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Robotis Dynamixel X Series Manual
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Robotis Dynamixel X Series Manual

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New XL430-W250 (Released on 2018 3rd quarter)
Old XL430-W250 (This type has been discontinued)
1. Specifications
Item
MCU
Position Sensor
Motor
Baud Rate
Control Algorithm
Resolution
Operating Modes
Weight
Dimensions (W x H x D)
Gear Ratio
Specifications
ARM CORTEX-M3 (72 [MHz], 32Bit)
Contactless absolute encoder (12Bit, 360 [°])
Maker : ams(www.ams.com), Part No : AS5601
Cored
9,600 [bps] ~ 4.5 [Mbps]
PID control
4096 [pulse/rev]
Velcoity Control Mode
Position Control Mode (0 ~ 360 [°])
Extended Position Control Mode (Multi-turn)
PWM Control Mode (Voltage Control Mode)
57.2 [g]
28.5 x 46.5 x 34 [mm]
258.5 : 1

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Summary of Contents for Robotis Dynamixel X Series

  • Page 1 New XL430-W250 (Released on 2018 3rd quarter) Old XL430-W250 (This type has been discontinued) 1. Specifications Item Specifications ARM CORTEX-M3 (72 [MHz], 32Bit) Contactless absolute encoder (12Bit, 360 [°]) Position Sensor Maker : ams(www.ams.com), Part No : AS5601 Motor Cored Baud Rate 9,600 [bps] ~ 4.5 [Mbps] Control Algorithm...
  • Page 2 Item Specifications 1.0 [N.m] (at 9.0 [V], 1.0 [A]) Stall Torque 1.4 [Nm] (at 11.1 [V], 1.3 [A]) 1.5 [Nm] (at 12.0 [V], 1.4 [A]) 47 [rev/min] (at 9.0 [V]) No Load Speed 57 [rev/min] (at 11.1 [V]) 61 [rev/min] (at 12.0 [V]) Operating Temperature -5 ~ +72 [°C] Input Voltage...

  • Page 3: Control Table

    Generally, Max Torque of the Performance Graph is less than the Stall Torque. CAUTION : When supplying power It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL. Do not connect or disconnect DYNAMIXEL when power is being supplied. 2. Control Table The Control Table is a structure of data implemented in the device.
  • Page 4 data, users must designate a specific Address in the Instruction Packet. Please refer to Protocol 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. 2.
  • Page 5 Size Default Address Data Name Access Range Unit (Byte) Value Drive Mode 0 ~ 1 Operating Mode 0 ~ 16 Secondary(Shadow) ID 0 ~ 252 Protocol Type 1 ~ 2 -1,044,479 ~ Homing Offset 1 [pulse] 1,044,479 Moving Threshold 0 ~ 1,023 0.229 [rev/min] Temperature Limit 0 ~ 100...
  • Page 6 Size Default Address Data Name Access Range Unit (Byte) Value -PWM Limit(36) ~ Goal PWM PWM Limit(36) -Velocity Limit(44) ~ Goal Velocity 0.229 [rev/min] Velocity Limit(44) 0 ~ 32,767 214.577 [rev/min Profile Acceleration 0 ~ 32,737 1 [ms] Profile Velocity 0 ~ 32,767 0.229 [rev/min] Min Position Limit(52) ~...
  • Page 7 Size Default Address Data Name Access Range Unit (Byte) Value Indirect Data 28 0 ~ 255 Indirect Address 29 64 ~ 661 Indirect Address 30 64 ~ 661 Indirect Address 31 64 ~ 661 … … … … … Indirect Address 54 64 ~ 661 Indirect Address 55 64 ~ 661...
  • Page 8 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. 2. 4. 4. Baud Rate(8) Baud Rate determines serial communication speed between a controller and DYNAMIXEL. Value Baud Rate Margin of Error...

  • Page 9: Operating Mode

    Item Description [0] Velocity-based Profile: Create a Profile based on Velocity Bit 2(0x04) Profile Configuration [1] Time-based Profile: Create Profile based on time ※ Please refer to Profile Velocity(112) Bit 1(0x02) Unused, always ‘0’ [0] Normal Mode: CCW(Positive), CW(Negative) Bit 0(0x01) Normal/Reverse Mode [1] Reverse Mode: CCW(Negative), CW(Positive) NOTE : Time-based Profile is available from firmware V42.
  • Page 10 1. PWM Control Mode is similar to the Wheel Mode of DYNAMIXEL series. 2. Use Goal PWM(100) on PWM Control Mode in order to control supply voltage for DYNAMIXEL. NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648 to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
  • Page 11 8. Turn off LED on five DYNAMIXEL. However, as there is no DYNAMIXEL with ID ‘100’, Status Packet is not returned. 2. 4. 9. Protocol Type(13) Users can select DYNAMIXEL protocol type (1.0 and 2.0). Even if Protocol 1.0 is selected, Protocol 2.0 Control Table will be used. It is recommended to use an identical protocol type for multiple DYNAMIXEL.
  • Page 12 Values Description Unit about 0.229 rpm All velocity related Data uses the same unit Range 0 ~ 1,023 2. 4. 12. Temperature Limit(31) This value limits operating temperature. When the Present Temperature(146) that indicates internal temperature of DYNAMIXEL is greater than the Temperature Limit(31), the Over Heating Error Bit(0x04) and Hardware Error Bit(0x80) in the Hardware Error Status(70) will be set.
  • Page 13 Unit Unit Value Range Value Range 0.229rpm 0 ~ 1,023 NOTE: The default value of Velocity Limit(44) has been decreased since Firmware V42. 2. 4. 16. Min/Max Position Limit(48, 52) These values limit maximum and minimum target positions for Position Control Mode(Joint Mode) within the range of 1 rotation(0 ~ 4,095).
  • Page 14 Item Description Unused, Always ‘0’ Input Voltage Error Detect 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...
  • Page 15 This value decides how to return Status Packet when DYNAMIXEL receives an Instruction Packet. Value Responding Instructions Description PING Instruction Status Packet will not be returned for all Instructions PING Instruction Status Packet will be returned only for READ Instruction READ Instruction All Instructions Status Packet will be returned for all Instructions...
  • Page 16 Item Description Motor Encoder Error Detect malfunction of the motor encoder Detect internal temperature exceeds the configured operating OverHeating Error(default) temperature Unused, Always ‘0’ Input Voltage Error Detect input voltage exceeds the configured operating voltage NOTE : 1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above) 2.
  • Page 17 NOTE : K 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 Controller at wikipedia. 2. 4. 24. 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.
  • Page 18 4. Feedforward and PID controller calculate PWM output for the motor based on desired trajectories. 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.
  • Page 19 PWM(100), Goal Velocity(104), Goal Position(116)) will be changed to read-only-access. Therefore, when a new value is written to the Goal Value, a Range Error will be returned via the Status packet. If the value of Bus Watchdog(98) is changed to ‘0’, Bus Watchdog Error will be cleared.
  • Page 20 2. 4. 28. Profile Acceleration(108) If Velocity-based Profile is selected for Drive Mode(10), Profile Acceleration(108) sets acceleration of the Profile. If Time-based Profile is selected for Drive Mode(10), Profile Acceleration(108) sets accelerating time of the Profile. Profile Acceleration(108) is applied in all control mode except Current Control Mode. Please refer to Profile Velocity(112) for more details.
  • Page 21 DYNAMIXEL provides 3 different types of Profile. The following explains 3 Profiles. Profiles are usually selected by the combination of Profile Velocity(112) 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...
  • Page 22 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 : t = 64 * {Goal Velocity(104) Profile Acceleration(108)} Time-based Profile : t Profile Acceleration(108) NOTE : If Time-based Profile is selected,...
  • Page 23 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] Degree Conversion Constant Description 0.088°/Value 1[rev] : 0 ~ 4,095 NOTE : Profile Velocity(112) and Profile Acceleration(108) are applied in below cases: In Position Control Mode, Profile Velocity(112) and...
  • Page 24 2. 4. 32. Moving(122) This value 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, this value will always be set to ‘1’ regardless of Present Velocity(128) while Profile is in progress with Goal Position(116) instruction.
  • Page 25 2. 4. 35. Present Load(126) It means currently applied load. For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque. Unit Value Range Description 0.1% -1,000 ~ 1,000 Positive(CCW Load), Negative(CW Load) NOTE : Present load is an inferred value based on the internal output value;...

  • Page 26: How To Assemble

    This value indicates present voltage that is being supplied. For more details, please refer to the Max/Min Voltage Limit(32, 34). 2. 4. 41. Present Temperature(146) This value indicates internal temperature of DYNAMIXEL. For more details, please refer to the Temperature Limit(31).
  • Page 27 3. 1. Wiring through Back Case New XL430-W250 (Released on 2018 3rd quarter)
  • Page 28 Old XL430-W250 (This type has been discontinued)
  • Page 29 CAUTION : DYNAMIXEL X-Series cable assembly through hollow case Organize the entangled cable before assembling the back case. Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error. Do not assemble both cables through the hollow case.
  • Page 31 3. 2. 2. Old XL430-W250...
  • Page 32 4. Reference NOTE Compatibility Guide Harness Compatibility 4. 1. Certifications Please inquire us for information regarding unlisted certifications. 4. 1. 1. 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.
  • Page 33 4. 2. Quick Start 4. 2. 0. 1. Prerequisites Power supply to DYNAMIXEL(12V SMPS / Controllers) PC with Windows or OSX Connection between PC and DYNAMIXEL (U2D2, USB2DYNAMIXEL or Micro USB cable) 4. 2. 0. 2. R+ Manager In order to change settings of DYNAMIXEL, R+ Manager 1.0 R+ Manager 2.0 must be...
  • Page 34 WARNING: Check the pinout! The pinout of DYNAMIXEL can differ from the pinout of connector manufacturer. 4. 5. Drawings 4. 5. 1. New XL430-W250 XL430_new(pdf).pdf Download XL430_new(dwg).dwg Download XL430_new(stp).stp Download 4. 5. 2. Old XL430-W250 XL430.pdf Download XL430.dwg Download XL430.stp Download www.pishrobot.com...

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Dynamixel xl430-w250