AX-12完整中文资料.docVIP

Main Specifications主要规格 0.35 ° 操作角度300 ° 或转电压7V ? 10V(推荐电压： 9.6V ）温度-5 ? 85 ℃ ℃ 控制信号数字协议类型半双工异步串行通信（ 8位， 1 ，） 接多降TTL电平（）254个ID（ 编号0 253 ）7343bps ? 1 Mbps 反馈位置，温度，负载，输入电压等Connection to UART　　连接到UART To control the Dynamixel actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below. 为了控制Dynamixel舵机，主控制器需要转换UART信号为半双工类型。建议电路图所示。 The power is supplied to the Dynamixel actuator from the main controller through Pin 1 and Pin 2 of the Molex3P connector. (The circuit shown above is presented only to explain the use of half duplex UART. The CM-5 controller already has the above circuitry built in, thus the Dynamixel actuators can be directly connected to it) Dynamixel的电源供应器是从主控制器通过Molex3P连接器的PIN1引脚和PIN2引脚。 （如上图所示的电路是唯一解释使用半双工的UART 。CM - 5控制器已经建成上述电路，从而Dynamixel舵机可直接连接到它） The direction of data signals on the TTL level TxD and RxD depends on the DIRECTION_PORT level as the following. 数据传输方向信号的TTL电平TxD和RxD取决于DIRECTION_PORT电平。 ? When the DIRECTION_PORT level is High: the signal TxD is output as Data ?当DIRECTION_PORT高电平时： TxD口输出数据 ? When the DIRECTION_PORT level is Low: the signal Data is input as RxD ?当DIRECTION_PORT低电平时：RxD口输入数据 Half Duplex UART A multi-drop method of connecting multiple Dynamixel actuators to a single node is possible by using the half duplex UART. Thus a protocol that does not allow multiple transmissions at the same time should be maintained when controlling the Dynamixel actuators. 半双工的UART 只有使用半双工的UART才能在单一节点使用多降法连接多个Dynamixel舵机。因此，一个协议，不允许同时控制多个Dynamixel舵机。 3. Communication Protocol 通信协议 3-1. Communication Overview　 Packet The main controller communicates with the Dynamixel units by sending and receiving data packets. There are two types of packets; the “Instruction Packet” (sent from the main controller to the Dynamixel actuators) and the “Status Packet” (sent from the Dynamixel actuators to the main controller.) 数据包　主控制器通信与Dynamixel舵机通过发送和接收数据包。有两种类型的数据包;“命令