PRO is in motion or not. If absolute value of Present Velocity(615) is greater than Moving Threshold(17), Moving(610) is set to ‘1’. Otherwise, it will be cleared to ‘0’. However, this value will always be set to ‘1’ regardless of Present Velocity(615) while Profile is in progress with Goal Position(596) instruction.

Value	Description
0	Movement is not detected
1	Movement is detected, or Profile is in progress(Goal Position(596) instruction is being processed)

Present Position(611)

This value indicates present Position. For more details, please refer to the Goal Position(596).

Present Velocity(615)

This value indicates present Velocity. It is a velocity to a desired direction. -1,023 ~ 1,023 (0x3FF) can be used, and the conversion unit is about 0.114rpm. For more details, please refer to the Goal Velocity(600).

Present Current(621)

Formula
A = V * 8,250 / 2,048 A : Current[mA] V : Present Current/Goal Torque

Present Input Voltage(623)

This value indicates present voltage that is being supplied. For more details, please refer to the Min/Max Voltage Limit(24, 22).

Present Temperature(625)

This value indicates present internal Temperature. For more details, please refer to the Temperature Limit(21).

Registered Instruction(890)

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.

Status Return Level(891)

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.

Hardware Error Status(892)

This value indicates hardware error status. For more details, please refer to the Shutdown(48).

How to Assemble

Option Frame Assembly

• FRP42-H110K, FRP42-H120K Set

  

Maintenance

Reference

NOTE
Compatibility Guide
Harness Compatibility

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 A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

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

Connector Information

Item	RS-485	Power	External Port
Pinout	1 GND 2 VDD 3 DATA+ 4 DATA-	1 GND 2 VDD	1 GND 2 VDD 3 PORT 1 4 PORT 2 5 PORT 3 6 PORT 4
Diagram
Housing	MOLEX 50-37-5043	MOLEX 39-01-2020	MOLEX 51021-0600
PCB Header	MOLEX 22-03-5045	MOLEX 39-28-1023	MOLEX 53047-0610
Crimp Terminal	MOLEX 08-70-1039	MOLEX 39-00-0038	MOLEX 50079-8100
Wire Gauge for DYNAMIXEL	21 AWG	20 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.

WARNING: Before operating DYNAMIXEL PRO and DYNAMIXEL-P, please supply power through 24V power port.

Communication Circuit

To control DYNAMIXEL PRO with a custom made Main Controller, the signal of Main Controller UART should be converted into RS-485 signal. The following is a recommended conversion circuit diagram.

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

The power is supplied via Pin1(-) and Pin2(+) of DYNAMIXEL. (The above circuit is built into DYNAMIXEL-only controllers)

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:

• If TX_Enable_5V = High : The TXD_5V signal is transferred to D+ and D-.
• If TX_Enable_5V = Low : The D+ and D- signals are transferred to RXD_5V.

Pin Arrangement

Connector pin arrangement is shown below. DYNAMIXEL PRO has two 4-pin connectors arranged in pin-2-pin configuration. In this arrangement there’s no priority in the connector order and DYNAMIXEL PRO can be driven like the MX-series.
Additionally there is a 2-pin connector dedicated for power input for high-current operations.

WARNING : When wiring please pay attention to the pin arrangement. Incorrectly connected DYNAMIXEL PRO may be damaged severely.

Drawings

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