ROBOTIS e-Manual v1.29.00

IR SENSOR ARRAY

Part Photo

 

[IR Sensor Array]

 

Product Usage

The IR sensor array is a device with 7 mounted infrared sensors. Each IR sensor is capable of detecting black and white colors. The array is capable of emitting sounds.

The IR array can perform detection at proper distances. The infrared sensors transmitters/receivers  have optimal operating range of 0-5CM.

 

LED

 

The LED;s light on when sensor values are lower than the threshold values.

 

 

Automatic set black detection

The 3-Pin connector provides power; pressing the right button initializes the array with set threshold values. Press the button one more time the arrays halts auto-calibration and reverts back to set threshold values. Set values = (MAX_VALUE + 2 * MIN_VALUE) / 3; where MAX_VALUE is max value of sensors between the first and second button presses, and MIN_VALUE is the min value of sensors between the first and second button presses.

  

RESET

Press the left button once and the IR array will reset via the supplied 3Pin cable. Note that this will not change set black detection values.

 

Communications protocol

IR array communications and communications-related hardware are shown here.

 

Hardware Specifications

 

Control Table

Control Table consists of data regarding the current status and operation, which exists inside of Dynamixel. The user can control Dynamixel by changing data of Control Table via Instruction Packet.

EEPROM and RAM

Data in RAM area is reset to the initial value whenever the power is turned on while data in EEPROM area is kept once the value is set even if the power is turned off.

Address

It represents the location of data. To read from or write data to Control Table, the user should assign the correct address in the Instruction Packet.

Access

Dynamixel has two kinds of data: Read-only data, which is mainly used for sensing, and Read-and-Write data, which is used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings. In case of data in the RAM Area, the initial values on the right side of the above Control Tables are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet at the same time.

 

Area

Address (Hexadecimal)

Name

description

Access

Initial Value (Hexadecimal)

E

E

P

R

O

M

0 (0X00)

Model Number(L)

Lowest byte of model number

R

74 (0X4A)

1 (0X01)

Model Number(H)

Highest byte of model number

R

1 (0X01)

2 (0X02)

Version of Firmware

Information on the version of firmware

R

-

3 (0X03)

ID

ID of Dynamixel

RW

100 (0X64)

4 (0X04)

Baud Rate

Baud Rate of Dynamixel

RW

1 (0X01)

5 (0X05)

Return Delay Time

Return Delay Time

RW

250 (0XFA)

6 (0X06)

 IR Threshold_L 1

IR sensor #1 threshold value low byte

RW

16 (0X10)

7 (0X07)

IR Threshold_H 1

IR sensor #1 threshold value high byte

RW

3 (0X03)

8 (0X08)

 IR Threshold_L 2

IR sensor #2 threshold value low byte

RW

16 (0X10)

9 (0X09)

IR Threshold_H 2

IR sensor #2 threshold value high byte

RW

3 (0X03)

10 (0X0A)

 IR Threshold_L 3

IR sensor #3 threshold value low byte

RW

16 (0X10)

11 (0X0B)

IR Threshold_H 3

IR sensor #3 threshold value high byte

RW

3 (0X03)

12 (0X0C)

 IR Threshold_L 4

IR sensor #4 threshold value low byte

RW

16 (0X10)

13 (0X0D)

IR Threshold_H 4

IR sensor #4 threshold value high byte

RW

3 (0X03)

14 (0X0E)

 IR Threshold_L 5

IR sensor #5 threshold value low byte

RW

16 (0X10)

15 (0X0F)

IR Threshold_H 5

IR sensor #5 threshold value high byte

RW

3 (0X03)

16 (0X10)

Status Return Level

Status Return Level

RW

2 (0X02)

17 (0X11)

 IR Threshold_L 6

IR sensor #6 threshold value low byte

RW

16 (0X10)

18 (0X12)

IR Threshold_H 6

IR sensor #6 threshold value high byte

RW

3 (0X03)

20 (0X14)

 IR Threshold_L 7

IR sensor #7 threshold value low byte

RW

16 (0X10)

21 (0X15)

IR Threshold_H 7

IR sensor #7 threshold value high byte

RW

3 (0X03)

R

A

M

24 (0X18)

IR Fire Data_L 1

IR sensor #1 threshold value low byte

R

-

25 (0X19)

IR Fire Data_H 1

IR sensor #1 threshold value high byte

R

-

26 (0X1A)

IR Fire Data_L 2

IR sensor #2 threshold value low byte

R

-

27 (0X1B)

IR Fire Data_H 2

IR sensor #2 threshold value high byte

R

-

28 (0X1C)

IR Fire Data_L 3

IR sensor #3 threshold value low byte

R

-

29 (0X1D)

IR Fire Data_H 3

IR sensor #3 threshold value high byte

R

-

30 (0X1E)

IR Fire Data_L 4

IR sensor #4 threshold value low byte

R

-

31 (0X1F)

IR Fire Data_H 4

IR sensor #4 threshold value high byte

R

-

32 (0X20)

IR Fire Data_L 5

IR sensor #5 threshold value low byte

R

-

33 (0X21)

IR Fire Data_H 5

IR sensor #5 threshold value high byte

R

-

34 (0X22)

IR Fire Data_L 6

IR sensor #6 threshold value low byte

R

-

35 (0X23)

IR Fire Data_H 6

IR sensor #6 threshold value high byte

R

-

36 (0X24)

IR Fire Data_L 7

IR sensor #7 threshold value low byte

R

-

37 (0X25)

IR Fire Data_H 7

IR sensor #7 threshold value high byte

R

-

40 (0X28)

Buzzer Data 0

Buzzer Notes

RW

-

41 (0X29)

Buzzer Data 1

Buzzer Ringing Time

RW

-

42 (0X2A)

AUTO Threshold

Automatic object detection mode set

RW

0 (0X00)

43 (0X2B)

IR Obstacle Detected

IR object detection

R

 

44 (0X2C)

Registered

Registration of Instruction

RW

0 (0X00)

47 (0X2F)

Lock

Locking EEPROM

RW

0 (0X00)

48 (0X30)

IR Threshold_L 1

IR sensor #1 set value low byte

RW

16 (0X10)

49 (0X31)

IR Threshold_H 1

IR sensor #1 set value high byte

RW

3 (0X03)

50 (0X32)

IR Threshold_L 2

IR sensor #2 set value low byte

RW

16 (0X10)

51 (0X33)

IR Threshold_H 2

IR sensor #2 set value high byte

RW

3 (0X03)

52 (0X34)

IR Threshold_L 3

IR sensor #3 set value low byte

RW

16 (0X10)

53 (0X35)

IR Threshold_H 3

IR sensor #3 set value high byte

RW

3 (0X03)

54 (0X36)

IR Threshold_L 4

IR sensor #4 set value low byte

RW

16 (0X10)

55 (0X37)

IR Threshold_H 4

IR sensor #4 set value high byte

RW

3 (0X03)

56 (0X38)

IR Threshold_L 5

IR sensor #5 set value low byte

RW

16 (0X10)

57 (0X39)

IR Threshold_H 5

IR sensor #5 set value high byte

RW

3 (0X03)

58 (0X3A)

IR Threshold_L 6

IR sensor #6 set value low byte

RW

16 (0X10)

59 (0X3B)

IR Threshold_H 6

IR sensor #6 set value high byte

RW

3 (0X03)

60 (0X3C)

IR Threshold_L 7

IR sensor #7 set value low byte

RW

16 (0X10)

61 (0X3D)

IR Threshold_H 7

IR sensor #7 set value high byte

RW

3 (0X03)

 

Explanation of Address Functions

EEPROM Area

Model Number

It represents the Model Number.

 

Firmware Version

It represents the firmware version.

 

ID

It is a unique number to identify Dynamixel.

The range from 0 to 252 (0xFC) can be used, and, especially, 254(0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, we can command to all Dynamixels.

 

Please be careful not to duplicate the ID of connected Dynamixel.

 

Baud Rate

It represents the communication speed. 0 to 254 (0xFE) can be used for it.

This speed is calculated by using the below formula.

Speed(BPS)  = 2000000/(Data+1)

Data

Set BPS

Target BPS

Tolerance

1

    1000000.0  

    1000000.0  

  0.000 %

3

      500000.0  

      500000.0  

  0.000 %

4

      400000.0  

      400000.0  

  0.000 %

7

      250000.0  

      250000.0  

  0.000 %

9

      200000.0  

      200000.0  

  0.000 %

16

      117647.1

      115200.0  

 -2.124 %

34

        57142.9

        57600.0  

  0.794 %

103

        19230.8

        19200.0  

 -0.160 %

207

          9615.4

          9600.0  

 -0.160 %

 

Note : Maximum Baud Rate error of 3% is within the tolerance of UART communication.

 

Return Delay Time

It is the delay time per data value that takes from the transmission of Instruction Packet until the return of Status Packet.

0 to 254 (0xFE) can be used, and the delay time per data value is 2 usec.

That is to say, if the data value is 10, 20 usec is delayed. The initial value is 250 (0xFA) (i.e., 0.5 msec).

 

Set black values (1 ~ 7)

Set black values (1 ~ 7) -EEPROM

White/black set values.

Sensor and set black values.

 

Black detection

LED

Sensor value <= set value

BIT 1

ON

Sensor value > set value

BIT 0

OFF

When turning power on the initial set black values will load onto the RAM.

 

Status Return Level

It decides how to return Status Packet. There are three ways like the below table.

Value

Return of Status Packet

0

  No return against all commands (Except PING Command)

1

  Return only for the READ command

2

  Return for all commands

 

When Instruction Packet is Broadcast ID, Status Packet is not returned regardless of Status Return Level.

 

RAM Area

IR sensor values  (1 ~ 7)

If infrared light is emitted with enough intensity it will reflect off walls, objects, the receiver will detect the reflected light. Light reflected from bright walls and objects will be read as a high value. Measured value range is 0-1023.

Infrared light measured from walls, objects, textures may be output differently including a difference in measurement.

 

Buzzer Notes

A buzzer is installed in IR Sensor Array, and simple beep sounds can be made.  Total 52 musical notes can be made in Buzzer Notes, and various notes can be made because there are whole tones and halftones in each octave.  The values of Buzzer Notes are assigned as the table below.

 

 

 

Buzzer Ringing Time

 IR Sensor Array has a function to control the buzzer alarming time.  It is possible to control by the unit of 0.1 second, and the minimum length is set to 0.3 seconds; the time can be extended up to maximum 5 seconds.  That is, if 0~3 is entered, the buzzer rings for 0.3 seconds; if the value over 50 is entered, the buzzer rings only for 5 seconds regardless of the value.  Moreover, if the ringing is finished, the buzzer ringing time is automatically initialized to '0.'

There are 2 special buzzer ringing time functions for  IR Sensor Array.  Firstly, the buzzer can be ringing without stopping.  If 254 is entered in buzzer ringing time, and the number of desired musical notes is entered, the buzzer rings without stopping.  To stop the ringing, '0' is entered in buzzer ringing time.

Secondly, the buzzer can play special melodies.  If 255 is entered in buzzer ringing time, and then the value 0~26 is entered in buzzer notes, 27 melodies corresponding to each number can be played. If the ringing is finished, the buzzer ringing time is automatically initialized to '0.'

 

Automatic set black detection mode

Mode for automatic black detection set-up from start to finish paramenters. From '0' to '1' starts; from '1' to '0' finishes.

 

Black detection

In the IR array if each IR sensor detected black value is lower than the set black valuethe values will be assigned as shown below; the LED turns on.

BIT

Name

Bit 0

Black detection for IR sensor #1

Bit 1

Black detection for IR sensor #2

Bit 2

Black detection for IR sensor #3

Bit 3

Black detection for IR sensor #4

Bit 4

Black detection for IR sensor #5

Bit 5

Black detection for IR sensor #6

Bit 6

Black detection for IR sensor #7

 

Registered Instruction

Value

Meaning

0

 There are no commands transmitted by REG_WRITE

1

 There are commands transmitted by REG_WRITE.

 

Notes: If ACTION command is executed, the value is changed into 0.

 

Lock

Value

Meaning

0

 EEPROM area can be modified.

1

 EEPROM area cannot be modified.

 

Caution: If Lock is set to 1, the power must be turned off and then turned on again to change into 0.

 

Black detection set values  (1 ~ 7)

Determines white/black set values.

sensor and set black values

 

Black detection

LED

Sensor value <= set value

BIT 1

ON

Sensor value > set value

BIT 0

OFF

When turning power on the initial set black values will load onto the RAM.

 

 



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