Robotis Dynamixel RX-64 User Manual page 23

Robot servo actuator
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RX-64
3-4-1
Control Table Items ( EEPROM Area )
Model Number.
Firmware Version
ID
Baud Rate
Return Delay Time
Address 0, 1 (0x00, 0x01) In case of RX-64, the data value is 64 (0X0040).
Address 2 (0x02)
It represents the firmware version.
Address 3 (0x03) It is a unique number to identify RX-64. 0 to 253 (0xFD) can be used
for it and the factory default setting is 1.
Address 4 (0x04)
It represents the communication speed. 0 to 254 (0xFE) can be
used for it. This speed is calculated by using the below formula.
Speed (BPS) = 2000000 / ( Data + 1 )
Data value per Baud Rate
Data
Set BPS
1
1000000.0
3
500000.0
4
400000.0
7
250000.0
9
200000.0
16
117647.1
34
103
207
If the tolerance of Baud Rate is less than 3 %, there is no
problem with communication. The initial value of Baud rate
Note
is 34 (0x22) (i.e., 57600bps).
Address 5 (0x05) It is the delay time that takes from the transmission of Instruction
Packet until the return of Status Packet. 0 to 254 (0xFE) can be used, and the delay time
per data value 1 is 2 usec. That is to say, if the data value is 10, 20 usec is delayed. The
initial value is 250 (0xFA) (i.e., 0.5 msec).
Target BPS
1000000.0
500000.0
400000.0
250000.0
200000.0
115200.0
57142.9
57600.0
19230.8
19200.0
9615.4
9600.0
22
Tolerance
0.000%
0.000%
0.000%
0.000%
0.000%
-2.124%
0.794%
-0.160%
-0.160%

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