PoteNit ニアサ アクチュ タ テニッ 産業用ロ ッ ン クタ等にも採用実績 あ 本格的アクチュ タ イ 基板 位置読 取 センサを内臓。 通信形式 ９９１シ ア 通信 PWMが選択可能。 ９９１通信 場合現在位置を読 取 可能。 別売 ９９１コン タ を使用す P（に：SB接続可能。 ９９１用純正コン ロ 詳細 下記メア お問い合わせくだ い 価格 ￥ ,５ (税別) 税別) 製造元 PotごNit （O.,１tこ. 販売元 限会社杉浦機械設計事務所 230-00】3 横浜市鶴見区獅子ヶ谷2-1】-4 tごl 045-5〒5-2502/さaで 045-5〒5-2】52 正規代理店 ス タイプ PLS-3050 ワ タイプ PLS-5030 wごight:33g 限会社杉浦機械設計事務所 SM） 12 よ 順次出荷し す。 [email protected] 卸売 相談も承 す。http://www.machinedesign.co.jp/ PotごNit日本正規代理店 PotごNit日本正規代理店 Manual Version 1.3 PLS Ser ies and TTL Conver ter Connection 12V BAT + TTL Converter P（接続用 USB-TTLコンバーター v c PLS Series c GN GN D RX D TX TX RX 定価 4500円 税別 1. Connect TTL Conver ter TX to the PLS RX (White Line). 2. Connect PLS TX (Other Line) to the TTL Conver ter RX. 3. Connect PLS GND (Black Line) to the TTL Conver ter GND. 4. Connect (jump) 6.5 ~ 12V batter y (adapter , power supply, etc.) GND to the GND (Black Line) connected in step 3 above. 5. Connect 6.5 ~12V batter y (adapter , power supply, etc.) VCC to the PLS VCC (Red Line). ※ Incorrect connection of VCC and/or GND may cause damage to the electronic circuit or the motor. Free warranty service void if damage to the product is caused by user carelessness. Port Setting and Communication Method Por t Name : Check por t number of the connected Br idge fr om the device manager pr ior to setting. Baud Rate : Change baud r ate to 38400 (default 9600). Using other values will not wor k. Data Bit : Default value 8 Par ity Bit : No Stop Bit : 1 ※ Communications may not wor k if above values ar e set incor r ectly. Command example 80(header )00(Command)00(Send data1)00(Send data2)00(Send data3) 80E7000000 Read fir mwar e ver sion and ser vo ID 80EA010000 Set ser vo ID to 01 80ED000000 Initialize ser vo to factor y default values 80E8010000 Read ser vo 01 position command value 80010003DE Move ser vo 01 to maximum exter nal position (0x03 0xDE) with 00 speed. Ser vo r equir es minimum ADC value of 3(0x00 0x03) to oper ate (ADC value 1 is equal to 32㎛) All data must be sent in 5Bytes for ser vo to oper ate (X Don’t car e == 0x00) Data I/ O occur s in hexadecimal for mat. www.potenit.com # 952, KIST H 1dong, Hwarangro 14 gil 5, Hawolgok dong, Seongbuk gu, Seoul, Korea 136 791 T:8+82 2 957 7816 F: +82 2 957 7817 e mail:[email protected] PLS-3050/5030 Manual Ver1.3 PLS-3050/5030 Manual Version 1.3 Communication Protocol Baud Rate Data Bit Parity Bit Stop Bit ※ All commands are sent in 5Bytes. Serial Protocol Header Command 38400 bps 8 bit N 1 Sent Data1 High byte 0x00 0x03 0x00 Minimum Stroke Maximum Stroke Minimum input ADC value Sent Data2 (0x80) 1. Read firmware version and servo ID Header Servo ID X 0xE7 (0x80) (0x00~0xE6) Don’t care 2. Set each servo ID Servo ID Header X 0xEA Set value (0x80) Don’t care (0x00~0xE6) 3. Set to factory default value Header X X 0xED (0x80) Don’t care Don’t care 4. Read servo speed and position (sensor position) command Header Servo ID Speed 0xE9 (0x80) (0x00~0xE6) (0~28) 5. Read servo position value command Header Servo ID X 0xE8 (0x80) (0x00~0xE6) Don’t care 6. Transmit position command to begin operation Header Servo ID Speed Set Pos Sent Data3 X Don’t care Received Received Version Num ID Num Null Null Null Null Data1 X Don’t care X Don’t care X X Don’t care ID Data2 Pos Pos Reference Reference High byte Don’t care Low byte 0xF0 0xDE 0x03 Pos High byte Low byte Pos Low byte Pos Null Null (0x80) (0x00~0xE6) value (0~28) High byte Low byte 7. Set servo PID controller P gain and D gain values Header Servo ID P gain D gain P gain D gain 0xEB 0x80) (0x00~0xE6) Set value Set value 8. Read servo PID controller P gain and D gain values Header Servo ID X X 0xEE P gain D gain (0x80) (0x00~0xE6) Don’t care Don’t care 9. Set servo PID controller I gain value Header Servo ID I gain X 0xEC Null Null (0x80) (0x00~0xE6) Set value Don’t care 10. Read servo PID controller I gain value X Header Servo ID X X I gain 0xEF Don’t care (0x80) (0x00~0xE6) Don’t care Don’t care 11. Read required setting value for RC receiver to recognize minimum pulse X RC pulse min RC pulse min Header Servo ID X 0xF0 Don’t care high byte low byte (0x80) Don’t care (0x00~0xE6) 12. Read required setting value for RC receiver to recognize maximum pulse Header Servo ID X X RC pulse max RC pulse max 0xF1 (0x80) (0x00~0xE6) Don’t care Don’t care high byte low byte 13. Set RC receiver pulse value (Increase the value if servo position does not reach the maximum retracted position. Factory values recommended. Damage caused to the motor by setting the values too high will void warranty) Header (0x80) 0xF2 Servo ID (0x00~0xE6) RC input pulse min set value RC input pulse min set value Null Null high byte low byte 14. Set RC receiver pulse value (Increase the value if servo position does not reach the maximum extended position. Factory values recommended. Damage caused to the motor by setting the values too high will void warranty) Header (0x80) 0xF3 Servo ID (0x00~0xE6) RC input pulse RC input pulse high byte low byte max set value max set value Null Null ※ Free warranty service void if damage to the product is caused by user carelessness. www.potenit.com #952, KIST H-1dong, Hwarangro 14-gil 5, Hawolgok-dong, Seongbuk-gu, Seoul, Korea 136-791 T:8+82-2-957-7816 F: +82-2-957-7817 e-mail:[email protected] PLS-3050/5030 Manual Ver1.3 PLS-3050/5030 Manual Version 1.3 PWM Control Method Understanding Pulse Width Modulation Changing Duty ratio within set time interval to control the average voltage. Controlling rod position by changing the width of the pulse within set time interval. Pulse & Duty vlaue Required Pulse 3.3Vbat Volt Peak Maximum Retracted Pulse 3.3Vbat Volt Peak Center Pulse 3.3Vbat Volt Peak Maximum Extended pulse 3.3Vbat Volt Peak ※ Pulse Duty can be checked by using an Oscilloscope. to to to to Peak band band band Square Wave width 1200㎲ width 1500㎲ width 1800㎲ Resolution : 0.05mm(1.25㎲) 50㎛ is the minimum range servo tester or MCU(AVR) can control using the PWM. With minimum Duty Pulse 3.3V band width value of 1200㎲, rod can be extended by 50㎛ increments towards the maximum extended position by increasing the band width by 1.25㎲ increments. With maximum Duty Pulse 3.3V value of 1800㎲, rod length can be decreased by 50㎛ increments towards the maximum retracted position by decreasing the band width by 1.25㎲ increments. www.potenit.com #952, KIST H-1dong, Hwarangro 14-gil 5, Hawolgok-dong, Seongbuk-gu, Seoul, Korea 136-791 T:8+82-2-957-7816 F: +82-2-957-7817 e-mail:[email protected]
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