Robotis Dynamixel X Series, Manual

Page: 6 / 34

Address
Size
(Byte)
Data Name Access Default
Value
Range Unit
100 2 Goal PWM RW -
-PWM Limit(36) ~
PWM Limit(36)
-
104 4 Goal Velocity RW -
-Velocity Limit(44) ~
Velocity Limit(44)
0.229 [rev/min]
108 4 Profile Acceleration RW 0
0 ~ 32,767
0 ~ 32,737
214.577 [rev/min
2
]
1 [ms]
112 4 Profile Velocity RW 0 0 ~ 32,767 0.229 [rev/min]
116 4 Goal Position RW -
Min Position Limit(52) ~
Max Position Limit(48)
1 [pulse]
120 2 Realtime Tick R - 0 ~ 32,767 1 [msec]
122 1 Moving R 0 0 ~ 1 -
123 1 Moving Status R 0 - -
124 2 Present PWM R - - -
126 2 Present Load R - -1,000 ~ 1,000 0.1 [%]
128 4 Present Velocity R - - 0.229 [rev/min]
132 4 Present Position R - - 1 [pulse]
136 4 Velocity Trajectory R - - 0.229 [rev/min]
140 4 Position Trajectory R - - 1 [pulse]
144 2 Present Input Voltage R - - 0.1 [V]
146 1 Present Temperature R - - 1 [°C]
168 2 Indirect Address 1 RW 224 64 ~ 661 -
170 2 Indirect Address 2 RW 225 64 ~ 661 -
172 2 Indirect Address 3 RW 226 64 ~ 661 -
… … … … … - -
218 2 Indirect Address 26 RW 249 64 ~ 661 -
220 2 Indirect Address 27 RW 250 64 ~ 661 -
222 2 Indirect Address 28 RW 251 64 ~ 661 -
224 1 Indirect Data 1 RW 0 0 ~ 255 -
225 1 Indirect Data 2 RW 0 0 ~ 255 -
226 1 Indirect Data 3 RW 0 0 ~ 255 -
… … … … … - -
249 1 Indirect Data 26 RW 0 0 ~ 255 -
250 1 Indirect Data 27 RW 0 0 ~ 255 -