Robotis MX-106R, Руководство пользователя

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2. 1. 4. Initial Value
Each data in the Control Table is restored to initial values when the device is turned on. Default
values in the EEPROM area are initial values of the device (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 device is turned on. Initial Values in the RAM area are restored when the
device 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 320
2 1 Firmware Version Firmware Version R -
3 1 ID DYNAMIXEL ID RW 1
4 1 Baud Rate Communication Speed RW 34
5 1 Return Delay Time Response Delay Time RW 250
6 2 CW Angle Limit Clockwise Angle Limit RW 0
8 2 CCW Angle Limit Counter-Clockwise Angle Limit RW 4,095
10 1 Drive Mode Dual Mode Setting RW 0
11 1 Temperature Limit Maximum Internal Temperature Limit RW 80
12 1 Min Voltage Limit Minimum Input Voltage Limit RW 60
13 1 Max Voltage Limit Maximum Input Voltage Limit RW 160
14 2 Max Torque Maximun Torque RW 1023
16 1 Status Return Level Select Types of Status Return RW 2
17 1 Alarm LED LED for Alarm RW 36
18 1 Shutdown Shutdown Error Information RW 36
20 2 Multi Turn Offset Adjust Position with Offset RW 0
22 1 Resolution Divider Divider for Position Resolution RW 1
2. 3. Control Table of RAM Area
Address
Size
(Byte)
Data Name Description Access
Initial
Value
24 1 Torque Enable Motor Torque On/Off RW 0
25 1 LED Status LED On/Off RW 0
26 1 D Gain Derivative Gain RW 0
27 1 I Gain Integral Gain RW 0
28 1 P Gain Proportional Gain RW 32