User manual FUTABA RS302CD
DON'T FORGET : ALWAYS READ THE USER GUIDE BEFORE BUYING !!!
If this document matches the user guide, instructions manual or user manual, feature sets, schematics you are looking for, download it now. Diplodocs provides you a fast and easy access to the user manual FUTABA RS302CD. We hope that this FUTABA RS302CD user guide will be useful to you.
Manual abstract: user guide FUTABA RS302CD
Detailed instructions for use are in the User's Guide.
[. . . ] 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. [. . . ]
DISCLAIMER TO DOWNLOAD THE USER GUIDE FUTABA RS302CD
Click on "Download the user Manual" at the end of this Contract if you accept its terms, the downloading of the manual FUTABA RS302CD will begin.