proMotion CDS55xx User Manual
Contents
1. Instruction Packet sent from the main controller to the servos and the Status Packet sent from the servos to the main controller There can be multiple CDS55xx servos on the bus each servo should be assigned an unique ID The instruction packet contains the ID info only the corresponding servos will response the Instruction packet when other servos will ignore them 2 2 Instruction packet Instruction packet format HEADER ID LENGTH INSTRUCTION PARAMETER CHECK SUM OXFF OXFF ID Length Instruction Parameter N Ox The meanings of each packet byte definition are as the following Header two OxFF in sequence indicates the start of a incoming instruction packet ID The unique ID of a CDS55xx unit There are 254 available ID values ranging from 0X00 to OXFD Broadcasting ID ID OXFE is the Broadcasting ID which indicates all of the connected CDS55xx units Packets sent with this ID apply to all CDS55xx units on the network Thus packets sent with a broadcasting ID will not return any status packets LENGTH The length of the packet where its value is Number of parameters N 2 INSTRUCTION The instruction for the CDS55xx servo to perform PARAMETERO N Used if there is additional information needed to be sent other than the instruction itself CHECK SUM The computation method for the Check Sum is as the following Check Sum ID Length Instruction Parameterl Parameter N If the calcu2. out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Example 19 Position the output of a CDS55xx servo with an ID of 0 to 0 and Position the output of a CDS55xx servo with an ID of 1 to 300 and initiate the movement at the same time If the WRITE_DATA is used the movement of the two actuators cannot be initiate at the same time thus the REG_ WRITE and ACTION instructions should be used instead Instruction Packet ID 0 Instruction REG_WRITE Address 0x1E DATA 0x00 0x00 ID 1 Instruction REG_WRITE Address Ox1E DATA Oxff 0x03 ID Oxfe Broadcasting ID Instruction ACTION Communication gt in FF FF 00 05 04 1E 00 00 D8 LEN 009 lt out FF FF 00 02 00 FD LEN 006 gt in FF FF O1 05 04 1E FF 03 D5 LEN 009 lt out FF FF O1 02 00 FC LEN 006 gt in FF FF FE 02 05 FA LEN 006 lt out No return packet against broadcasting ID Status Packet Result NO ERROR Example 20 Lock all addresses except for Address 0x18 Address0x23 for a CDS55xx servo with an ID of 0 Set Address 0x2F Lock to 1 Instruction Packet Instruction WRITE_DATA Address 0x2F DATA 0x01 Communication gt in FF FF 00 04 03 2F 01 C8 LEN 008 lt out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Once locked the only way to unlock it is to remove the power If an attempt is made to access any locked data an error is returned Range Error 0x08 gt in FF FF 00 05 03 30 40 00 87 LEN 009 lt
3. 0 300 1023 step speed control continuous rotation Up to 30 50 servos serial bus link 1Mbps High baud rate 250Hz servo refresh rate Position Temperature Voltage Speed feedback Interface and protocol mostly compatible to Robotis Dynamixel AX12 CDS55xx robot servo uses advanced control algorithm and high speed micro controller with fast response and high position accuracy The CDS55xx robot servo integrated a continuous rotation position sensor with 330 measure range for position control and it enables the continuous rotation The CDS55xx use a half duplex UART as communication bus port User can assign a address for each servo and control single servo or broadcast instruction to each servo The communication protocol of CDS55xx is opened to users please refer to this document The bus port is compatible to Robotis Dynamixel AX12 and the protocol is mostly compatible to it There are two work modes of CDS55xx Position mode and gear motor mode User can change mode with instructions The profile and mount flange is compatible to most off the shelf standard R C servos Please refer to the CDS55xx robot servo Datasheet for more Details TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 3 of 21 2 Bal Je Ae BASAL TCR BISA Las ARVMABEZS amp UPTECH Robotics 1 2 Electrical Connection 1 2 1 Bus port The bus port and typical connection diagram of proMOTION CDS55xx series robot serv
4. 0X06 OXF7 The returned Status Packet is as the following Status Packet OXFF OXFF 0X00 0X02 0X00 OXFD HEADER LENGTH NSTRUCTION PARAMETERS OXFFE OXFF 0X00 0X02 0X00 OXFD Note the ID of this CDS55xx servo is now changed to 1 after the RESET instruction 2 4 7 SYNC WRITE Function Used for controlling many CDS55xx servos 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 addresses of the control table to be written to are the same Also the broadcasting ID needs to be used for transmitting ID OXFE Length L 1 N 4 L Data length for each CDS55xx servo N The number of CDS55xx servos Instruction OX83 Parameter1 Starting address of the location where the data is to be written Parameter2 The length of the data to be written L Parameter3 The ID of the Ist CDS55xx servo Parameter4 The 1st data for the 1st CDS55xx servo Parameter5 The 2nd data for the 1st CDS55xx servo Data for the Ist CDS55xx Servo Parameter L 3 The Lth data for the Ist CDS55xx servo Parameter L 4 The ID of the 2nd CDS55xx servo TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 10 of 21 p Balak Vn Iba 6I SS ESA LES AFR IRZSE UPTECH Robotics Parameter L 5 The 1st data for the 2nd CDS55xx servo Parameter L 6 The 2nd data for the 2nd CDS55xx servo
5. gt in FF FF 00 04 03 10 00 E8 LEN 008 lt out FF FF OO 02 00 FD LEN 006 Status Packet Result NO ERROR The Status Packet is not returned starting with the following Instruction Set the Alarm to blink the LED and Shutdown Torque off the actuator when the operating temperature goes over the set limit Since the Overheating Error is Bit 2 set the Alarm value to 0x04 Instruction Packet Instruction WRITE_DATA Address 0x11 DATA 0x04 0x04 Communication gt in FF FF 00 05 03 11 04 04 DE LEN 009 lt out FF FF OO 02 00 FD LEN 006 Status Packet Result NO ERROR Example 16 Turn on the LED and Enable Torque for a CDS55xx servo with an ID of 0 Instruction Packet Instruction WRITE DATA Address 0x18 DATA 0x01 0x01 Communication gt in FF FF 00 05 03 18 01 01 DD LEN 009 lt out FF FF OO 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 18 Position the output of a CDS55xx servo with an ID of 0 to 180 with an angular velocity of 31RPM Set Address Ox1E Goal Position to 0x200 and Address 0x20 Moving Speed to 0x200 Instruction Packet Instruction WRITE DATA Address 0x1E DATA 0x00 0x02 0x00 0x02 Communication gt in FF FF 00 07 03 1E 00 02 00 02 D3 LEN 011 TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 18 of 21 wp alex a ACIS CIE BEA BUNEIR Zi UPTECH Robotics lt
6. 0X00 0X20 OXDB TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 8 of 21 p Balak UVP TEC RH UM BA HEADER OXFF OXFF ICR BI ESA LES ABRVNSIRZSE UPTECH Robotics ID LENGTH NSTRUCTION PARAMETERS CHECKSUM 0X01 0X03 0x00 0X20 OXDB The data read is 0x20 Thus the current internal temperature of the CDS55xx servo is approximately 32 C 0X20 Function Length Instruction Parameter Parameter2 Parameter3 Parameter N 1 2 4 4 ACTION Function Length Instruction Parameter Broadcasting 2 4 5 PING Function Length Instruction Parameter 2 4 3 REG WRITE The REG WRITE instruction is similar to the WRITE DATA instruction but the execution timing is different When the Instruction Packet is received the values are stored in the Buffer and the Write instruction is under a standby status At this time the Registered Instruction register Address Ox2C is set to 1 After the Action Instruction Packet is received the registered Write instruction is finally executed N 3 N is the number of data to be written 0X04 Starting address of the location where the data is to be written 1st data to be written 2nd data to be written Nth data to be written Triggers the action registered by the REG_WRITE instruction 0X02 0X05 NONE The ACTION instruction is useful when multiple CDS55xx servos need to move simultaneously When controlling multiple CDS55xx servo units slight ti
7. Bit is set to 1 the LED blinks when an Error occurs B Jo o O TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 14 of 21 p Balak Rae a ICICI ES ARLE ZSE UPTECH Robotics If set to 1 the LED blinks when an Instruction Error occurs If set to 1 the LED blinks when an Overload Error occurs If set to 1 the LED blinks when a Checksum Error occurs This function operates following the OR logical operation of all bits For example if the value is set to 0X05 the LED will blink when an Input Voltage Error occurs or when an Overheating Error occurs Address 0X12 Alarm Shutdwon If the corresponding Bit is set to 1 the CDS55xx servo s torque will be turned off when an Error occurs Bit BO If set to 1 torque off when an Instruction Error occurs Bss If set to 1 torque off when a Checksum Error occurs This function operates 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 BIT5 overload signs is invalid when CDS55XX overload the torque is automatically reduced to a security value but not completely torque of The following from Address 0x18 is in the RAM area Address 0x18 Torque Enable When the power is first turned on the CDS55xx servo enters the Torque Free Run condition zero torque Setting
8. Data for the 2nd CDS55xx servo Parameter 2L 4 The Lth data for the 2nd CDS55xx servo Setting the following positions and velocities for 4 CDS55xx servos CDS55xx servo with an ID of 0 to position 0X010 with a speed of 0X150 CDS55xx servo with an ID of 1 to position 0X220 with a speed of 0X360 CDS55xx servo with an ID of 2 to position 0X030 with a speed of 0X170 CDS55xx servo with an ID of 0 to position 0X220 with a speed of 0X380 Instruction Packet OXFF OXFF OXFE 0X18 0X83 0X1E 0X04 0X00 0X10 0X00 0X50 0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80 0X03 0X12 HEADER ID LENGTH NSTRUCTION PARAMETERS HEADER OXFF OXFF OXFE 0X18 0X83 OX1E 0X04 0X12 0X00 0X10 0X00 0X50 0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80 0X03 No status packets are returned since the Broadcasting ID was used TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 11 of 21 2 Bal nn BASAL tie Ales AROMABEZS amp UPTECH Robotics 3 Memory contents 3 1 Control Table Address Item Access Initial Memory 0000 BPROM 10x01 ModelNumber RD 20x02 Version of Firmware RD 1 0x01 1000A Reseved joo 200x14 Down Calibration RD 210x15 Down Calibration RD 220x16 Up Calibration RD _230X17 Up Calibration RD 360x24 Present Position RD P 370x25 Present Position RD 380x26 PresentSpeed RD 390X27 PresentSpee
9. HRH MAAA ICHISCINKENEEAFZZNSIRZIE UPTECH Robotics fi proMotion CDS55xx User Manual 2010 3 22 es IE RNE om es Robot Servo proMotion CDS55xx TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 1 of 21 p wal Jee Re BASAL tie NHRA ARARA UPTECH Robotics Thanks for purchasing ProMotion CDS55xx series robot servo This document is currently a trial version If you have any errors or suggestion please send Email to us or post at our web forum http robot up tech com bbs index asp boardid 1 Service dept 86 10 82114870 4887 4890 Service Email robot service up tech com TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 2 of 21 2 wal Joe Ae BASAL TCR eI h Las ARMABEZS amp UPTECH Robotics 1 General Introduction 1 1 Features and profile ProMOTION CDS series robot servo is a robot actuator which integrated motor sensor servo algorithm and serial bus port It s an ideal actuator for small robots and other simple position control equipment High torque m 16Kgf cm CDS5516 5500 6Kgf cm CDS5506 High speed 0 18s 60 CDS5516 5500 0 16s 60 CDS5506 DC 6 0V 16V power supply 0 32 position resolution Double side output shaft Alloy gearbox dual ball bearing CDS5516 5500 Resin gearbox dual ball bearing CDS5516 5500 Rubber O ring at output shaft Position control range
10. Turn Direction 0 CCW Direction Turn Load Direction 1 CW Direction Turn 4 Example Example 6 Changing the ID to 0 for a CDS55xx servo with an ID of 1 Instruction Packet Instruction WRITE_DATA Address 0x03 DATA 0x00 Communication gt in FF FF 01 04 03 03 00 F4 LEN 008 lt out FF FF 01 02 00 FC LEN 006 Status Packet Result NO ERROR Example7 Changing the Baud Rate of a CDS55xx servo to 1M bps Instruction Packet Instruction WRITE DATA Address 0x04 DATA Ox01 Communication gt in FF FF 00 04 03 04 01 F3 LEN 008 lt out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Examples Resetting the Return Delay Time to 4 uSec for a CDS55xx servo with an ID of 0 A Return Delay Time Value of 1 corresponds to 2uSec Instruction Packet Instruction WRITE_DATA Address 0x05 DATA 0x02 Communication gt IN FF FF 00 04 03 05 02 F1 LEN 008 lt out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR It is recommended to set the Return Delay Time to the minimum value allowed by the Main Controller Example 9 Limiting the operating angle range to 0 150 for a CDS55xx servo with an ID of 0 Since the CCW Angle Limit of Ox3ff corresponds to 300 the angle 150 is represented by the value Ox1ff Instruction Packet Instruction WRITE_DATA Address 0x08 DATA Oxff 0x01 Communication gt in FF FF 00 05 03 08 FF O1 EF LEN 009 lt out FF FF OO 02 00 FD LEN 006 Status Packet Result NO ERROR Exam
11. d R h TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 12 of 21 fB BX TEEN TECH i JRONE ARAARA UPTECH Robotics 400X28 Presentloadt RD 410X29 PresentLoad H RD 420x2A _ Present Voltage RD 2 43 0x28 Present Temperature RD 2 e e 45 0X2D 46128 Moving RD ooo 48 0x30 Punch L RD WR 90 0x5A 49 0x31 Punch H RD WR 0 0x00 Control Table RAM and EEPROM Initial Value Address 0x01 Address 0x02 Address 0x03 Address 0x04 Note Caution Address 0x05 The Control Table contains information on the status and operation of the CDS55xx servo The CDS55xx servo is operated by writing values to its control table and its status is checked by reading values off its control table The data values for the RAM area will be set to the default initial values whenever the power is turned on However the data values for the EEPROM area are non volatile and will still remain even after the power is turned off The Initial Value column on the right side of the control table 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 The following explains the meaning of data stored in each of the addresses in the control table Model Number For CDS5516 this value is 0X01 1 Firmware Version ID The unique ID number assigned to each CDS55xx servos fo
12. e at the time of sale in accordance with UPTECH Robotics standard warranty Testing and other quality control techniques are utilized to the extent UPTECH Robotics deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requirements LIFE SUPPORT POLICY UPTECH ROBOTICS PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS As used herein 5 Life support devices or systems are devices or systems which a are intended for surgical implant into the body or b support or sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the labeling can be reasonably expected to result in a significant injury to the user 6 A critical component in any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness All rights reserved 2010 UPTECH Robotics TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 21 of 21
13. e sub paragraph 1 2 3 gives a sample interface schematic using a AVR MCU s UART port Chapter 5 of this document gives a sample controller including schematic and some sample C code 1 2 3 Interface schematic The serial bus interface of CDS55xx servo is a half duplex UART with 3 wires To control the CDS55xx servos the main controller needs to convert its UART signals to the half duplex type The schematic of a CDS55xx servo interface is shown below MCU THEM USE GHD T4HC 140 The power is supplied to the CDS55xx servo from the main controller through Pin 1 and Pin 2 of the Molex3P connector The direction of data signals on the TTL level MCU_TXD and MCU_RXD depends on the MCU_TXEN and MCU_RXEN level as the following MCU_TXEN MCU_RXEN Status 1 0 the signal from MCU_TXD is output as SIG 0 1 the signal from SIG is input as MCU_RXD 0 0 high impedance TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 5 of 21 2 wal Joe Ae BASAL CRS eI h las AROMABEZS amp UPTECH Robotics 2 Communication protocol 2 1 Summary The CDS55xx serial bus has a master device and multiple slave devices The controller or the PC acts as master device the CDS55xx servos act as slave devices The communication sequence Is B The master sends an instruction packet B The slave receive the instruction packet execute it and then send an answer packet to the master There are two types of packets the
14. ent Load The magnitude of the load on the operatin CDS55xx servo Bit 10 is the direction of the load Address 0x2A Present Voltage The voltage currently applied to the CDS55xx servo The value is 10 times the actual voltage For example 10V is represented as 100 0x64 Address 0x2B Present Temperature The internal temperature of the CDS55xx servo in Degrees Celsius Address 0x2C Registered Instruction Set to 1 when an instruction is assigned by the REG_WRITE command Set to 0 after it completes the assigned instruction by the Action command Address 0x2E Moving Set to 1 when the CDS55xx servo is moving by its own power Address 0x2F Lock If set to 1 only Address 0x18 to 0x23 can be written to and other areas cannot Once locked it can only be unlocked by turning the power off Address 0x30 0x31 Punch The minimum current supplied to the motor during operation The initial value is set to 0x20 and its maximum value is 0x3ff 3 2 Endless Turn If both values for the CW Angle Limit and the CCW Angle Limit are set to 0 an Endless Turn mode can be implemented by setting the TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 16 of 21 p Balai Dranken ICRI BIS las ARV ERZ UPTECH Robotics Goal Speed This feature can be used for implementing a continuously rotating wheel Goal Speed Setting sm muj sf 9 8 7 6 5 4 3 2 fala Value 0 Tum Direction _ Speed Value
15. lated value is larger than 255 the lower byte is defined as the checksum value represents the NOT logic operation TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 6 of 21 p Balak UP TECR WL JeRa ONASA SUNS BR Zin UPTECH Robotics 2 3 Status packet The Status Packet is the response packet from the CDS55xx servos to the Main Controller after receiving an instruction packet The structure of the status packet is as the following HEADER ID LENGTH ERROR PARAMETER CHECK SUM OXFF OXFF ID Length Status Parameter Parameter N Check Sum The meanings of each packet byte definition are as the following HEADER The two OXFF bytes indicate the start of the packet ID The unique ID of the CDS55xx unit returning the packet The initial value is set to 1 LENGTH The length of the packet where its value is Number of parameters N 2 ERROR The byte representing errors sent from the CDS55xx unit The meaning of each bit is as the following BIT Name Details BIT7 0 BIT6 Instruction Error Set to 1 if an undefined instruction is sent or an action instruction is sent without a Reg Write instruction BIT5 Overload Error Set to 1 if the specified maximum torque can t control the applied load BIT4 Checksum Error Set to 1 if the checksum of the instruction packet is incorrect BIT3 Range Error Set to 1 if the instruction sent is out of the defined range BIT2 Overheating Set to 1 if the internal
16. me delays can occur between the 1st and last units to receive an instruction The CDS55xx servo handles this problem by using the ACTION instruction The Broadcast ID OXFE is used when sending ACTION instructions to more than two CDS55xx servos Note that no packets are returned by this operation Does not command any operations Used for requesting a status packet or to check the existence of a CDS55xx servo with a specific ID 0X02 0X01 NONE Obtaining the status packet of the CDS55xx servo with an ID of 1 Instruction Packet OXFF OXFF 0X01 0X02 0X01 OXFB HEADER TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 ID LENGTH NSTRUCTION PARAMETERS http robot up tech com Page 9 of 21 Beles Jem ai AE Iba Bei SALES ARRERA UPTECH Robotics OXFF OXFF OXO1 0X02 0x01 OXFB The returned Status Packet is as the following Status Packet OXFF OXFF 0X01 0X02 0X00 OXFC HEADER ID LENGTH NSTRUCTION PARAMETERS OXFF OXFF 0X01 0X02 0X00 OXFC Regardless of whether the Broadcasting ID is used or the Status Return Level Address 16 is 0 a Status Packet is always returned by the PING instruction 2 4 6 RESET Function Changes the control table values of the CDS55xx servo to the Factory Default Value settings Length OX02 Instruction OX06 Parameter NONE Example 4 Resetting the CDS55xx servo with an ID of 0 Instruction Packet OXFF OXFF 0X00 0X02 0X06 OXF7 HEADER LENGTH NSTRUCTION PARAMETERS OXFF OXFF 0X00 0X02
17. o is as shown below SERIAL BUS To Controller or USB 232 Converter 1 2 2 Serial connection CDS55xx robot servo uses a half duplex UART bus for serial communication There are two main methods to connect a CDS55xx servo any a Ls Controller CDS55XX Method One Control CDS55xx via a UP debugger or Robotis USB2Dynamixel The UP debugger will be recognized as a virtual RS 232 serial port device User can send instruction packet with RS 232 communication software Such as Hyper Terminal or UPTECH Robotics RobotServoTerminal the instruction packet will be send to the UP debugger and transferred to the CDS55xx robot servo The servo will execute the instruction packet and return a response packet The RobotServoTerminal software is designed for tuning or setting up CDS55xx robot servos This method is a convenient method to set up and tune your servos If you use a PC as the robot s main controller this method enables you to control servos with only a UP debugger board TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 4 of 21 2 wal Peau BASAL tie Ales AROMABEZS amp UPTECH Robotics Method Two Control CDS55xx via Microcontroller Method One needs a PC running Windows XP or Windows Vista system If you do not want to use PC you can design a microcontroller to interface the CDS55xx servos You only need a UART port on the MCU and make little interface circuit th
18. out FF FF 00 02 08 F5 LEN 006 Set the minimum power Punch to 0x40 for a CDS55xx servo with an ID of 0 Instruction Packet Instruction WRITE_DATA Address 0x30 DATA 0x40 0x00 Communication gt in FF FF 00 05 03 30 40 00 87 LEN 009 lt out FF FF OO 02 00 FD LEN 006 Status Packet Result NO ERROR TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 19 of 21 2 wal Joe A BASAL TCR BISA Las ARVMABEZS amp UPTECH Robotics Appendix CDS55xx Electrical Block Diagram POWER 7 System GND Voltage 5V Protection Conversion Over heat Over voltage Over load Under voltage Angle Half duplex Sensor UART TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 20 of 21 P PAE REES ES MAAA ICHISCINENEEARZZNSIRZIE UPTECH Robotics IMPORTANT NOTICE 1 Windows Windows XP Windows Vista are trademarks of Microsoft Inc 2 Robotis Dynamixel USB2Dynamixel and AX 12 are trademarks of Robotis Inc 3 UPTECH Robotics reserves the right to make changes to its products or to discontinue any product or service without notice and advises its customers to obtain the latest version of relevant information to verify before placing orders that the information being relied on is current and complete 4 UPTECH Robotics warrants performance of its products and related software to the specifications applicabl
19. ple 10 Resetting the upper limit for the operating temperature to 80 C fora CDS55xx servo with an ID of 0 Instruction Packet Instruction WRITE_DATA Address 0x0B DATA 0x50 Communication gt in FF FF 00 04 03 OB 50 9D LEN 008 lt out FF FF OO 02 00 FD LEN 006 Status Packet Result NO ERROR Setting the operating voltage to 10V 17V for a CDS55xx servo with an TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 17 of 21 wp alex psoas ACIS CIE BEA BUNEIR Zi UPTECH Robotics ID of 0 10V is represented by 100 0x64 and 17V by 170 OxAA Instruction Packet Instruction WRITE_DATA Address 0x0C DATA 0x64 OxAA Communication gt in FF FF 00 05 03 OC 64 AA DD LEN 009 lt out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR Setting the maximum torque to 50 of its maximum possible value for a CDS55xx servo with an ID of 0 Set the MAX Torque value located in the ROM area to Ox1ff which is 50 of the maximum value Ox3ff Instruction Packet Instruction WRITE DATA Address OxOE DATA Oxff 0x01 Communication gt in FF FF 00 05 03 OE FF O1 E9 LEN 009 lt out FF FF 00 02 00 FD LEN 006 Status Packet Result NO ERROR To verify the effect of the adjusted Max Torque value the power needs to be turned off and then on Set the CDS55xx servo with an ID of 0 to never return a Status Packet Instruction Packet Instruction WRITE_DATA Address 0x10 DATA 0x00 Communication
20. r identifying them Different IDs are required for each CDS55xx servos that are on the same network Baud Rate Determines the communication speed The computation is done by the following formula Speed BPS 2000000 Address4 1 Data Value for each Major Baud Rate 0x10 117647 1 115200 0 2 124 0X22 571429 57600 0 0 794 0X67 19230 8 19200 0 0 160 Other baud rate is still available but not saved after power off A maximum Baud Rate error of 3 is within the tolerance of UART communication The initial value of Baudrate is set to 1 1000000bps Return Delay Time The time it takes for the Status Packet to return TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 13 of 21 p Balai DE ACISOUK EN EEA BUNSIR ZIE UPTECH Robotics 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 CDS55xx servo s operating angle range The Goal Position needs to be within the range of CW Angle Limit lt Goal Position lt CCW Angle Limit An Angle Limit Error will occur if the Goal Position is set outside this range set by the operating angle limits Address 0x0B the Highest Limit Temperature This value is fixed The upper limit of the CDS55xx servo s operating temperature If the internal temperature of the CDS55xx servo gets higher than this value the Over Heating Error Bit Bit 2 of
21. temperature of the CDS55xx unit is above the Error operating temperature range as defined in the control table BIT1 Position Limit Set as 1 if the Goal Position is set outside of the range between CW Error Angle Limit and CCW Angle Limit BITO Input Voltage Setto 1 if the voltage is out of the operating voltage range as defined Error in the control table PARAMETERO N CHECK SUM Used if additional information is needed The computation method for 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 2 4 Instruction Set The following Instructions are available TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 7 of 21 p Balak UP TECH Ne Instruction PING READ DATA WRITE DATA REG WRITE ACTION RESET SYNC WRITE JeRa ONASA nAIRE UPTECH Robotics Function Value Number of parameter No action Used for obtaining a Status Packet 0x01 0 Reading values in the Control Table 0x02 2 Writing values to the Control Table 0x03 Not less than 2 Similar to WRITE_DATA but stays in standby 0x04 Not less than 2 mode until the ACION instruction is given Triggers the action registered by the 0x05 0 REG_WRITE instruction Changes the control table values of the 0x06 0 CDS55xx servos to
22. the Factory default values Used for controlling multiple CDS55xx servos 0x83 Not less than 4 simultaneously 2 4 1 WRITE DATA Function Length Instruction Parameter Parameter2 Parameters Parameter N 1 To write data into the control table of the CDS55xx servo N 3 N is the number of data to be written 0X03 Starting address of the location where the data is to be written 1st data to be written 2nd data to be written Nth data to be written Setting the ID of a connected CDS55xx servo to 1 Write 1 to address 3 of the control table The ID is transmitted using the Broadcasting ID OxFE Instruction Packet OXFF OXFF OXFE 0X04 0X03 0X03 0X01 OXF6 HEADER OXFF OXFF ID LENGTH NSTRUCTION PARAMETERS CHECKSUM OXFE 0X04 0X03 0X03 0X01 OXF6 Because it was transmitted with a Broadcast ID OXFE no status packets are returned 2 4 2 READ DATA Function Length Instruction Parameter Parameter2 Read data from the control table of a CDS55xx servo 0X04 0X02 Starting address of the location where the data is to be read Length of the data to be read Reading the internal temperature of the CDS55xx servo with an ID of 1 Read 1 byte from address 0x2B of the control table Instruction Packet OXFF OXFF 0X01 0X04 0X02 0X2B 0X01 OXCC HEADER OXFF OXFF ID LENGTH NSTRUCTION PARAMETERS CHECKSUM 0X01 0X04 0X02 OX2B 0X01 OXCC The returned Status Packet will be as the following Status Packet OXFF OXFF 0X01 0X03
23. the Status Packet will return the value 1 and an alarm will be set by Address 17 18 The values are in Degrees Celsius Address 0x0C 0x0D the Lowest Highest Limit Voltage The upper and lower limits of the CDS55xx servo s operating voltage If the present voltage Address 42 is out of the specified range a Voltage Range Error Bit Bit O 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 then the lower voltage limit is set to 8V Address 0x0E 0x0F 0x22 0x23 Max Torque The maximum torque output for the CDS55xx servo When this value is set to 0 the CDS55xx servo enters the Free Run mode There are two locations where this maximum torque limit is defined in the EEPROM Address OXOE OxOF and in the RAM Address 0x22 0x23 When the power is turned on the maximum torque limit value defined in the EEPROM is copied to the location in the RAM The torque of the CDS55xx servo is limited by the values located in the RAM Address 0x22 0x23 Address 0X10 Status Return Level Determines whether the CDS55xx servo will return a Status Packet after receiving an Instruction Packet 0 Donotrespond to any instructions In the case of an instruction which uses the Broadcast ID OXFE the Status Packet will not be returned regardless of the Address 0x10 value Address 0X11 Alarm LED If the corresponding
24. 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 0x1A 0x1B compliance Margin If difference of the target location and the physical location is smaller than compliance Margin the position control will be insensitive Address 0x1C 0x1D CW CCW proportion Adjust the position Position loop Address 0X1E 0x1F GoalPosition Requested angular position for the CDS55xx servo output to move to Setting this value to Ox3ff moves the output shaft to the position at 300 Address 0x20 0x21 TEL 86 010 8211 4870 86 010 8211 4887 FAX Ext 828 http robot up tech com Page 15 of 21 JURE P TECH TERRONES ASRARAE UPTECH Robotics Moving Speed Sets the angular velocity of the output moving to the Goal Position Setting this value to its maximum value of Ox3ff moves the output with an angular velocity of 62 RPM provided that there is enough power supplied The lowest velocity is when this value is set to 1 When set to 0 the velocity is the largest possible for the supplied voltage e g no velocity control is applied Address 0x20 0x21 Acc Dec Those are the Hoving Acceleration and peed Deceleration of the CDS55xx Dec servo move to GoalPosition Address 0x24 0x25 Present Position Current t angular position of the CDS55xx servo output Address 0x26 0x27 Present Speed Current angular velocity of the CDS55xx servo output Address 0x28 0x29 Pres
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