User manual FUTABA 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ] Hdr ID Flg Adr Len Cnt Sum FA AF 01 0F 2A 02 00 26 (3) ACK/NAK Packet If a servo receives a request of sending ACK the Flags being set at Bit0=1, Bit1=0, Bit2=0 and Bit3=0, the servo send ACK. The return packet is constituted by only one byte of data like bellow: Return packet = 07H: "ACK" 13 Address 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 determined by the "Length" into the memory map. Length = the number of bytes of data This notation indicates the number of servos, which should be set at "1" for a short packet. Check sum is the value obtained from XOR operation on all bytes from ID through Data in a packet by a unit of a byte. Count Data Sum If the number of bytes from ID through Data in a packet is two or larger, divide them byte-by-byte and conduct XOR operation on them. Hdr ID Flg Adr Len Cnt Dat Sum FA AF 01 00 1E 02 01 00 00 1C The check sum of the transmission data above is as follows: 01H XOR 00H XOR 1EH XOR 02H XOR 01H XOR 00H XOR 00H Long Packet The long packet is used to send the data in the memory map to multiple servos. Please note, however, that the memory address and the length of the data to be sent are the same to all the servos. Packet structure Length VID Data Sum Header ID Flags Address Length Count VID Data VID Data Number of servos = Count Header This notation indicates the front of a packet. Set "FAAFH" for long packets. "xH" denotes Hexadecimal number. Using this address makes it possible to write the data of the specified number of bytes determined by the "Length" into the memory maps of multiple servos. 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. 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. 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. 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. [. . . ] 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 The present load is 0006H, which is identified by the values of No. 48 andNo. 49 in the return packet It shows that the motor is live with electricity of 6mA at this time No. 50/No. 51 Present Temperature Byte, Hex Number, Read This shows the present temperature on the board of the servo. Each temperature sensor has its own characteristics and there is a difference of about ± 3 between one another in measuring temperature. If the temperature goes up higher than the preset temperature, an error flag for temperature is raised one second later, and at the same time the servo comes into the break mode, which situation is like deadening the torque a little bit. When it is in the break mode, the value for "Torque ON" of No. 36 in the memory map becomes 2. [. . . ]