45
DYN2MS-02F-0116A17
Functions
(Sent by DYN drive)
b[4:0]
Data (Bytes)
Remarks
Not used
0x00 ~
0x0a
*Do not read or write to these addresses
Is_MainGain
0x10
1
Returns [1:127] unsigned data
Is_SpeedGain
0x11
1
Returns [1:127] unsigned data
Is_IntGain
0x12
1
Returns [1:127] unsigned data
Is_TrqCons
0x13
1
Returns [1:127] unsigned data
Is_HighSpeed
0x14
1
Returns [1:127] unsigned data
Is_HighAccel
0x15
1
Returns [1:127] unsigned data
Is_Drive_ID
0x16
1
Returns [1:127] unsigned data
Is_PosOn_Range
0x17
1
Returns [1:127] unsigned data
Is_GearNumber
0x18
2
Is_Status
0x19
1
Is_Config
0x1a
1
Is_AbsPos32
0x1b
1~4
Is_TrqCurrent
0x1e
1~4
7.2 Packet Definition
7.2.5 Bn-2 ~ B1 bytes
Bn-2 ~ B1 (n>2) are used for representing the data in the packet. 7bits of a byte is used for containing the data.
The first bit MSB is always 1.
Minimum packet length is 4. There is at least one data byte, for some function code that does not require data,
this data byte is meaningless, or called dummy byte which can be set to any value [0~127] and does not affect
the overall function of that packet.
n
Data Range
Remark
3
-64 ~ 63
Only B1 is used
4
-8,192 ~ 8,191
Only B2, B1 are used
5
-1,048,576 ~ 1,048,575
B3, B2, B1 are used
6
-134,217,728 ~ 134,217,727
B4, B3, B2, B1 are used
Functions 0x10 ~ 0x1e are sent from the DYN drive in response to a function to request data. For example,
when
Read_MainGain 0x18 is sent to the DYN2 drive, Is_MainGain 0x10 is returned as the function with the
Main Gain value as the data. See section 7.5 Example 11.
