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北京博创兴盛机器人技术有限公司 UPTECH Robotics

TEL：+86-010-8211-4870, +86-010-8211-4887 FAX：Ext.828 http://robot.up-tech.com

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proMotion CDS55xx

User Manual

Doc. Ver. Update Rev. Authorized by Remarks

1.0 2010-3-22

何裕德徐俊辉

1.1 2010-3-27

计海锋徐俊辉

Add Chapter 5

1.2 2010-4-22

何裕德

1.3 2010-8-17

Cid

徐俊辉

Revise

Summary of content (21 pages)

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北京博创兴盛机器人技术有限公司 UPTECH Robotics proMotion CDS55xx User Manual Doc. Ver. Update Rev. Authorized by Remarks 1.0 2010-3-22 何裕德徐俊辉 1.1 2010-3-27 计海锋徐俊辉 Add Chapter 5 1.2 2010-4-22 何裕德 1.3 2010-8-17 Cid 徐俊辉 Revise TEL：+86-010-8211-4870, +86-010-8211-4887 FAX：Ext.828 Page 1 of 21 http://robot.up-tech.
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北京博创兴盛机器人技术有限公司 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 Page 2 of 21 http://robot.up-tech.
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北京博创兴盛机器人技术有限公司 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. l High torque: n 16Kgf.cm (CDS5516/5500) n 6Kgf.cm (CDS5506) l High speed: n 0.18s/60°(CDS5516/5500) n 0.16s/60°(CDS5506) l DC 6.0V~16V power supply l 0.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics 1.2 Electrical Connection 1.2.1 Bus port The bus port and typical connection diagram of proMOTION CDS55xx series robot servo is as shown below: 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: 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.
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北京博创兴盛机器人技术有限公司 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. the 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.
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北京博创兴盛机器人技术有限公司 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: n The master sends an instruction packet; n The slave receive the instruction packet，execute it, and then send an answer packet to the master.
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北京博创兴盛机器人技术有限公司 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 0XFF 0XFF ID Length Status Parameter1 ...Parameter N Check Sum The meanings of each packet byte definition are as the following. HEADER The two 0XFF bytes indicate the start of the packet.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics Instruction Function Value Number of parameter PING No action.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics HEADER ID LENGTH NSTRUCTION PARAMETERS CHECKSUM 0XFF 0XFF 0X01 0X03 0X00 0X20 0XDB The data read is 0x20. Thus the current internal temperature of the CDS55xx servo is approximately 32°C (0X20). 2.4.3 REG WRITE Function Length Instruction Parameter1 Parameter2 Parameter3 Parameter N+1 The REG_WRITE instruction is similar to the WRITE_DATA instruction, but the execution timing is different.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics 0XFF 0XFF 0X01 0X02 0X01 0XFB The returned Status Packet is as the following Status Packet : 0XFF 0XFF 0X01 0X02 0X00 0XFC HEADER ID LENGTH NSTRUCTION PARAMETERS 0XFF 0XFF 0X01 0X02 0X00 0XFC 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.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics The 1st data for the 2nd CDS55xx servo The 2nd data for the 2nd CDS55xx servo Data for the 2nd CDS55xx servo Parameter L+5 Parameter L+6 … The Lth data for the 2nd CDS55xx servo Parameter 2L+4 ….
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北京博创兴盛机器人技术有限公司 UPTECH Robotics 3 Memory contents 3.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics 40(0X28) Present Load(L) RD ? 41(0X29) Present Load(H) RD ? 42(0X2A) Present Voltage RD ? 43(0X2B) Present Temperature RD ? 44(0X2C) Registered Instruction RD,WR 0(0x00) 45(0X2D) (Reserved) -- -- 46[0x2E) Moving RD 0(0x00) 47[0x2F) Lock RD,WR 0(0x00) 48[0x30) Punch(L) RD,WR 90(0x5A) 49[0x31) Punch(H) RD,WR 0(0x00) The Control Table contains information on the status and operation of the CDS55xx servo.
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北京博创兴盛机器人技术有限公司 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 <= Goal Position <= 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 .
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北京博创兴盛机器人技术有限公司 UPTECH Robotics Bit6 If set to 1, the LED blinks when an Instruction Error occurs Bit5 If set to 1, the LED blinks when an Overload Error occurs Bit4 If set to 1, the LED blinks when a Checksum Error occurs Bit3 If set to 1, the LED blinks when a Range Error occurs Bit2 If set to 1, the LED blinks when an Overheating Error occurs Bit1 If set to 1, the LED blinks when an Angle Limit Error occurs Bit0 If set to 1, the LED blinks when an Input Voltage Error occurs This function op
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北京博创兴盛机器人技术有限公司 UPTECH Robotics Moving Speed. Sets the angular velocity of the output moving to the Goal Position.Setting this value to its maximum value of 0x3ff 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,Dcc.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics Goal Speed. This feature can be used for implementing a continuously rotating wheel.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics ID of 0 10V is represented by 100 (0x64), and 17V by 170 (0xAA). Instruction Packet Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA Communication ->in: FF FF 00 05 03 0C 64 AA DD (LEN:009) <-out: FF FF 00 02 00 FD (LEN:006) Status Packet Result NO ERROR Example 12 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 0x1ff which is 50% of the maximum value 0x3ff.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics <-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.
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北京博创兴盛机器人技术有限公司 UPTECH Robotics Appendix CDS55xx Electrical Block Diagram TEL：+86-010-8211-4870, +86-010-8211-4887 FAX：Ext.828 Page 20 of 21 http://robot.up-tech.
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北京博创兴盛机器人技术有限公司 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.