User manual FUTUBA RS302CD

[. . . ] User's Manual Ver. 1. 0 RS301CR/RS302CD Command Type Servo for Robot Instruction Manual Caution Read this instruction manual before use. Keep this manual handy for immediate reference. For models CONTENTS FOR SAFETY WARNING SYMBOLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAUTIONS FOR USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . WARNINGS IN HANDLING BATTERIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ] Length This is used to specify the number of bytes of the data for a servo. Length = the number of bytes of data + 1 Count This notation indicates the number of servos that data is sent to. VID This field represents the ID of each servo which sends data. Data corresponding to the number of servos is sent with VID and Data as one set. Data This field is the data of one servo which is written to the memory map. Data corresponding to the number of servos is written with VID and Data as one set. Sum This field is made up of eight bits which represent the check sum of the packet. The check sum the Data field of the the ID and DATA fields, delimit it is the XOR, in byte units, of the set bits from the ID field to the end of packet string. If there is a packet of 2 bytes or more between into single bytes before XORing. Hdr FA AF ID Flg Adr Len Cnt VID Dat VID Dat VID Dat Sum 00 00 1E 03 03 01 64 00 02 64 00 05 F4 01 ED The check sum of the send data above is: 00H XOR 00H XOR 1EH XOR 03H XOR 03H XOR 01H XOR 64H XOR 00H XOR 02H XOR 64H XOR 00H XOR 05H XOR F4H XOR 01H 15 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 structure Header ID Flags Address Length Count Data Sum Header This field denotes the beginning of the packet. For a short packet, the header is FDDFH. ID This field represents the servo ID. Flags This field represents the flags which are set in the packet. Each bit shown in the table below represents a servo state. Table 4. 3 Return packet flags Bit 7 6 5 4 3 2 1 0 Value 0:Normal, 1:Error N/A 0:Normal, 1:Error N/A N/A N/A 0:Normal, 1:Error N/A Reserved Temperature alarm Reserved Reserved Reserved Received packet error Reserved Function Temperature error(Torque off over temperature limit) Address This field represents the servo memory map address No. This field represents the length of one data block. The length of one return packet data block Length is: Length = Number of return VID + Data bytes Count This field represents the number of servos. For a return packet, 1 is always set here. It is the XOR, in byte units, of all the set bits from the ID field to the end of the data field of a command packet. 16 Memory Map Invariable ROM area Table 4. 4 Invariable ROM area Area Adress No. DEC 00 Invariable ROM 01 02 03 HEX 00H 01H 02H 03H Initial value 10H(20H) 30H 01H 00H Name Model Number L Model Number H Firmware Version Reserved ( Property R R R ) For RS302CD No. 0 / No. 1 Model Number(2Bytes, Hex Number, Read Only) This field represents the model No. For the RS301CR, it is: Model Number L = 10H Model Number H = 30H For RS302CD, they are as follows. Model Number L Model Number H = 20H = 30H No. 2 Firmware Version(1Byte, Hex Number, Read Only) This field represents the servo firmware version. Its value varies depending on the version at production (0x01 in the example below). Firmware Version = 01H Storing two-byte data to memory map Two-byte data is stored to the memory map in two individual 8-bit bytes of H (High byte) and L (Low byte). Ex. ) Issue a 29. 2 degrees operation command to servo ID=23. The command angle is saved to the Target Position item. The commanded value is 29. 2 degrees, but since this is 0x0124 in hexadecimal notation, the data actually stored is: Target Position(L) = 24H Target Position(H) = 01H 17 Variable ROM area Table 4. 5 Variable ROM area Area Adress No. [. . . ] Please be aware that Torque-On-Command does not function unless resetting is carried out or turning on the power again if temperature limit works. Also, be careful not to burn yourself since the temperature around the servo motor is somewhere between 120 and 140 when errors in temperature happen. Please make sure that the temperature goes down sufficiently before you use it again. Ex. To read the current temperature of the servo in ID=1 If you want to get the values of No. 50 and No. 51 in the servo's memory map as return packets, send the packets with the bits of 3 to 0 in the "Flags" set to bit3=1, bit2=0, bit1=0 and bit0=1. [. . . ]