Page 2 - DYNAMIXEL; Contents; Operation
DYNAMIXEL AX-12 Contents 1. Summary 1-1. Overview and Characteristics of AX-12 Page 2 1-2. Main Specifications Page 3 2. Dynamixel Operation 2-1. Mechanical Assembly Page 4 2-2. Connector Assembly Page 5 2-3. Dynamixel Wiring Page 6 3. Communication Protocol 3-1. Communication Overview Page 9 3-2. I...
Page 3 - to handle high torque loads.
DYNAMIXEL AX-12 1. Dynamixel AX-12 1-1. Overview and Characteristics of AX-12 Dynamixel AX-12 The Dynamixel series robot actuator is a smart, modular actuator that incorporates a gear reducer, a precision DC motor and a control circuitry with networking functionality, all in a single package. Despit...
Page 4 - Gear Reduction Ratio
DYNAMIXEL AX-12 1-2. Main Specifications AX-12 Weight (g) 55 Gear Reduction Ratio 1/254 Input Voltage (V) at 7V at 10V Final Max Holding Torque(kgf.cm) 12 16.5 Sec/60degree 0.269 0.196 Resolution 0.35° Operating Angle 300°, Endless Turn Voltage 7V~10V (Recommended voltage: 9.6V) Max. Current 900mA O...
Page 5 - Dynamixel Operation; Mechanical Assembly; Frames Provided; The two frames provided with AX-12 are shown below.; OF-12SH Installation; Horn2Body
DYNAMIXEL AX-12 2 . Dynamixel Operation 2-1. Mechanical Assembly Frames Provided The two frames provided with AX-12 are shown below. OF-12SH OF-12S OF-12SH Installation The OF-12SH (hinge frame) can be installed on the AX-12 as the following. Exploded view Assembled OF-12S Installation The OF-12S (s...
Page 6 - the wires to ensure that they do not become loose during operation.
DYNAMIXEL AX-12 2-2 . Connector Assembly Assemble the connectors as shown below. Attach the wires to the terminals using the correct crimping tool. If you do not have access to a crimping tool, solder the terminals to the wires to ensure that they do not become loose during operation. 5
Page 7 - Pin Assignment; controlled with a single bus in this manner.; A PC can be used to control the Dynamixel via the CM-5 controller.
DYNAMIXEL AX-12 2-3. Dynamixel Wiring Pin Assignment The connector pin assignments are as the following. The two connectors on the Dynamixel are connected pin to pin, thus the AX-12 can be operated with only one connector attached. PIN2: VDD PIN1: GND PIN3: Data PIN1: GND PIN2: VDD PIN3: Data Wiring...
Page 8 - bioloid; An example of a robot built with Bioloid; Connection to UART; DATA
DYNAMIXEL AX-12 bioloid A robot can be built using only the CM-5 controller and a number of AX-12 actuators. An edutainment robotic kit named “Bioloid” is available which is based on the CM-5 controller and the AX-12 actuators. An example of a robot built with Bioloid For details, please refer to th...
Page 9 - • When the DIRECTION_PORT level is Low: the signal Data is input as RxD; Half Duplex UART; Main; Caution; the voltage/current limit of the power supply.
DYNAMIXEL AX-12 • When the DIRECTION_PORT level is High: the signal TxD is output as Data • When the DIRECTION_PORT level is Low: the signal Data is input as RxD Half Duplex UART A multi-drop method of connecting multiple Dynamixel actuators to a single node is possible by using the half duplex UART...
Page 10 - Communication Protocol; Packet; Dynamixel actuators to the main controller.); Communication; packet and perform the required instruction.; Unique ID; no Dynamixel units share the same ID in a network node.; Protocol
DYNAMIXEL AX-12 3. Communication Protocol 3-1. Communication Overview Packet The main controller communicates with the Dynamixel units by sending and receiving data packets. There are two types of packets; the “Instruction Packet” (sent from the main controller to the Dynamixel actuators) and the “S...
Page 12 - LENGTH
DYNAMIXEL AX-12 The 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. LENGTH The length of the packet where its value is “Number of p...
Page 13 - Table
DYNAMIXEL AX-12 3-4. Control Table A d d r e s s Ite m A c c e s s In iti a l V a l u e 0 ( 0 X 0 0 ) M o d e l N u m b e r ( L ) R D 1 2 ( 0 x0 C ) 1 ( 0 X 0 1 ) M o d e l N u m b e r ( H ) R D 0 ( 0 x0 0 ) 2 ( 0 X 0 2 ) V e r s i o n o f F i r m w a r e R D ? 3 ( 0 X 0 3 ) ID R D ,W R 1 ( 0 x0 1 )...
Page 15 - Operating Angle Limit.; Do not respond to any instructions
DYNAMIXEL AX-12 Address 0x05 Return Delay Time. The time it takes for the Status Packet to return after the Instruction Packet is sent. The delay time is given by 2uSec * Address5 value. Address 0x06,0x07,0x08,0x09 Operating Angle Limit. Sets the Dynamixel actuator’s operating angle range. The Goal ...
Page 17 - LED; . The LED turns on when set to 1 and turns off if set to 0.; Compliance Margin and Slope.; The compliance of the Dynamixel actuator is defined; Goal Position
DYNAMIXEL AX-12 Address 0x18 Torque Enable. When the power is first turned on, the Dynamixel actuator enters the Torque Free Run condition (zero torque). Setting the value in Address 0x18 to 1 enables the torque. Address 0x19 LED . The LED turns on when set to 1 and turns off if set to 0. Address 0x...
Page 18 - BIT; Registered Instruction.
DYNAMIXEL AX-12 Address 0x20,0x21 Moving Speed. Sets the angular velocity of the output moving to the Goal Position. Setting this value to its maximum value of 0x3ff moves the output with an angular velocity of 114 RPM, provided that there is enough power supplied (The lowest velocity is when this v...
Page 19 - Goal Speed Setting; bytes need to be written at the same time as one instruction packet.; [Control Table Data Range and Length for Writing]
DYNAMIXEL AX-12 Goal Speed Setting BIT 15~11 10 9 8 7 6 5 4 3 2 1 0 Value 0 Turn Direction Speed Value Turn Direction = 0 : CCW Direction Turn, Load Direction = 1: CW Direction Turn Range Each data has a valid minimum and maximum values. Write instructions made outside of these valid ranges will ret...
Page 20 - Instruction Set and Examples
DYNAMIXEL AX-12 4. Instruction Set and Examples The following Instructions are available. In s tru c tio n F u n c tio n V a lu e N u m b e r o fP a ra m e te r P IN G N o a c tio n . U s e d fo r o b ta in in g a S ta tu s P a c k e t 0 x0 1 0 R E A D D A T A R e a d in g v a lu e s in th e C o n t...
Page 21 - ACTION
DYNAMIXEL AX-12 Instruction Packet : 0XFF 0XFF 0XFE 0X04 0X03 0X03 0X01 0XF6` ID LENGTH INSTRUCTION PARAMETERS CHECKSUM Because it was transmitted with a Broadcast ID (0XFE), no status packets are returned. 4-2. READ_DATA Function Read data from the control table of a Dynamixel actuator Length 0X04 ...
Page 24 - Data for the 1st Dynamixel actuator
DYNAMIXEL AX-12 4-6. SYNC WRITE Function Used for controlling many Dynamixel actuators at the same time. The communication time decreases by the Synch Write instruction since many instructions can be transmitted by a single instruction. However, you can use this instruction only when the lengths and...
Page 28 - NO; Dynamixel actuator with an ID of 0
DYNAMIXEL AX-12 Communication ->[Dynamixel]:FF FF 00 05 03 18 01 01 DD (LEN:009) <-[Dynamixel]:FF FF 00 02 00 FD (LEN:006) Status Packet Result NO ERROR You can verify the Torque Enabled status by trying to move the output of the actuator by hand. Example 17 Setting the Compliance Margin to 1 ...
Page 30 - actuator with an ID of 0; Range Error
DYNAMIXEL AX-12 Example 20 Lock all addresses except for Address 0x18 ~ Address0x23 for a Dynamixel actuator with an ID of 0 Set Address 0x2F (Lock) to 1. Instruction Packet Instruction = WRITE_DATA, Address = 0x2F, DATA = 0x01 Communication ->[Dynamixel]:FF FF 00 04 03 2F 01 C8 (LEN:008) <-[D...
Page 31 - Appendix; Half duplex UART; changes the direction to output mode.; RS485 Direction Output Duration; Return Delay Time; completed its transmission and left the CPU.
DYNAMIXEL AX-12 Appendix Half duplex UART Half duplex UART is a serial communication protocol where both TxD and RxD cannot be used at the same time. This method is generally used when many devices need to be connected to a single bus. Since more than one device are connected to the same bus, all th...
Page 32 - Byte to Byte Time
DYNAMIXEL AX-12 When changing the direction, the TXD_SHIFT_REGISTER_EMPTY_BIT must be checked. The following is an example program that sends an Instruction Packet. LINE 1 DIRECTION_PORT = TX_DIRECTION; LINE 2 TxDByte(0xff); LINE 3 TxDByte(0xff); LINE 4 TxDByte(bID); LINE 5 TxDByte(bLength); LINE 6 ...
Page 37 - Connector; Company Name : Molex; Molex Part Number; Female Connector
DYNAMIXEL AX-12 Connector Company Name : Molex Pin Number: 4 Model Number Molex Part Number Old Part Number Male 22-03-5045 5267-03 Female 50-37-5043 5264-03 Temperature range : -40°C to +105°C Contact Insertion Force-max : 14.7N (3.30 lb) Contact Retention Force-min : 14.7N (3.30 lb) www.molex.com ...
Page 38 - Dimension; Optional installable wireless devices available
DYNAMIXEL AX-12 Dimension CM-5 Dedicated AX-12 control box. Able to control 30 AX-12 actuators. 6 push buttons (5 for selection, 1 for reset) Optional installable wireless devices available Battery compartment (AA x 8) with recharging capability (when connected to an external SMPS) CM-5 37
