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RX-64
Present Voltage
Present Temperature
Registered Instruction Address 44 (0x2C)
Moving
Lock
Punch
Data value indicates the ratio of Torque as described in Max Torque. For example, data
value is 1023 (0X3FF) when the maximum torque is generated but the load is too big for
RX-64 to move, so that RX-64 ends up in the holding state.
Address 42 (0x2A)
It is the size of the current voltage supplied. This value is 10 times
larger than the actual voltage. For example, when 10V is supplied, the data value is 100
(0x64).
Address 43 (0x2B) It is the internal temperature of RX-64 in Celsius. Data value is
identical to the actual temperature in Celsius. For example, if the data value is 85 (0x55),
the current internal temperature is 85 ℃ .
It is set as "1" when a command is registered by the REG_WRITE
command of Instruction Packet. Then, it changes into "0" after executing a registered
command by the Action command.
Address 46 (0x2E) It is set as "1" while movement is being made with Goal Position set;
it changes into "0" when Goal Position is reached.
Address 47 (0x2F)
Setting it as "1" leads to the lock state and only the values from
Address 24 (0X18) to Address 35 (0x23) are writable. Once locked, it is impossible to
unlock unless the power is off.
Address 48, 49 (0x30,0x31) It is the limit value of torque being reduced when the output
torque is decreased in the Compliance Slope area. In other words, it is the mimimum
torque. The initial value is 32 (0x20) and can be extended up to 1023 (0x3FF). (Refer to
Compliance margin & Slope)
30
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