This value indicates present voltage that is being supplied. For more details, please refer to the
.
2. 4. 41. Present Temperature(146)
This value indicates internal temperature of DYNAMIXEL. For more details, please refer to the
.
2. 4. 42. Indirect Address, Indirect Data
Indirect Address and Indirect Data are useful when accessing two remote addresses in the
Control Table as sequential addresses. Sequential addresses increase Instruction Packet
efficiency. Addresses that can be defined as Indirect Address is limited to RAM area(Address
64 ~ 661). If specific address is allocated to Indirect Address, Indirect Address inherits features
and properties of the Data from the specific Address. Property includes Size(Byte length), value
range, and Access property(Read Only, Read/Write). For instance, allocating 65(Address of
LED) to Indirect Address 1(168), Indirect Data 1(224) can perform exactly same as LED(65).
Example 1
Allocating Size 1 byte LED(65) to Indirect Data 1(224).
1. Indirect Address 1(168) : change the value to ‘65’ which is the address of LED.
2. Set Indirect Data 1(224) to ‘1’ : LED(65) also becomes ‘1’ and LED is turned on.
3. Set Indirect Data 1(224) to ‘0’ : LED(65) also becomes ‘0’ and LED is turned off.
Example 2
Allocating Size 4 byte Goal Position(116) to Indirect Data 2(225), 4 sequential
bytes have to be allocated.
1. Indirect Address 2(170) : change the value to ‘116’ which is the first address of Goal
Position.
2. Indirect Address 3(172) : change the value to ‘117’ which is the second address of Goal
Position.
3. Indirect Address 4(174) : change the value to ‘118’ which is the third address of Goal
Position.
4. Indirect Address 5(176) : change the value to ‘119’ which is the fourth address of Goal
Position.
5. Set 4 byte value ‘1,024’ to Indirect Data 2 : Goal Position(116) also becomes ‘1024’ and
DYNAMIXEL moves.
Indirect Address Range Description
64 ~ 661
EEPROM address can’t be assigned to Indirect Address
NOTE
: In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address, all
address must be allocated to Indirect Address like the above Example 2.
NOTE
: Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.
