Robotis DYNAMIXEL XM430-W210, Электронное руководство

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2/22/2018 ROBOTIS e-Manual
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ 4/34
stands for read only access permission. Data with the read
only property cannot be changed by the WRITE Instruction.
Read only property(‘R’) is generally used for measuring and
monitoring purpose, and read write property(‘RW’) is used for
controlling DYNAMIXEL.
2. 1. 4. Initial Value
Each data in the Control Table is restored to initial values when
the DYNAMIXEL is turned on. Default values in the EEPROM
area are initial values of the DYNAMIXEL (factory default
settings). If any values in the EEPROM area are modified by a
user, modified values will be restored as initial values when
the DYNAMIXEL is turned on. Initial Values in the RAM area
are restored when the DYNAMIXEL is turned on.
2. 2. Control Table of EEPROM Area
Address
Size
(Byte)
Data Name Description Access
Initial
Value
0 2 Model Number Model Number R 1030
2 4 Model Information Model Information R -
6 1 Firmware Version Firmware Version R -
7 1 ID DYNAMIXEL ID RW 1
8 1 Baud Rate
Communication
Speed
RW 1
9 1 Return Delay Time
Response Delay
Time
RW 250
10 1 Drive Mode
Default Rotation
Direction
RW 0
11 1 Operating Mode Operating Mode RW 3
12 1
Secondary(Shadow)
ID Secondary(Shadow)
ID
RW 255
13 1 Protocol Version Protocol Version RW 2
20 4 Homing Offset
Home Position
Offset
RW 0
24 4 Moving Threshold
Velocity Threshold
for Movement
Detection
RW 10
31 1 Temperature Limit
Maximum Internal
Temperature Limit
RW 80
32 2 Max Voltage Limit
Maximum Input
Voltage Limit
RW 160
XM430-W210
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