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Merge pull request #1639 from ROBOTIS-Yang/Dynamixel-Y
Add YM070-210-M001-RH
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| common_y_specs: | ||
| mcu: &mcu "ARM Cortex-M4 (168 [Mhz], 32 [bit])" | ||
| baudrate: &baudrate "9,600 [bps] ~ 10,500,000 [bps] (57,600 [bps])" | ||
| opmode: &opmode "위치 제어모드<br />속도 제어모드<br />전류 제어모드" | ||
| opmode_en: &opmode_en "Torque Control Mode<br />Velocity Control Mode<br />Position Control Mode<br />Extended Position Control Mode<br />PWM Control Mode(Voltage Control Mode)" | ||
| backlash: &backlash "< 3.0 [arcmin]" | ||
| radialload_070: &radialload_070 "TBD" | ||
| radialload_080: &radialload_080 "TBD" | ||
| radialload_070_en: &radialload_070_en "TBD" | ||
| radialload_080_en: &radialload_080_en "TBD" | ||
| temperature: &temperature "-5 ~ +55 [°C]" | ||
| voltage: &voltage "24 [V]" | ||
| command: &command "Digital Packet" | ||
| rs485: &rs485 "RS485" | ||
| id: &id "0 ~ 253 (1)" | ||
| standbycurrent: &standbycurrent "40 [mA]" | ||
| encoderspec: &encoderspec "Single-Turn: 19Bit (524,288 [Pulse/Rev])<br />Multi-Turn: 18Bit (262,144 [Rev])" | ||
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| ym070-210-m001-rh: | ||
| dimensions: "Ø70 x 50.9 [mm]" | ||
| weight: "340 [g]" | ||
| gearratio: "-" | ||
| backlash: "-" | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| controlcommand: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "4,583 [RPM]" | ||
| ratedtorque: "0.32 [N.m]" | ||
| ratedcurrent: "10.4 [A]" | ||
| maximumspeed: "5,973 [RPM]" | ||
| maximumtorque: "0.64 [N.m]" | ||
| maximumcurrent: "20.8 [A]" | ||
| output: "210 [W]" | ||
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| ym070-210-r051-rh: | ||
| dimensions: "Ø70 x 71.1 [mm]" | ||
| weight: "790 [g]" | ||
| gearratio: "51:1" | ||
| backlash: *backlash | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| control command: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "39.2 [RPM]" | ||
| ratedtorque: "6.5 [N.m]" | ||
| ratedcurrent: "10.4 [A]" | ||
| maximumspeed: "117.1 [RPM]" | ||
| maximumtorque: "21.0 [N.m]" | ||
| maximumcurrent: "20.8 [A]" | ||
| output: "210 [W]" | ||
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| ym070-210-r099-rh: | ||
| dimensions: "Ø70 x 71.1 [mm]" | ||
| weight: "790 [g]" | ||
| gearratio: "99:1" | ||
| backlash: *backlash | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| control command: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "20.2 [RPM]" | ||
| ratedtorque: "12.7 [N.m]" | ||
| ratedcurrent: "10.4 [A]" | ||
| maximumspeed: "60.3 [RPM]" | ||
| maximumtorque: "40.8 [N.m]" | ||
| maximumcurrent: "20.8 [A]" | ||
| output: "210 [W]" | ||
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| ym080-230-m001-rh: | ||
| dimensions: "Ø80 x 53.1 [mm]" | ||
| weight: "530 [g]" | ||
| gearratio: "-" | ||
| backlash: "-" | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| control command: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "2,292 [RPM]" | ||
| ratedtorque: "0.62 [N.m]" | ||
| ratedcurrent: "11.2 [A]" | ||
| maximumspeed: "3,358 [RPM]" | ||
| maximumtorque: "1.24 [N.m]" | ||
| maximumcurrent: "22.4 [A]" | ||
| output: "230 [W]" | ||
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| ym080-230-r051-rh: | ||
| dimensions: "Ø80 x 78.1 [mm]" | ||
| weight: "1200 [g]" | ||
| gearratio: "51:1" | ||
| backlash: *backlash | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| control command: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "39.2 [RPM]" | ||
| ratedtorque: "12.6 [N.m]" | ||
| ratedcurrent: "11.2 [A]" | ||
| maximumspeed: "65.8 [RPM]" | ||
| maximumtorque: "41.0 [N.m]" | ||
| maximumcurrent: "22.4 [A]" | ||
| output: "230 [W]" | ||
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| ym080-230-r099-rh: | ||
| dimensions: "Ø80 x 78.1 [mm]" | ||
| weight: "1200 [g]" | ||
| gearratio: "99:1" | ||
| backlash: *backlash | ||
| radialload: *radialload_070 | ||
| radialload_en: *radialload_070_en | ||
| mcu: *mcu | ||
| control command: *command | ||
| physicalconnection: *rs485 | ||
| id: *id | ||
| baudrate: *baudrate | ||
| temperature: *temperature | ||
| voltage: *voltage | ||
| standbycurrent: *standbycurrent | ||
| encoderspec: *encoderspec | ||
| opmode_en: *opmode_en | ||
| opmode: *opmode | ||
| motor: "BLDC" | ||
| ratedspeed: "20.2 [RPM]" | ||
| ratedtorque: "24.6 [N.m]" | ||
| ratedcurrent: "11.2 [A]" | ||
| maximumspeed: "33.9 [RPM]" | ||
| maximumtorque: "79.6 [N.m]" | ||
| maximumcurrent: "22.4 [A]" | ||
| output: "230 [W]" |
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| DYNAMIXEL-Y 커넥터의 핀 배열은 아래 그림과 같습니다. | ||
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| | 패킷 종류 | P1 | P2 ~ P5 | 설명 | | ||
| |:----------------:|:----:|:--------------------------------:|:--------------------------------------------------------------------------------| | ||
| | Multi-Turn Clear | 0x01 | 고정값<br />(0x44 0x58 0x4C 0x22) |현재 위치(Present Position) 값을 모터 기준 1회전 이내의 절대위치 값으로 초기화. 정지된 상태에서만 Clear 가능.<br />Torque Enable상태에서 Clear Inst Packet을 전송할 경우, Status Packet의 Error 필드에 Result Fail(0x01) 발생. | | ||
| | Error Clear | 0x02 | 고정값<br />(0x45 0x52 0x43 0x4C) | DYNAMIXEL에 발생한 Error를 Clear.<br />Clear가 불가능한 Error가 있거나 Clear 조건이 아닌 경우 Error는 Clear 되지 않으며 Status Packet의 Error 필드에 Result Fail(0x01) 발생. | | ||
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| ### [Multi-Turn Clear Packet](#multi-turn-clear-packet) | ||
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| DYNAMIXEL-Y는 Multi-Turn을 백업하고 있어 전원 차단 후에도 Multi-Turn이 보존되며, Multi-Turn Clear Packet을 사용하여 이 값을 초기화 할 수 있습니다. Multi-Turn Clear 후 DYNAMIXEL은 재부팅됩니다. | ||
| Multi-Turn Backup Battery를 교체한 후에 반드시 실행하여야 정상사용이 가능합니다. | ||
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| **참고**: Multi-Turn Clear는 ‘모터’ 기준 1회전 이내의 절대 위치 값으로 초기화 됩니다. 감속기가 부착된 모델은 감속기 기준 절대위치를 잃어버릴 수 있습니다. 감속기 기준 절대위치를 0점에 맞추고 Multi-Turn Clear를 진행하시기 바랍니다. | ||
| {: .notice} | ||
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| #### [Multi-Turn Clear 방법](#multi-turn-clear-방법) | ||
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| 1. DYNAMIXEL Wizard 2.0 상단 ‘패킷’ 버튼을 클릭하여, 패킷 창을 엽니다. DYNAMIXEL과 연결되어 있다면 ‘연결 끊기’를 클릭하여 연결을 해제해줍니다. | ||
| 2. COM Port와 Baudrate를 설정하고 Open 버튼을 클릭합니다. | ||
| 3. Instruction 탭에서 Clear Instruction을 선택합니다. | ||
| 4. ID를 입력하고 Send 버튼을 클릭하여 Packet을 전송합니다. | ||
| 5. Status Packet이 수신될 때까지 대기합니다. 수신된 Packet에 Error가 있는지 확인합니다. | ||
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| **참고**: 참고 : 패킷 창에 대한 자세한 내용은 [DYNAMIXEL Wizard 2.0]과 [Dynamixel Protocol 2.0] E-Manual을 참고해주시기 바랍니다. | ||
| {: .notice} | ||
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| #### [Error Clear Packet](#error-clear-packet) | ||
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| DYNAMIXEL-Y에서 Error가 발생한 경우 Clear가 가능합니다. Error Code(140)가 0이 아닌 경우 Clear Instruction Packet으로 초기화가 가능합니다. 초기화가 불가능한 경우 Status Packet의 Error 필드에 Result Fail(0x01) 발생합니다. | ||
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| ### [Multi-Turn backup Battery 교체](#multi-turn-backup-battery-교체) | ||
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| DYNAMIXEL-Y는 Multi-Turn Backup을 위해 Battery가 내장되어 있습니다. Battery 교체 후에는 Multi-Turn Clear 작업을 진행하여 Multi-Turn 설정을 초기화 해주어야 정상 동작이 가능합니다. | ||
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| #### [Battery 교체 방법](#battery-교체-방법) | ||
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| 1. DYNAMIXEL-Y와 Battery를 준비합니다. | ||
| 2. DYNAMIXEL-Y의 전원을 차단하고, Battery 커버를 열어줍니다. | ||
| 3. 커넥터 방향에 주의하여 Battery를 연결해줍니다. | ||
| 4. Battery를 커버에 끼워줍니다. | ||
| 5. Battery 커버를 조립합니다. | ||
| 6. 전원을 공급한 뒤 Multi-Turn Clear를 진행합니다. | ||
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| [DYNAMIXEL Wizard 2.0]: https://emanual.robotis.com/docs/kr/software/dynamixel/dynamixel_wizard2/ | ||
| [Dynamixel Protocol 2.0]: https://emanual.robotis.com/docs/kr/dxl/protocol2/ |
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| | 항목 | RS-485 | | Power | | | ||
| |:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| | ||
| | 핀 번호 | `1` DATA+<br />`2` DATA- | | `1` GND<br /> `2` VDD | | ||
| | 다이어그램 |  |  |  |  | | ||
| | 하우징 | <br />Molex 505565-0200 | S/T type<br /><br />Molex 39500-0002 | R/A type 1<br /><br />Molex 39503-2002 | R/A type 2<br /><br />Molex 39503-3002 | | ||
| | PCB 헤더 | <br />[Molex 505568-0381] | | <br />[Molex 39501-1002] | | | ||
| | Crimp 터미널 | Molex 504185-1000 | | - | | | ||
| | 전선 규격 | 26 AWG | | 20 AWG | | | ||
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| | 항목 | RS-485 | | Power | | | ||
| |:------------:|:-----------------------------------------------------:|:-------:|:------------------------------------------------------------------------------------------:|:--:| | ||
| | 핀 번호 | `1` DATA+<br />`2` DATA- | | `1` GND<br /> `2` VDD | | ||
| | 다이어그램 |  |  |  |  | | ||
| | 하우징 | <br />Molex 505565-0200 | S/T type<br /><br />Molex 39500-0002 | R/A type 1<br /><br />Molex 39503-2002 | R/A type 2<br /><br />Molex 39503-3002 | | ||
| | PCB 헤더 | <br />[Molex 505568-0381] | | <br />[Molex 39501-1002] | | | ||
| | Crimp 터미널 | Molex 504185-1000 | | - | | | ||
| | 전선 규격 | 26 AWG | | 20 AWG | | | ||
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| 다이나믹셀의 모델 번호입니다. |
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| [Torque Enable(512)]의 값을 ‘1’(Torque ON)에서 ‘0’(Torque OFF)으로 변경하면 장치는 동작을 멈추고 Inverter에 공급되는 신호를 차단합니다. 장치가 회전 중이라면, 파손 방지를 위해 Safe Stop Time(104) 시간 동안 회전 속도가 0이 되도록 제어합니다. | ||
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| | 단위 | 범위 | 초기값 | | ||
| |:----:|:----------:|:------:| | ||
| | [mm] | 0 ~ 32,767 | 200 | | ||
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| **참고** : 전류제어 모드에서는 Dynamic Brake 감속만 적용됩니다.{: .notice} |
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| Brake동작 및 Goal Update가 시작될 때까지의 지연 시간을 설정합니다. | ||
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| | 주소 | 명칭 | 단위 | 범위 | 설명 | | ||
| |:----:|:-----------------:|:----:|:----------:|:-------------------------------------------------------------------------------------------| | ||
| | 106 | Brake Delay | [ms] | 0 ~ 32,767 |Torque ON: [Torque Enable(512)] 값이 1로 변경된 시점으로부터 Brake Delay (106)[ms] 뒤에 Brake Release<br />Torque OFF: Brake Lock 시점으로부터 100[ms] 뒤에 제어기 OFF| | ||
| | 108 | Goal Update Delay | [ms] | 0 ~ 32,767 | Brake Release가 된 시점으로부터 Goal Update Delay(108)[ms] 뒤에 Goal Position, Velocity, Current, PWM 값의 Update가 시작됨 | | ||
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