RX-64
29
maximum speed is reduced to 53.2RPM so that the speed with 0 to 53.2 RPM can be
controlled. The relationship between data value and speed is as shown in the below
picture.
Torque Limit
Address 34, 35, (0x22, 0x23) It sets the maximum output Torque. 0 to 1023 (0x3FF) is
available.
Torque related data is allocated in EEPROM (Addresses 14 and 15) and
RAM (Addresses 34 and 35). And when the power is on, the EEPROM value is copied
to RAM. Torque is restricted by the Torque Limit value located in RAM (Addresses 34
and 35) in driving. Data value represents the ratio of Torque that can be output under the
currently applied voltage as described in Max Torque
Present Position
Address 36, 37 (0x24,0x25) It is the current position of RX-64. The unit is the same as
that of Goal Position.
Present Load
Address 40, 41 (0x28,0x29) It is the size of the load currently being driven by Rx-64.
The meaning of data per each bit in the Present Load is as below.
Load Direction = 0 : CCW Load, Load Direction = 1: CW Load
Note
When Moving Speed is set as 1 (0X001), movement is made at the minimum
speed. When Moving Speed is set as 0 (0x000), movement is made at the
maximum speed which can be reached under the applied voltage. In other
words, setting as 0 means that no speed control will be done.
RX-64, Max. Moving Speed & Data Value at 18V
RPM
Data
1023 (0x3FF)
114 RPM
1 (0X001)
Min. Speed
63.7 RPM
572 (0x23C)
Available area
BIT
15~11
10
9
8
7
6
5
4
3
2
1
0
Value
0
Load Direction
Data (Load Ratio)
