Robotis Dynamixel AX-12 User Manual page 18

DYNAMIXEL
Address 0x20,0x21
Address 0x24,0x25
Address 0x26,0x27
Address 0x28,0x29
Address 0x2A
Address 0x2B
Address 0x2C
Address 0x2E
Address 0x2F
Address 0x30,0x31
Endless Turn
AX-12
Moving Speed. Sets the angular velocity of the output moving to the Goal Position.
Setting this value to its maximum value of 0x3ff moves the output with an angular
velocity of 114 RPM, provided that there is enough power supplied (The lowest velocity
is when this value is set to 1. When set to 0, the velocity is the largest possible for the
supplied voltage, e.g. no velocity control is applied.)
Present Position. Current angular position of the Dynamixel actuator output.
Present Speed. Current angular velocity of the Dynamixel actuator output.
Present Load. The magnitude of the load on the operating Dynamixel actuator. Bit 10 is
the direction of the load.
BIT 15~11
Value 0 Load Direction
Load Direction = 0 : CCW Load,
Present Voltage. The voltage currently applied to the Dynamixel actuator. The value is
10 times the actual voltage. For example, 10V is represented as 100 (0x64).
Present Temperature. The internal temperature of the Dynamixel actuator in Degrees
Celsius.
Registered Instruction. Set to 1 when an instruction is assigned by the REG_WRITE
command. Set to 0 after it completes the assigned instruction by the Action command.
Moving. Set to 1 when the Dynamixel actuator is moving by its own power.
Lock. If set to 1, only Address 0x18 to 0x23 can be written to and other areas cannot.
Once locked, it can only be unlocked by turning the power off.
Punch. The minimum current supplied to the motor during operation. The initial value is
set to 0x20 and its maximum value is 0x3ff.
If both values for the CW Angle Limit and the CCW Angle Limit are set to 0, an Endless
Turn mode can be implemented by setting the Goal Speed. This feature can be used for
implementing a continuously rotating wheel.
10 9 8 7
Load Direction = 1: CW Load
17
6 5 4 3 2 1
Load Value
0