XL-320 Manual - Show Home > Product Information > Dynamixel > XL-320 > XL-320 ROBOTIS e-Manual v1.25.00 XL-320 Part Photo CRC calculator

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Show Home > Product Information > Dynamixel > XL-320 > XL-320XL-320Part PhotoCRC calculatorInstruction_status packet[XL-320] ※ XL-320 is a different product from the OLLO Geared and Servo Motor.H/W SpecificationWeight : 16.7gDimension : 24mm *36mm * 27mmResolution : 0.29°Motor : Cored MotorGear Reduction Ratio : 238 : 1Stall Torque : 0.39 N.m (at 7.4V)No load speed : 114 rpm (at 7.4V)Running Degree0° ~ 300°Endless TurnRunning Temperature : -5℃ ~ +70℃Voltage : 6 ~ 8.4V (Recommended Voltage 7.4V)Command Signal : Digital PacketProtocol Type : Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)Link (Physical) : TTL Level Multi Drop (daisy chain type Connector)ID : 253 ID (0~252)Communication Speed : 7343bps ~ 1 MbpsFeedback : Position, Temperature, Load, Input Voltage, etc.Material : Engineering PlasticROBOTIS e-Manual v1.25.00
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Stall torque is the maximum instantaneous and static torqueStable motions are possible with robots designed for loads with 1/5 or less of the stall torqueControl TableControl Table consists of data regarding the current status and operation, which exists inside of Dynamixel. The user can control Dynamixel bychanging data of Control Table via Instruction Packet.EEPROM and RAMData in RAM area is reset to the initial value whenever the power is turned on while data in EEPROM area is kept once the value is seteven if the power is turned off.AddressIt represents the location of data. To read from or write data to Control Table, the user should assign the correct address in theInstruction Packet.AccessDynamixel has two kinds of data: Read-only data, which is mainly used for sensing, and Read-and-Write data, which is used fordriving.Initial ValueIn case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings. Incase of data in the RAM Area, the initial values on the right side of the above Control Tables are the ones when the power is turned on.Highest/Lowest ByteIn the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish theaddress. This data requires 16bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should bewritten with one Instruction Packet at the same time.AreaAddress(Hexadecimal)Size(byet)NameDescriptionAccessInital ValueMinMaxEEPROM02Model NumberModel numberR350--21Version of FirmwareInformation on the version of firmwareR---31IDID of DynamixelRW1025241Baud RateBaud Rate of DynamixelRW30351Return Delay TimeReturn Delay TimeRW250025462CW Angle Limitclockwise Angle LimitRW00102382CCW Angle Limitcounterclockwise Angle LimitRW102301023111Control ModeControl ModeRW212121Limit TemperatureInternal Limit TemperatureRW650150131lower Limit VoltageLowest Limit VoltageRW6050250141Upper Limit VoltageUpper Limit VoltageRW9050250152Max TorqueLowest byte of Max. TorqueRW102301023171Return LevelReturn LevelRW202181Alarm ShutdownShutdown for AlarmRW307241Torque EnableTorque On/OffRW00
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  • Fall '14
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