MXT / MXAT (Half duplex Asynchronous Serial Communication (8bit,1stop, No The Control Table is a structure of data implemented in the Dynamixel. Dynamixel MXT Smart Serial Servo (TTL) and other robot products. At RobotShop, you will find everything about robotics. Note: For MX () Firmware, please refer to the MX () Control table Connect your DYNAMIXEL to power supply while it’s off and turn on/off with the.

Author: Tygogore Zulkis
Country: Iraq
Language: English (Spanish)
Genre: Medical
Published (Last): 28 April 2015
Pages: 61
PDF File Size: 12.45 Mb
ePub File Size: 14.1 Mb
ISBN: 520-7-72674-207-2
Downloads: 12938
Price: Free* [*Free Regsitration Required]
Uploader: Dolkree

CW Angle Limit L. It is a position value of destination. The MXAT actuator also comes with a new fastening system, thread disks therefore eliminating the need for screws.

Each data in the Control Table is restored to initial values when the Dynamixel is turned on. For more details, please refer to the Goal PWM Users can adjust the Dynamixle position by setting Home Offset Profile Velocity cannot exceed Velocity Limit Control Table consists of data regarding the current status and operation, which exists inside of Dynamixel. The range is limited by 1 rotation.

Return only for the READ command. That is, the 10th bit becomes the direction bit to control the direction, and is equal to 0.

The Bus Watchdog function monitors the communication interval time between the controller and Dynamixel when Torque Enable 64 is ‘1’. This value indicates maximum Profile Acceleration If the measured communication interval time is larger than Bus Watchdog 98the Dynamixel will stop. Highest byte of clockwise Angle Limit. For details of Range Error, please refer to the protocol of the e-Manual.


So it is obvious if you see the difference in terms of motion. The MX servomotor has been splited into two models: Indirect Address and Indirect Data are useful when accessing two remote addresses in the Control Table as sequential addresses. Turn on or turn off the LED. In this manner, users can directly control the supplying voltage to the motor.

Goal position command execution is completed. Dynamixel fails to reach target position trajectory. In case of the Position Control Mode Joint Mode that rotates less than degrees, any invalid Homing Offset 20 values will be ignored valid range: I gain refers to the value of integral action. Velocity Trajectory is used to create Position Trajectory Performance graph N-T Curve: Peak stall torque read from transient state. In order to read or write data, users must designate a specific Address in the Instruction Packet.

Therefore, it may be inaccurate for measuring weight or torque.

MX-28T / MX-28R / MX-28AT / MX-28AR

TTL uses 3-pin connectors while RS uses 4. If it is set m 0, it means the maximum rpm of the motor is used without controlling the speed. Acceleration time t1 can be calculated as below equation. Bit information of the Error field in the Status Packet is different from protocol 1. It is the baud rate to communicate with controller. For more information, please refer to the following link Two’s complement link.


Servomotor Dynamixel MXAT

Lowest byte of clockwise Angle Limit. Velocity I Gain Velocity Override and Jerk control are supported as well. This mode controls velocity. Movement is detected, or Profile is in progress Goal Position instruction is being processed.

When out-of-range value for target address is detected in the packet. This data requires 16bit, but it is divided into 8bit each for the addresses low and high. If it isit is about Once alignment is properly done, gently push the center of the horn toward the actuator. A Dynamixel with a position of with an applied offset of outputs a Present position of 82 Highest byte of Current Speed.

This mode is ideal for wheel-type robots. It does not exactly match the previous concept of compliance. All acceleration related Data uses the same unit.