Robotis XH430-W350-R, Руководство пользователя

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2/22/2018 XH430-W350
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251 1 Indirect Data 28 Indirect Data 28 RW 0
578 2 Indirect Address 29 Indirect Address 29 RW 634
580 2 Indirect Address 30 Indirect Address 30 RW 635
582 2 Indirect Address 31 Indirect Address 31 RW 636
… … … … … …
628 2 Indirect Address 54 Indirect Address 54 RW 659
630 2 Indirect Address 55 Indirect Address 55 RW 660
632 2 Indirect Address 56 Indirect Address 56 RW 661
634 1 Indirect Data 29 Indirect Data 29 RW 0
635 1 Indirect Data 30 Indirect Data 30 RW 0
636 1 Indirect Data 31 Indirect Data 31 RW 0
… … … … … …
659 1 Indirect Data 54 Indirect Data 54 RW 0
660 1 Indirect Data 55 Indirect Data 55 RW 0
661 1 Indirect Data 56 Indirect Data 56 RW 0
Note : Protocol 1.0 does not support addresses greater than 256. Therefore, Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.
Address Description
EEPROM Area
Note : Any Data in EEPROM Area can only be modified when the value of Torque Enable(64) is cleared to ‘0’.
Model Number (0)
This address stores model number of the Dynamixel.
Firmware Version (6)
This address stores firmware version of the Dynamixel.
ID (7)
The ID is a unique value in the network to identify each Dynamixel with an Instruction Packet.
0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a broadcast ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected Dynamixels simultaneously.
Note : Please avoid using an identical ID for multiple Dynamixels. In order to change the ID in the EEPROM Area, Torque Enable(64) has to be cleared to ‘0’ in advance.
Note : Please avoid using an identical ID for multiple Dynamixels. In order to change the ID in the EEPROM Area, Torque Enable(64) has to be cleared to ‘0’ in advance.
Baud Rate (8)
Baud Rate determines serial communication speed between a controller and Dynamixels.
Baud Rate Baud Rate[bps] Margin of Error
0 9,600 0.000%
1(Default) 57,600 0.000%
2 115,200 0.000%
3 1M 0.000%
4 2M 0.000%
5 3M 0.000%
6 4M 0.000%
7 4.5M 0.000%
Note : Less than 3% of the baud rate error margin will not affect to UART communication.
Return Delay Time (9)
After the Dynamixel receives an Instruction Packet, it delays transmitting the Status Packet for Return Delay Time (9). For instance, if the Return Delay Time(9) is set to ‘10’, the Status Packet will be
returned after 20[μsec] when the Instruction Packet is received.
Values Description
Unit 2[μsec] -
Range 0 ~ 254 Default value ‘250’(500[μsec]), Maximum 508[μsec]
Drive Mode (10, Available after Firmware version 38)
Drive Mode Definition Values
Bit 7 0x80 - Unused, always ‘0’