Control Table - Robotis Dynamixel AX-12 User Manual

DYNAMIXEL
3-4. Control
Table
EEPROM
Area
RAM
Area
AX-12
Address
0(0X00) Model Num ber(L)
1(0X01) Model Num ber(H)
2(0X02) Version of Firm ware
3(0X03) ID
4(0X04) Baud Rate
5(0X05) Return Delay T im e
6(0X06) CW Angle Lim it(L)
7(0X07) CW Angle Lim it(H)
8(0X08) CCW Angle Lim it(L)
9(0X09) CCW Angle Lim it(H)
10(0x0A) (Reserved)
11(0X0B) the Highest Lim it T em perature
12(0X0C) the Lowest Lim it Voltage
13(0X0D) the Highest Lim it Voltage
14(0X0E) Max T orque(L)
15(0X0F) Max T orque(H)
16(0X10) Status Return Level
17(0X11) Alarm LED
18(0X12) Alarm Shutdown
19(0X13) (Reserved)
20(0X14) Down Calibration(L)
21(0X15) Down Calibration(H)
22(0X16) Up Calibration(L)
23(0X17) Up Calibration(H)
24(0X18) T orque Enable
25(0X19) LED
26(0X1A) CW Com pliance Margin
27(0X1B) CCW Com pliance Margin
28(0X1C) CW Com pliance Slope
29(0X1D) CCW Com pliance Slope
30(0X1E) G oal Position(L)
31(0X1F) G oal Position(H)
32(0X20) Moving Speed(L)
33(0X21) Moving Speed(H)
34(0X22) T orque Lim it(L)
35(0X23) T orque Lim it(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 T em perature
44(0X2C) Registered Instruction
45(0X2D) (Reserved)
46[0x2E) Moving
47[0x2F) Lock
48[0x30) Punch(L)
49[0x31) Punch(H)
Item
12
Access Initial Value
RD
12(0x0C)
RD
0(0x00)
RD
?
RD,W R
1(0x01)
RD,W R
1(0x01)
RD,W R
250(0xFA)
RD,W R
0(0x00)
RD,W R
0(0x00)
RD,W R
255(0xFF)
RD,W R
3(0x03)
-
0(0x00)
RD,W R
85(0x55)
RD,W R
60(0X3C)
RD,W R
190(0xBE)
RD,W R
255(0XFF)
RD,W R
3(0x03)
RD,W R
2(0x02)
RD,W R
4(0x04)
RD,W R
4(0x04)
RD,W R
0(0x00)
RD
?
RD
?
RD
?
RD
?
RD,W R
0(0x00)
RD,W R
0(0x00)
RD,W R
0(0x00)
RD,W R
0(0x00)
RD,W R
32(0x20)
RD,W R
32(0x20)
RD,W R
[Addr36]value
RD,W R
[Addr37]value
RD,W R
0
RD,W R
0
RD,W R
[Addr14] value
RD,W R
[Addr15] value
RD
?
RD
?
RD
?
RD
?
RD
?
RD
?
RD
?
RD
?
RD,W R
0(0x00)
-
0(0x00)
RD
0(0x00)
RD,W R
0(0x00)
RD,W R
32(0x20)
RD,W R
0(0x00)