6-Axis Bioloid Bus IMU |
Introduction
A careful reading of the 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 | ? |
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.
Sensors
The sensors on the board are these:
IMU 5 Degrees of Freedom
Gyro Breakout Board - ADXRS300 - 300 degree/sec
Those two pages have links to the individual sensor chip datasheets.
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