AX-12完整中文资料

1、.Main Specifications主要规格精度0.35 操作角度300 或转动电压 7V 10V(推荐电压： 9.6V ）最大电流 900mA工作温度-5 85 控制信号 数字信号协议类型 半双工异步串行通信（ 8位， 1位停止位 ，无奇偶校验） 物理连接 多降式TTL电平（总线型）ID 最多254个ID（ 编号0 253 ）比特率7343bps 1 Mbps反馈类型 位置，温度，负载，输入电压等Connection to UART连接到UART To control the Dynamixel actuators, the main controller needs to conver

2、t its UART signals to the half duplex type. The recommended circuit diagram for this is shown below. 为了控制Dynamixel舵机，主控制器需要转换UART信号为半双工类型。建议电路图所示。The power is supplied to the Dynamixel actuator from the main controller through Pin 1 and Pin 2 of the Molex3P connector. (The circuit shown above is pre

3、sented only to explain the use of half duplex UART. The CM-5 controller already has the above circuitry built in, thus the Dynamixel actuators can be directly connected to it)Dynamixel的电源供应器是从主控制器通过Molex3P连接器的PIN1引脚和PIN2引脚。 （如上图所示的电路是唯一解释使用半双工的UART 。CM - 5控制器已经建成上述电路，从而Dynamixel舵机可直接连接到它）The directi

4、on of data signals on the TTL level TxD and RxD depends on the DIRECTION_PORT level as the following.数据传输方向信号的TTL电平TxD和RxD取决于DIRECTION_PORT电平。 When the DIRECTION_PORT level is High: the signal TxD is output as Data 当DIRECTION_PORT高电平时： TxD口输出数据 When the DIRECTION_PORT level is Low: the signal Data i

5、s input as RxD当DIRECTION_PORT低电平时：RxD口输入数据Half Duplex UART A multi-drop method of connecting multiple Dynamixel actuators to a single node is possible by using the half duplex UART. Thus a protocol that does not allow multiple transmissions at the same time should be maintained when controlling the

6、Dynamixel actuators. 半双工的UART 只有使用半双工的UART才能在单一节点使用多降法连接多个Dynamixel舵机。因此，一个协议，不允许同时控制多个Dynamixel舵机。3. Communication Protocol 通信协议3-1. Communication OverviewPacket The main controller communicates with the Dynamixel units by sending and receiving data packets. There are two types of packets; the “Ins

7、truction Packet” (sent from the main controller to the Dynamixel actuators) and the “Status Packet” (sent from the Dynamixel actuators to the main controller.) 数据包主控制器通信与Dynamixel舵机通过发送和接收数据包。有两种类型的数据包;“命令包” （从主控制器发送至Dynamixel舵机）和“状态数据包” （从Dynamixel舵机发送至主控制器。 ）Communication For the system connection

8、 below, if the main controller sends an instruction packet with the ID set to N, only the Dynamixel unit with this ID value will return its respective status packet and perform the required instruction. 通讯该系统连接低电平，如果主控制器发出的指令与数据包的ID设置为N，只有Dynamixel舵机与此ID值相同才返回各自的状态数据包并执行收到的指令Unique ID If multiple Dy

9、namixel units have the same ID value, multiple packets sent simultaneously collide, resulting in communication problems. Thus, it is imperative that no Dynamixel units share the same ID in a network node. 唯一的ID如果有多个Dynamixel舵机具有相同的ID值，同时发送多个数据包则冲突，导致通讯出现问题。因此，当务之急是确保在一个网络节点没有相同的编号的Dynamixel舵机。Protoc

10、ol The Dynamixel actuators communicate through asynchronous serial communication with 8 bit, 1 stop bit and no parity. 协议Dynamixel制动器通过8位异步串行通信进行通讯，1停止位，无奇偶校验第十页：3-2. Instruction Packet 指令包The Instruction Packet is the packet sent by the main controller to the Dynamixel units to send commands. The s

11、tructure of the Instruction Packet is as the following. 指令包是主控制器发出的为了控制Dynamixel单位发出的命令数据包，格式如下：Instruction Packet OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 PARAMETER N CHECK SUM The meanings of each packet byte definition are as the following. 0XFF 0XFF The two 0XFF bytes indicate the start of an

12、incoming packet. 0XFF 0XFF 这两个值为0XFF的字节表示数据包开始传递。ID The unique ID of a Dynamixel unit. There are 254 available ID values, ranging from 0X00 to 0XFD. ID 每个Dynamixel舵机的有唯一的ID。支持254个不同ID号：从0X00到0XFD 。Broadcasting ID ID 0XFE is the Broadcasting ID which indicates all of the connected Dynamixel units. Pa

13、ckets sent with this ID apply to all Dynamixel units on the network. Thus packets sent with a broadcasting ID will not return any status packets. 广播ID号 编号为0XFE的ID号是广播ID，表示连接所有的Dynamixel舵机。数据包发送与此ID适用于网络上所有Dynamixel舵机。因此，数据包发送的广播编号将不会返回任何状态包。LENGTH The length of the packet where its value is “Number

14、of parameters (N) + 2” 长度 数据包的长度值为：指令个数(N)+2INSTRUCTION The instruction for the Dynamixel actuator to perform. 指令 表示Dynamixel舵机执行的指令种类PARAMETER0N Used if there is additional information needed to be sent other than the instruction itself. 指令参数 当有需要发送除指示本身以外其他信息时使用。CHECK SUM The computation method fo

15、r the Check Sum is as the following. Check Sum = (ID + Length + Instruction + Parameter1 + . Parameter N) If the calculated value is larger than 255, the lower byte is defined as the checksum value. represents the NOT logic operation. 校验和 计算检验和的方法如下：校验和= (ID值 +数据包长度值 +指令值+参数1 + . 参数N)%255。3-3. Statu

16、s Packet(Return Packet) The Status Packet is the response packet from the Dynamixel units to the Main Controller after receiving an instruction packet. The structure of the status packet is as the following. 状态数据包的响应包从Dynamixel舵机收到主控制器的指令后。数据包的结构状态封包如下。OXFF 0XFF ID LENGTH ERROR PARAMETER1 PARAMETER2

17、PARAMETER N CHECK SUMThe meanings of each packet byte definition are as the following. 0XFF 0XFF ：The two 0XFF bytes indicate the start of the packet. ID： The unique ID of the Dynamixel unit returning the packet. The initial value is set to 1. 特征值：每个Dynamixel舵机唯一ID，初始值为1LENGTH ：The length of the pac

18、ket where its value is “Number of parameters (N) + 2” 长度 ：小包的长度是指令舵机数加2即“（N） +2 ” ERROR： The byte representing errors sent from the Dynamixel unit. The meaning of each bit is as the following. ERROR：从 Dynamixel舵机送出的错误字节。每一位的意义如下。BitNameDetailsBit 7 0无Bit 6 Instruction Error命令错误Set to 1 if an undefin

19、ed instruction is sent or an action instruction is sent without a Reg_Write instruction. 如果输出的命令没有定义或者没有通过Reg_Write指导，则该位设至为1Bit 5 Overload Error超载错误Set to 1 if the specified maximum torque cant control the applied load. 如果设置的最大的力矩不能承受当前负荷，则该位设至为1Bit 4 Checksum Error校验和错误Set to 1 if the checksum of

20、the instruction packet is incorrect. 如果指令包的校验和是不正确的，则该位设至为1Bit 3 Range Error 范围错误Set to 1 if the instruction sent is out of the defined range. 如果输出的指令值超出了定义的范围，则该位设至1 Bit 2 Overheating Error 过热错误Set to 1 if the internal temperature of the Dynamixel unit is above the operating temperature range as de

21、fined in the control table. 如果 Dynamixel舵机的内部温度高于设置的最高温度，则该位设至为1 。Bit 1 Angle Limit Error角度界限错误Set as 1 if the Goal Position is set outside of the range between CW Angle Limit and CCW Angle Limit. 如果目标位置超出CW角度界限和 CCW 角度之间范围，则该位设至为1 。Bit 0 Input Voltage Error 输入电压错误Set to 1 if the voltage is out of t

22、he operating voltage range as defined in the control table.如果当前电压超出设置的最高电压，则该位设至为1 。PARAMETER：0N Used if additional information is needed.CHECK SUM： The computation method for the Check Sum is as the following. Check Sum = (ID + Length + Instruction + Parameter1 + . Parameter N) If the calculated va

23、lue is larger than 255, the lower byte is defined as the checksum value. represents the NOT logic operation. 检查总数 (特征值长度指导参数1+. 叁数 N）%255.3-4. Control Table （控制面板）0X00-0X17: EEPROM Area ,0X18-0X31:RAM AreaAddress Item Access Initial Value0(0X00)Model Number(L) 型号代码(L)RD12(0x0C)1(0X01)Model Number(H)

24、 型号代码（H）RD0(0x00)2(0X02)Version of Firmware 固件的版本RD?3(0X03)ID 特征值RD,WR1(0x01)4(0X04)Baud Rate 比特率RD,WR1(0x01)5(0X05)Return Delay Time 返回延迟时间RD,WR250(0xFA)6(0X06)CW Angle Limit(L) CW 角度界限（L）RD,WR0(0x00)7(0X07)CW Angle Limit(H)CW 角度界限（H）RD,WR0(0x00)8(0X08)CCW Angle Limit(L)CCW 角度界限（L）RD,WR255(0xFF)9(0

25、X09)CCW Angle Limit(H)CCW 角度界限（H）RD,WR3(0x03)10(0x0A)(Reserved)预备-0(0x00)11(0X0B)the Highest Limit Temperature最高的界限温度RD,WR85(0x55)12(0X0C)the Lowest Limit Voltage最低的界限电压RD,WR60(0X3C)13(0X0D)the Highest Limit Voltage 最高的界限电压RD,WR190(0xBE)14(0X0E)Max Torque(L)最大转力矩（L）RD,WR255(0XFF)15(0X0F)Max Torque(H

26、)最大转力矩（H）RD,WR3(0x03)16(0X10)Status Return Level 状态回返水平RD,WR2(0x02)17(0X11)Alarm LED 警报引导RD,WR4(0x04)18(0X12)Alarm Shutdown警报关闭RD,WR4(0x04)19(0X13)(Reserved) RD,WR0(0x00)20(0X14)Down Calibration(L)下口径测定(l)RD?21(0X15)Down Calibration(H)下口径测定（H）RD?22(0X16)Up Calibration(L)上口径测定（L）RD?23(0X17)Up Calibra

27、tion(H)上口径测定（H）RD?24(0X18)Torque Enable 转力矩准许RD,WR0(0x00)25(0X19)LED引导RD,WR0(0x00)26(0X1A)CW Compliance Margin CW 服从边缘RD,WR0(0x00)27(0X1B) 28(0X1C)CCW Compliance Margin CCW 服从边缘CW Compliance Slope CW 服从斜坡RD,WR RD,WR0(0x00)32(0x20)29(0X1D)CCW Compliance Slope ,CCW 服从斜坡，RD,WR32(0x20)30(0X1E)Goal Posit

28、ion(L)目标位置（L）RD,WRAddr36value31(0X1F)Goal Position(H)目标位置（H）RD,WRAddr37value32(0X20)Moving Speed(L)移动速度（L）RD,WR033(0X21)Moving Speed(H)移动速度(H）RD,WR034(0X22)Torque Limit(L)转力矩界限（L）RD,WRAddr14 value3535(0X23)Torque Limit(H)转力矩界限（H）RD,WRAddr15 value3636(0X24)Present Position(L)现在的位置（L）RD？37(0X25)Presen

29、t Position(H)现在的位置（H）RD?38(0X26)Present Speed(L)现在的速度（L）RD?39(0X27)Present Speed(H)现在的速度（H）RD?40(0X28)Present Load(L)现在的负荷（L）RD?41(0X29)Present Load(H)现在的负荷（H）RD?42(0X2A) 43(0X2B)Present Voltage 现在的电压Present Temperature 现在温度RD RD?44(0X2C)Registered Instruction 寄存器设置RD,WR0(0x00)45(0X2D)(Reserved)-0(0

30、x00)460x2E)Moving移动RD0(0x00)470x2F)Lock 锁RD,WR0(0x00)480x30)Punch(L) RD,WR32(0x20)490x31)Punch(H) RD,WR0(0x00)Control Table ：The Control Table contains information on the status and operation of the Dynamixel actuator. The Dynamixel actuator is operated by writing values to its control table and its

31、 status is checked by reading values off its control table. 控制面板：控制桌面包含关于Dynamixel 舵机的状态和操作数据。是通过向control table各寄存器写值来控制Dynamixel舵机，而且它的状态也是从control table寄存器中读取值。RAM and EEPROM： The data values for the RAM area will be set to the default initial values whenever the power is turned on. However, the d

32、ata values for the EEPROM area are non-volatile and will still remain even after the power is turned off.随机存取储存器和电可擦可编程只读存储器：每当电源被打开，对于随机存取储存器区域（RAM）的数据值将会被设定成 起始价值,然而对于电可擦可编程只读存储器 ( EEPROM) 区域的数据值是非挥发性而且将会仍然在电源被关掉之后保持平稳 。Initial Value： The Initial Value column on the right side of the control table

33、 shows the Factory Default Values for the case of EEPROM area data, and shows the initial value when the power is turned on for the case of RAM area data.开始值：在控制桌子的右边显示开始值为电可擦可编程只读存储器（ EEPROM） 区域数据的情形以表示工厂假设值价值，而且当电源为随机存取储存器区域数据（RAM）的情形被打开的时候表示开始值。 The following explains the meaning of data stored i

34、n each of the addresses in the control table下列各项是解释在控制桌面中的每一个储存的住址的数据的意义Address 0x00,0x01 Model Number. For AX-12, this value is 0X000C (12). 地址 0x00,0x01：型号代码 对于AX-12,，它的值是0X000C (12).Address 0x02 Firmware Version.地址0x02：固体版本Address 0x03 IDThe unique ID number assigned to each Dynamixel actuators f

35、or identifying them. Different IDs are required for each Dynamixel actuators that are on the same network.地址0x03： 特征值 独特的身份证数字分配给每个 Dynamixel 主动器分配来识别他们。在相同的网络上的每个 Dynamixel 主动器需要不同的特征值Address 0x04 Baud RateDetermines the communication speed. The computation is done by the following formula.Address

36、0x04：比特率决定传输速度。下面是计算公式。Speed (BPS) = 2000000 / (Address4 + 1)Data Value for each Major Baud Rate数据值为每个主要的比特率Adress4 Hex 十六进制Set BPS Goal BPSError10X011000000.01000000.00.000%30X03500000.0500000.00.000%40X04400000.0400000.00.000%70X07250000.0250000.00.000%90X09200000.0200000.00.000%160X10117647.11152

37、00.0-2.124%340X2257142.957600.00.794%1030X6719230.819200.0-0.160%2070XCF9615.49600.0-0.160% Note： A maximum Baud Rate error of 3% is within the tolerance of UART communication注意：一个 3% 的最大比特率错误在非同步收发传输器宽容里面Caution ：The initial value of Baudrate is set to 1(1000000bps)注：比特率的初始值被设定成 1(1000000 bps）Addre

38、ss 0x05 Return Delay Time. The time it takes for the Status Packet to return after the InstructionPacket is sent. The delay time is given by 2uSec * Address5 value.返回延迟时间，指令数据包发送之后时间状态包返回所花费的时间。延迟时间=2微秒 * 地址0x05的值Address 0x06,0x07,0x08,0x09 Operating Angle LimitSets the Dynamixel actuators operating

39、 angle range. The Goal Position needs to be within the range of: CW Angle Limit = Goal Position = CCW Angle Limit. An Angle Limit Error will occur if the Goal Position is set outside this range set by the operating angle limits. 操作角度限制。设置Dynamixel舵机的操作角度范围。目标位置的范围：顺时针极限值=目标位置=逆时针极限值。如果目标角度位置超出设置的范围将

40、出现该错误。 Address 0x0B the Highest Limit TemperatureThe upper limit of the Dynamixel actuators operating temperature. If the internal temperature of the Dynamixel actuator gets higher than this value, the Over Heating Error Bit (Bit 2 of the Status Packet) will return the value 1, and an alarm will be

41、set by Address 17, 18. The values are in Degrees Celsius.最高温度的限制。限制了Dynamixel舵机的最高工作温度。如果Dynamixel舵机内部温度高于此值时，该位（状态包的Bit 2）将返回值1 ，同时启动报警地址Address 17 ,18(即，如果这两位地址设置允许报警，则报警，否则不报警)。单位：摄氏度Address 0x0C,0x0D the Lowest (Highest) Limit Voltage. The upper and lower limits of the Dynamixel actuators operat

42、ing voltage. If the present voltage (Address 42) is out of the specified range, a Voltage Range Error Bit (Bit 0 of the Status Packet) will return the value 1, and an alarm will be set by Address 17, 18. The values are 10 times the actual voltage value. For example, if the Address 12 value is 80, th

43、en the lower voltage limit is set to 8V.规定了Dynamixel舵机的工作电压的上限和下限。如果当前的电压超出(Address 42)指定的范围内，该位（0位的状态数据包）将返回值1 ，同时启动报警地址Address 17,18(即，如果这两位地址设置允许报警，则报警，否则不报警)。该地址值是实际电压值的10倍。例如，如果Address 0x0C值为80 ，那么低电压限制设置为8V 。Address 0x0E,0x0F, 0x22,0x23 Max Torque. The maximum torque output for the Dynamixel a

44、ctuator. When this value is set to 0, the Dynamixel actuator enters the Free Run mode. There are two locations where this maximum torque limit is defined; in the EEPROM (Address 0X0E, 0x0F) and in the RAM (Address 0x22, 0x23). When the power is turned on, the maximum torque limit value defined in th

45、e EEPROM is copied to the location in the RAM. The torque of the Dynamixel actuator is limited by the values located in the RAM (Address 0x22, 0x23). 最大扭矩。规定了Dynamixel舵机的最大输出扭矩。当此值设置为0 ， Dynamixel舵机进入自由运行模式。有两个地方定义了最大扭矩限制：EEPROM（地址0x0E ， 0x0F ）中和RAM（地址0x22 ， 0x23）中。当电源开启后，EEPROM中最大扭矩极限值将被复制到RAM对应的地址

46、。Dynamixel舵机的扭矩被RAM中（地址0x22 ， 0x23 ）限制的。Address 0X10 Status Return Level. Determines whether the Dynamixel actuator will return a Status In the case of an instruction which uses the Broadcast ID (0XFE) the Status Packet will not be returned regardless of the Address 0x10 value.状态返回值。设置Dynamixel舵机是否返

47、回数据包Address 0x10返回的状态包0不返回任何数据1只对READ_DATA指示响应2回应所有指令当处于广播状态时，不论地址0x10的为何值，都不返回任何值。Address 0X11 Alarm LED. If the corresponding Bit is set to 1, the LED blinks when an Error occurs. This function operates following the “OR” logical operation of all bits. For example, if the value is set to 0X05, the

48、 LED will blink when an Input Voltage Error occurs or when an Overheating Error occurs. Upon returning to a normal condition from an error state, the LED stops blinking after 2 seconds.LED报警。如果相应的位设置为1 ，则表示出现错误，LED将闪烁。位功能Bit 70Bit 6设置为1,表示发生指令错误Bit 5若为1,表示舵机超负荷Bit 4若为1, 表示校验和错误Bit 3若为1, 表示角度范围设置错误Bi

49、t 2若为1表示发生舵机温度过高Bit 1若为1, 表示目标角度超出范围Bit 0若为1, 表示发生输入电压错误此功能后是对所有位进行“或”运算。例如，如果该值设置为0X05 ， LED闪烁将表示输入电压过高或舵机过热。若从一个错误状态恢复到正常的状态，LED将2秒后停止闪烁。Address 0X12 Alarm Shutdown. If the corresponding Bit is set to a 1, the Dynamixel actuators torque will be turned off when an error occurs. This function operat

50、es following the “OR” logical operation of all bits. However, unlike the Alarm LED, after returning to a normal condition, it maintains the torque off status. To recover, the Torque Enable (Address0X18) needs to be reset to 1.关掉报警器。如果相应的位设置为1 ，当发生相应的错误时，Dynamixel舵机不输出力矩。位功能Bit 70Bit 6设置为1,发生指令错误时不报警

51、Bit 5若为1,舵机超负荷时不报警Bit 4若为1, 校验和错误时不报警Bit 3若为1, 角度范围设置错误时不报警Bit 2若为1,发生舵机温度过高时不报警Bit 1若为1,目标角度超出范围时不报警Bit 0若为1,发生输入电压错误时不报警此功能后是对所有位进行“或”运算。但是与报警LED不一样的是，返回到正常的条件后，输出相应力矩。力矩功能使能（ Address0X18 ）需要重置为1 。Address 0x140x17 Calibration. Data used for compensating for the differences between the potentiomete

52、rs used in the Dynamixel units. The user cannot change this data. The 校准。数据用于补偿Dynamixel舵机之间电位器有差异。用户无法更改此数据。following (from Address 0x18) is in the RAM area.Address 0x18 Torque Enable. When the power is first turned on, the Dynamixel actuator enters the Torque Free Run condition (zero torque). Sett

53、ing the value in Address 0x18 to 1 enables the torque. 启用输出力矩。当电源是第一次打开时， Dynamixel舵机进入自由运行状态（输出力扭矩零） 。设置地址0x18 值为1则是输出力矩状态。Address 0x19 LED. The LED turns on when set to 1 and turns off if set to 0. 该位设置为1则启用LED，否则禁用。Address 0x1A0x1D Compliance Margin and slope. The compliance of the Dynamixel actu

54、ator is defined by setting the compliance Margin and Slope. This feature can be utilized for absorbing shocks at the output shaft. The following graph shows how each compliance value (length of A, B, C & D) is defined by the Position Error and applied torque. 转动时服从的力矩关系。通过设置此关系来管制Dynamixel舵机转动情况。此功能

55、可用于吸收输出轴的冲击。下面的图表显示服从的每个值（长度有A ， B ， C和D ）与错误位置和输出扭矩的关系。A : CCW Compliance Slope(Address0x1D) B: CCW Compliance Margin(Address0x1B)C : CW Compliance Margin(Address0x1A)D: CW Compliance Slope (Address0x1C)E : Punch(Address0x30,31)Address 0X1E,0x1F Goal Position Requested angular position for the Dyna

56、mixel actuator output to move to. Setting this value to 0x3ff moves the output shaft to the position at 300. 目标角度位置 设置Dynamixel舵机转动目标位置。设置该值至0x3ff地址段，输出轴的位置将在300 。Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position. Setting this value to its maximum value o