Robotis Dynamixel RX-64, Руководство пользователя

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RX-64
3-4. Control Table
Control Table consists of data regarding the current status and operation, which exists inside of RX-64.
The user can control RX-64 by changing data of Control Table via Instruction Packet.
Address
(hexadecimal)
Name Description Access
Initial Value
(Hexadecimal)
0 (0X00) Model Number(L) Lowest byte of model number R 64 (0X40)
1 (0X01) Model Number(H) Highest byte of model number R 0 (0X00)
2 (0X02) Version of Firmware Information on the version of firmware R -
3 (0X03) ID ID of Dynamixel RW 1 (0X01)
4 (0X04) Baud Rate Baud Rate of Dynamixel RW 34 (0X22)
5 (0X05] Return Delay Time
Return Delay Time
RW 250 (0XFA)
6 (0X06) CW Angle Limit(L) Lowest byte of clockwise Angle Limit RW 0 (0X00)
7 (0X07) CW Angle Limit(H) Highest byte of clockwise Angle Limit RW 0 (0X00)
8 (0X08) CCW Angle Limit(L) Lowest byte of counterclockwise Angle Limit RW 255 (0XFF)
9 (0X09) CCW Angle Limit(H) Highest byte of counterclockwise Angle Limit RW 3 (0X03)
11 (0X0B) the Highest Limit Temperature
Internal Limit Temperature
RW 80 (0X50)
12 (0X0C) the Lowest Limit Voltage
Lowest Limit Voltage
RW 60 (0X3C)
13 [0X0D) the Highest Limit Voltage
Highest Limit Voltage
RW 240 (0XF0)
14 (0X0E) Max Torque(L) Lowest byte of Max. Torque RW 255 (0XFF)
15 (0X0F) Max Torque(H) Highest byte of Max. Torque RW 3 (0X03)
16 (0X10) Status Return Level
Status Return Level
RW 2 (0X02)
17 (0X11) Alarm LED LED for Alarm RW 36 (0X24)
18 (0X12) Alarm Shutdown
Shutdown for Alarm
RW 36 (0X24)
24 (0X18) Torque Enable Torque On/Off RW 0 (0X00)
25 (0X19) LED LED On/Off RW 0 (0X00)
26 (0X1A) CW Compliance Margin CW Compliance margin RW 0 (0X00)
27 (0X1B) CCW Compliance Margin CCW Compliance margin RW 0 (0X00)
28 (0X1C) CW Compliance Slope CW Compliance slope RW 32 (0X20)
29 (0X1D) CCW Compliance Slope CCW Comliance slope RW 32 (0X20)
30 (0X1E) Goal Position(L) Lowest byte of Goal Position RW -
31 (0X1F) Goal Position(H) Highest byte of Goal Position RW -
32 (0X20) Moving Speed(L)
Lowest byte of Moving Speed
RW -
33 (0X21) Moving Speed(H) Highest byte of Moving Speed RW -
34 (0X22) Torque Limit(L) Lowest byte of Torque Limit RW ADD14
35 (0X23) Torque Limit(H) Highest byte of Torque Limit RW ADD15
36 (0X24) Present Position(L) Lowest byte of Current Position R -
37 (0X25) Present Position(H) Highest byte of Current Position R -
38 (0X26) Present Speed(L) Lowest byte of Current Speed R -
39 (0X27) Present Speed(H) Highest byte of Current Speed R -
40 (0X28) Present Load(L) Lowest byte of Current Load R -
41 (0X29) Present Load(H) Highest byte of Current Load R -
42 (0X2A) Present Voltage
Current Voltage
R -
43 (0X2B) Present Temperature Current Temperature R -
44 (0X2C) Registered Instruction
Means if Instruction is registered
RW 0 (0X00)
46 (0X2E) Moving
Means if there is any movement
R 0 (0X00)
47 (0X2F) Lock Locking EEPROM RW 0 (0X00)
48 (0X30) Punch(L) Lowest byte of Punch RW 32 (0X20)
49 (0X31) Punch(H) Highest byte of Punch RW 0 (0X00)
RAM A
re
a
EE
PROM A
re
a
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