History: 6-Axis Bus IMU Documentation

-=6-Axis Bioloid Bus IMU=-

__Introduction__

A careful reading of the [http://www.bioloid.info/tiki/tiki-download_file.php?fileId=37|AX-12 manual] is highly recommended, as it forms the baseline documentation for Bioloid bus devices.

__Feature Overview__

- can change the device ID (defaults to 120)
- can change baud rate, return delay time, status return level
- control table implementation (partly in EEPROM)
- updates IMU entries at 100 Hz

__Control Table__

''EEPROM Table''
||__Address__|__Item__|__Access__|__Initial Value__
0 (0x00)|Model Number(L)|RD|10
1 (0x01)|Model Number(H)|RD|67
2 (0x02)|Firmware Version|RD|?
3 (0x03)|ID|RD,WR|120
4 (0x04)|Baud Rate|RD,WR|1
5 (0x05)|Return Delay Time|RD,WR|250
6 (0x06)|Reserved|-|0
7 (0x07)|Reserved|-|0
8 (0x08)|Reserved|-|0
9 (0x09)|Reserved|-|0
10 (0x0A)|Reserved|-|0
11 (0x0B)|Reserved|-|0
12 (0x0C)|Reserved|-|0
13 (0x0D)|Reserved|-|0
14 (0x0E)|Reserved|-|0
15 (0x0F)|Reserved|-|0
16 (0x10)|Status Return Level|RD,WR|2
17 (0x11)|Reserved|-|0
18 (0x12)|Reserved|-|0
19 (0x13)|Reserved|-|0
20 (0x14)|Reserved|-|0
21 (0x15)|Reserved|-|0
22 (0x17)|Reserved|-|0
23 (0x18)|Reserved|-|0||

''RAM Table''
||__Address__|__Item__|__Access__|__Initial Value__
24 (0x18)|Reserved|-|0
25 (0x19)|LED|RD,WR|0
26 (0x1A)|Sideways Accel(L)|RD|?
27 (0x1B)|Sideways Accel(H)|RD|?
28 (0x1C)|Forwards Accel(L)|RD|?
29 (0x1D)|Forwards Accel(H)|RD|?
30 (0x1E)|Vertical Accel(L)|RD|?
31 (0x1F)|Vertical Accel(H)|RD|?
32 (0x20)|Pitch Rate(L)|RD|?
33 (0x21)|Pitch Rate(H)|RD|?
34 (0x22)|Roll Rate(L)|RD|?
35 (0x23)|Roll Rate(H)|RD|?
36 (0x24)|Yaw Rate(L)|RD|?
37 (0x25)|Yaw Rate(H)|RD|?||

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__Commands__

The following commands are processed by this device:

||__Instruction__|__Function__|__Value__|__# of Parms__
PING|No action. Used for obtaining a Status Packet|0x01|0
READ_DATA|Reading values in the Control Table|0x02|2
WRITE_DATA|Writing values to the Control Table|0x03|2+
RESET|Changes the control table values back to the Factory Default Values|0x06|0||

The way these commands are used, including the way the checksum is generated and the contents of the return packet, is identical to the Robotis devices.

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__Sensors__

The sensors on the board are these:

[http://www.sparkfun.com/commerce/product_info.php?products_id=741|IMU 5 Degrees of Freedom]
[http://www.sparkfun.com/commerce/product_info.php?products_id=395| Gyro Breakout Board - ADXRS300 - 300 degree/sec]

Those two pages have links to the individual sensor chip datasheets.