Futaba RS302CD Manual de usuario

RS301CR/RS302CD Command Type Servo for Robot Instruction Manual Caution  Read this instruction manual before use.  Keep t

10 4.CONTROL METHOD Abstract ● Communication Protocol The communication protocol of the RS301CR/RS302CD servo is based on RS485 (IEEE485) half duplex

11 Packet Format ●Short Packet Short packets are used for sending the data in the memory map toward a single servo. Packet structure This is a l

12 Ex）Write the data of the ID1 servo into the Flash ROM. Hdr ID Flg Adr Len Cnt Sum The servo’s memory should be renewed with the data you want

13 Bit3 ~ Bit0：Address assignment of a return packet (1) Data return from predetermined addresses Setting the Bit3 through Bit0 like the table below

14 This notation indicates an address on the memory map. Using this address makes it possible to write the data of the specified number of bytes dete

15 This indicates an address on the memory map. Using this address makes it possible to write the data of the specified number of bytes determined b

16 ●Return Packet A return packet is the packet returned from the servo when the Flag field requests a servo to send a return packet. Packet structu

17 Memory Map ●Invariable ROM area Table 4.4 Invariable ROM area Area Adress No. DEC HEX Initial value Name Property 00 00H 10H(20H) Model Numb

18 ●Variable ROM area Table 4.5 Variable ROM area Area Adress No. DEC HEX Initial value Name Property 04 04H 01H Servo ID RW 05 05H 00H Reverse RW-

19 ●No.4 Servo ID(1Byte, Hex Number, Read/Write) This data represents the servo ID. Its initial value is 01H. The setting range is 1 ~ 127 (01H ~ 7FH

2CONTENTS １．FOR SAFETY ● WARNING SYMBOLS ... 4 ● CAUTI

20 ●No.7 Return Delay（１ Byte,Hex Number,Read/Write） This indicates the delay time for reply when the return packet is required. The servo sends the

21 *Note that rewriting this memory map value will null and void the product warranty. ●No.24 / No.25 Compliance Margin(1Byte, Hex Number, Read/Writ

22 Fig. 4.1 Compliance control Ex. 1) Set punch to 0064H(1%). Hdr ID Flg Adr Len Cnt Dat Sum Ex. 2) Servo ID=1 i

23 ●Variable RAM Area Table 4.7 Variable RAM area Area Adress No. DEC HEX Initial value Name Property 30 1EH 00H Goal PositionL RW 31 1FH 00H Go

24 ●No.30 / No.31 Goal Position(2Bytes, Hex Number, Read/Write) A servo can be moved to the specified angle. The center of the movement range is 0 de

25 The setting range is between 0H and 64H. Ex) Set the maximum torque of servo ID=1 to 80% (50H). Hdr ID Flg Adr Len Cnt Dat Sum

26 If you send only flags, set [COUNT] =1 with [ADRESS]=0 and [LENGTH]=0, and nothing should be written in「Data」. Hdr ID Flg Adr Len Cnt Dat

27 ● No.46/No.47 Present Speed（２ Byte,Hex Number,Read） You can get the servo’s current rotation speed on deg/sec basis. Ex.）To read the current ro

28 Ex.) To send flags for the return packets between No.42 and No.59 in the memory map. Hdr ID Flg Adr Len Cnt Sum Return Packet H

29 Return Packets Hdr ID Flg Adr Len Cnt Dat Sum Memory Map

3 No.26 /No.27 Compliance Slope ... 21 No.28 /No.29 Punch ...

30 APPLICATION ROBOT ACTUAT0R FEATURES RS485 SERIAL COMMINUCATION OTHERS MOTOR CONTROL by SOFTWARE SIZE（L×W×H）： RS301CR 35.

31 DIMENSIONS Figure 0-1 Dimensions with using Joint-Ball

32 TROUBLESHOOTING If your servo does not operate, it intermittently stops operating, or it operates erroneously, take the action shown in the table

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4 To use this product safely, please pay your full attention to the followings. Be sure to read this instruction manual prior to using this product.

5 Do not turn the servo horn forcibly. Otherwise, the servo will be damaged. Do not leave the servo locked. If the servo continues to be locked du

62.INTRODUCTION Features RS301CR/RS302CD servo is especially designed for robotic applications, having the following features. ● Small and Light

7 Part Names / Handling Instructions Removing the screws for fixing the servo with a case may damage the servo. Fig.2.1 Part names Output-axis Screws

8 3.CONNECTION System Configuration The following figure shows a robotic system using RS301CR/RS302CD servos, RPU-10 processor unit and etc.

9 Cautions when Connecting Please refer to the figure below for connecting RS301CR/RS302CD and RPU-10. Fig. 3.3 Operating with RPU