Robotis MX-106R, Руководство пользователя

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graph, not stall torque method. For this reason, the performance graph is broadly used in the industrial
field. Generally, Max Torque of the Performance Graph is less than the Stall Torque.
CAUTION : When supplying power
It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL.
Do not connect or disconnect DYNAMIXEL when power is being supplied.
2. Control Table
The Control Table is a structure of data implemented in the device. Users can read a specific Data to
get status of the device with Read Instruction Packets, and modify Data as well to control the device
with WRITE Instruction Packets.
2. 1. Control Table, Data, Address
The Control Table is a structure that consists of multiple Data fields to store status or to control the
device. Users can check current status of the device by reading a specific Data from the Control
Table with Read Instruction Packets. WRITE Instruction Packets enable users to control the
device by changing specific Data in the Control Table. The Address is a unique value when
accessing a specific Data in the Control Table with Instruction Packets. In order to read or write
data, users must designate a specific Address in the Instruction Packet. Please refer to
Protocol
1.0 for more details about Instruction Packets.
NOTE : Two’s complement is applied for the negative value. For more information, please refer to Two’s
complement from Wikipedia.
2. 1. 1. Area (EEPROM, RAM)
The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values when
the power is reset(Volatile). On the other hand, data in the EEPROM Area is maintained even
when the device is powered off(Non-Volatile).
Data in the EEPROM Area can only be written to if Torque Enable(24) is cleared to ‘0’(Off).
2. 1. 2. Size
The Size of data varies from 1 ~ 2 bytes depend on their usage. Please check the size of data
when updating the data with an Instruction Packet. For data larger than 2 bytes will be saved
according to
Little Endian .
2. 1. 3. Access
The Control Table has two different access properties. ‘RW’ property stands for read and write
access permission while ‘R’ 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 device.