Robotis MX-106R, Manual

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Address
Size
(Byte)
Data Name Description Access
Initial
Value
30 2 Goal Position Desired Position RW -
32 2 Moving Speed Moving Speed(Moving Velocity) RW -
34 2 Torque Limit Torque Limit(Goal Torque) RW ADD 14&15
36 2 Present Position Present Position R -
38 2 Present Speed Present Speed R -
40 2 Present Load Present Load R -
42 1 Present Voltage Present Voltage R -
43 1 Present Temperature Present Temperature R -
44 1 Registered If Instruction is registered R 0
46 1 Moving Movement Status R 0
47 1 Lock Locking EEPROM RW 0
48 2 Punch Minimum Current Threshold RW 0
50 2 Realtime Tick Count Time in millisecond R 0
68 2 Current Consuming Current RW 0
70 1 Torque Ctrl Mode Enable Torque Control Mode On/Off RW 0
71 2 Goal Torque Goal Torque RW 0
73 1 Goal Acceleration Goal Acceleration RW 0
2. 4. Control Table Description
2. 4. 1. Model Number (0)
This address stores model number of DYNAMIXEL.
2. 4. 2. Firmware Version (2)
This address stores firmware version of DYNAMIXEL.
2. 4. 3. ID (3)
The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction
Packet. 0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a broadcast
ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected DYNAMIXEL
simultaneously.
NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face communication
failure or may not be able to detect DYNAMIXEL with an identical ID.
2. 4. 4. Baud Rate (4)