Control Table - Robotis Dynamixel RX-64 User Manual

RX-64

3-4. Control Table

Control Table consists of data regarding the current status and operation, which exists inside of RX-64.
The user can control RX-64 by changing data of Control Table via Instruction Packet.
Address
(hexadecimal)
0 (0X00) Model Number(L)
1 (0X01) Model Number(H)
2 (0X02) Version of Firmware
3 (0X03) ID
4 (0X04) Baud Rate
5 (0X05] Return Delay Time
6 (0X06) CW Angle Limit(L)
7 (0X07) CW Angle Limit(H)
8 (0X08) CCW Angle Limit(L)
9 (0X09) CCW Angle Limit(H)
11 (0X0B) the Highest Limit Temperature
12 (0X0C) the Lowest Limit Voltage
13 [0X0D) the Highest Limit Voltage
14 (0X0E) Max Torque(L)
15 (0X0F) Max Torque(H)
16 (0X10) Status Return Level
17 (0X11) Alarm LED
18 (0X12) Alarm Shutdown
24 (0X18) Torque Enable
25 (0X19) LED
26 (0X1A) CW Compliance Margin
27 (0X1B) CCW Compliance Margin
28 (0X1C) CW Compliance Slope
29 (0X1D) CCW Compliance Slope
30 (0X1E) Goal Position(L)
31 (0X1F) Goal Position(H)
32 (0X20) Moving Speed(L)
33 (0X21) Moving Speed(H)
34 (0X22) Torque Limit(L)
35 (0X23) Torque Limit(H)
36 (0X24) Present Position(L)
37 (0X25) Present Position(H)
38 (0X26) Present Speed(L)
39 (0X27) Present Speed(H)
40 (0X28) Present Load(L)
41 (0X29) Present Load(H)
42 (0X2A) Present Voltage
43 (0X2B) Present Temperature
44 (0X2C) Registered Instruction
46 (0X2E) Moving
47 (0X2F) Lock
48 (0X30) Punch(L)
49 (0X31) Punch(H)
Name
Lowest byte of model number
Highest byte of model number
Information on the version of firmware
ID of Dynamixel
Baud Rate of Dynamixel
Return Delay Time
Lowest byte of clockwise Angle Limit
Highest byte of clockwise Angle Limit
Lowest byte of counterclockwise Angle Limit
Highest byte of counterclockwise Angle Limit
Internal Limit Temperature
Lowest Limit Voltage
Highest Limit Voltage
Lowest byte of Max. Torque
Highest byte of Max. Torque
Status Return Level
LED for Alarm
Shutdown for Alarm
Torque On/Off
LED On/Off
CW Compliance margin
CCW Compliance margin
CW Compliance slope
CCW Comliance slope
Lowest byte of Goal Position
Highest byte of Goal Position
Lowest byte of Moving Speed
Highest byte of Moving Speed
Lowest byte of Torque Limit
Highest byte of Torque Limit
Lowest byte of Current Position
Highest byte of Current Position
Lowest byte of Current Speed
Highest byte of Current Speed
Lowest byte of Current Load
Highest byte of Current Load
Current Voltage
Current Temperature
Means if Instruction is registered
Means if there is any movement
Locking EEPROM
Lowest byte of Punch
Highest byte of Punch
Description
20
Initial Value
Access
(Hexadecimal)
R 64 (0X40)
R 0 (0X00)
R -
RW 1 (0X01)
RW 34 (0X22)
RW 250 (0XFA)
RW 0 (0X00)
RW 0 (0X00)
RW 255 (0XFF)
RW 3 (0X03)
RW 80 (0X50)
RW 60 (0X3C)
RW 240 (0XF0)
RW 255 (0XFF)
RW 3 (0X03)
RW 2 (0X02)
RW 36 (0X24)
RW 36 (0X24)
RW 0 (0X00)
RW 0 (0X00)
RW 0 (0X00)
RW 0 (0X00)
RW 32 (0X20)
RW 32 (0X20)
RW -
RW -
RW -
RW -
RW ADD14
RW ADD15
R -
R -
R -
R -
R -
R -
R -
R -
RW 0 (0X00)
R 0 (0X00)
RW 0 (0X00)
RW 32 (0X20)
RW 0 (0X00)