XL-320

Part Photo

 

 

 

dc10_a01_01.49.jpg

 

 

[XL-320]              

 

Ollo's geared motor and the servo motor differ in size.

 

 

H/W Specification

§       0° ~ 300°

§       Endless Turn

 

Stall torque is the maximum instantaneous and static  torque

Stable motions are possible with robots designed for loads with 1/5 or less of the stall torque

 

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)

Size(byet)

Name

Description

Access

Inital Value

Min

Max

E

E

P

R

O

M

0

2

Model Number

Model number

R

350

-

-

2

1

Version of Firmware

Information on the version of firmware

R

-

-

-

3

1

ID

ID of Dynamixel

RW

1

0

252

4

1

Baud Rate

Baud Rate of Dynamixel

RW

3

0

3

5

1

Return Delay Time

Return Delay Time

RW

250

0

254

6

2

CW Angle Limit

clockwise Angle Limit

RW

0

0

1023

8

2

CCW Angle Limit

 counterclockwise Angle Limit

RW

1023

0

1023

11

1

Control Mode

Control Mode

RW

2

1

2

12

1

Limit Temperature

Internal Limit Temperature

RW

65

0

150

13

1

lower Limit Voltage

Lowest Limit Voltage

RW

60

50

250

14

1

Upper Limit Voltage

Upper Limit Voltage

RW

90

50

250

15

2

Max Torque

Lowest byte of Max. Torque

RW

1023

0

1023

17

1

Return Level

Return Level

RW

2

0

2

18

1

Alarm Shutdown

Shutdown for Alarm

RW

36

0

127

R

A

M

24

1

Torque Enable

Torque On/Off

RW

0

0

1

25

1

LED

LED On/Off

RW

0

0

7

27

1

D Gain

D Gain

RW

0

0

254

28

1

 I Gain

 I Gain

RW

0

0

254

29

1

P Gain

P Gain

RW

32

0

1023

30

2

Goal Position

Goal Position

RW

-

0

2047

32

2

Goal Velocity

Goal Speed

RW

-

0

1023

35

2

Goal Torque

Goal Torque

RW

-

0

-

37

2

Present Position

 Current Position

R

-

-

-

39

2

Present Speed

Current Speed

R

-

-

-

41

2

Present Load

 Current Load

R

-

-

-

45

1

Present Voltage

Current Voltage

R

-

-

-

46

1

Present Temperature

Present temperature

R

-

-

-

47

1

Registered Instruction

Registered Instruction 

R

0

-

-

49

1

Moving

Moving

R

0

-

-

50

1

Hardware Error Status

Hardware error status

R

0

-

-

51

2

Punch

Punch

RW

32

0

1023

 

Address Function Help

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: 9600, 1:57600, 2:115200, 3:1Mbps

 

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).

 

CW/CCW Angle Limit

The angle limit allows the motion to be restrained.

 

CONTROL MODE

Value

Return of Status Packet

1

Wheel Mode

2

Join Mode

The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely.

The joint mode can be used to multi-joints robot since the robots can be controlled with specific angles.

 

The Highest Limit Temperature

Caution : Do not set the temperature lower/higher than the default value.

When the temperature alarm shutdown occurs, wait 20 minutes to cool the temperature before re-use.

Using the product when the temperature is high may and can cause damage.

 

The Lowest (Highest) Limit Voltage

It is the operation range of voltage.

50 to 250 (0x32 ~ 0x96) can be used.  The unit is 0.1V.

For example, if the value is 80, it is 8V.

If Present Voltage (Address42) is out of the range, Voltage Range Error Bit (Bit0) of Status Packet is returned as ‘1’ and Alarm is triggered as set in the addresses 17 and 18.

 

Max Torque

It is the torque value of maximum output. 0 to 1023 (0x3FF) can be used, and the unit is about 0.1%.

For example, Data 1023 (0x3FF) means that Dynamixel will use 100% of the maximum torque it can produce while Data 512 (0x200) means that Dynamixel will use 50% of the maximum torque. When the power is turned on, Torque Limit (Addresses 34 and 35) uses the value as the initial value.

 

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.

 

Alarm LED

Alarm Shutdown

Dynamixel can protect itself by detecting errors occur during the operation.  

The errors can be set are as the table below.

it

Name

Contents

bit7

-

-

bit6

-

-

bit5

-

-

bit4

-

-

bit3

-

-

bit2

ERROR_INPUT_VALTAGE

Voltage is out of operational voatage range

bit1

ERROR_OVER_HEATING

Temperature is out of operational temperature range

bit0

ERROR_OVERLOAD

Motor cannot output max load due to load being applied continouosly

 

It is possible to make duplicate set since the function of each bit is run by  the logic of ‘OR’. That is, if 0X05 (binary 00000101) is set, both Input Voltage Error and Overheating Error can be detected.

If errors occur, in case of Alarm LED, the LED blinks; in case of Alarm Shutdown, the motor output becomes 0 % by making the value of Torque Limit(Address 34, 35) as 0.

 

 

RAM Area

 

Torque Enable

Value

Meaning

0

 Keeps Torque from generating by interrupting the power of motor.

1

 Generates Torque by impressing the power to the motor.

 

LED

Bit

명칭

내용

bit0+bit1+bit2

WHITE LED

white.jpg

When the bit is set the white LED turns on

bit0+bit2

PINK LED

purple.jpg

When the bit is set the pink LED turns on

bit1+bit2

BLUE-GREEN LED

skyblue.jpg

When the bit is set the blue-green LED turns on

bit0+bit1

YELLOW LED

light_green.jpg

When the bit is set the yellow LED turns on

bit2

BLUE LED

blue.jpg

When the bit is set the blue LED turns on

bit1

GREEN LED

green.jpg

When the bit is set the green LED turns on

bit0

RED LED

red.jpg

When the bit is set the red LED turns on

 

PID Gain

MX series will use the PID controller as a main control method.

P gain refers to the value of proportional band.

I gain refers to the value of integral action.

D Gain refers to the value of derivative action.

Gains values are in between 0~254.

pidcontrol.png

dynamixel_pid.png

 

The relationship between Compliance Slop and PID

Slope

P Gain
8 128
16 64
32 32
64 16
128 8

The less the P gain, The larger the back lash, and the weaker the amount of output near goal position.

At some extent, it is like a combined concept of margine and slope.

It does not exactly match the previous concept of compliance. So it is obvious if you see the difference in terms of motion.

Explanation for PID required.

For the brief explanation about general PID, please refer to the website(link) below.

http://en.wikipedia.org/wiki/PID_controller

FYI, PID control theory is not only limited to the control of motor(actuator) but is a generic theory that can be applied to all kinds of control.

 

 

 

Goal Position

It is a position value of destination.

0 to 1023 (0x3FF) is available.  The unit is 0.29 degree.

If Goal Position is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is returned as ‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.

 

dx_series_goal.png

                   <The picture above is based on the front of relevant model>

 

If it is set to Wheel Mode, this value is not used.

 

 

Moving Speed

It is a moving speed to Goal Position.

The range and the unit of the value may vary depending on the operation mode.

 

 

Notes: Please check the maximum rpm of relevant model in Joint Mode.  Even if the motor is set to more than maximum rpm, it cannot generate the torque more than the maximum rpm.

 

 

Torque Limit

It is the value of the maximum torque limit.  

0 to 1023 (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 Max Torque (Address 14, 15) is used as the initial value.

 

Notes: If the function of Alarm Shutdown is triggered, the motor loses its torque because the value becomes 0.  At this moment, if the value is changed to the value other than 0, the motor can be used again.

 

Present Position

It is the current position value of Dynamixel.  

The range of the value is 0~1023 (0x3FF), and the unit is 0.29 degree.

 

dx_series_goal.png

                   <The picture above is based on the front of relevant model>

 

Caution: If it is set to Wheel Mode, the value cannot be used to measure the moving distance and the rotation frequency.

 

Present Speed

It is the current moving speed.

0~2047 (0X7FF) can be used.

If a value is in the rage of 0~1023, it means that the motor rotates to the CCW direction.

If a value is in the rage of 1024~2047, it means that the motor rotates to the CW direction.

That is, the 10th bit becomes the direction bit to control the direction, and 0 and 1024 are equal.

The unit of this value varies depending on operation mode.

 

Present Load

It means currently applied load.

The range of the value is 0~2047, and the unit is about 0.1%.

If the value is 0~1023, it means the load works to the CCW direction.

If the value is 1024~2047, it means the load works to the CW direction.

That is, the 10th bit becomes the direction bit to control the direction, and 1024 is equal to 0.

For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque.

 

dxl_presentload.png

 

Notes: Current load is inferred from the internal torque value, not from Torque sensor etc.

For that reason, it cannot be used to measure weight or torque; however, it must be used only to detect which direction the force works.

 

 

Present Voltage

It is the size of the current voltage supplied.

This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

 

Present Temperature

It is the internal temperature of Dynamixel in Celsius.

Data value is identical to the actual temperature in Celsius. For example, if the data value is 85 (0x55), the current internal temperature is 85℃.

 

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.

 

Moving

Value

Meaning

0

 Goal position command execution is completed.

1

 Goal position command execution is in progress.

 

HARDWARE ERROR STATUS

Current hardware error staus

Alarm shudown error value

 

Punch

Current to drive motor is at minimum.

Can choose vales from 0x20 to 0x3FF.

Dimension

 

xl320_.png