Robotis Dynamixel AX-12 User Manual page 19

DYNAMIXEL
Goal Speed Setting
Range
AX-12
BIT 15~11
Value 0 Turn Direction
Turn Direction = 0 : CCW Direction Turn,
Each data has a valid minimum and maximum values. Write instructions made outside
of these valid ranges will return an error. The following table summarizes the data range
for each register. 16 bit data registers are indicated with two bytes (L) and (H). Both
bytes need to be written at the same time as one instruction packet.
Write
Address
3(0X03) ID
4(0X04) Baud Rate
5(0X05) Return Delay Time
6(0X06) CW Angle Limit
8(0X08) CCW Angle Limit
11(0X0B) the Highest Limit Temperature
12(0X0C) the Lowest Limit Voltage
13(0X0D) the Highest Limit Voltage
14(0X0E) Max Torque
16(0X10) Status Return Level
17(0X11) Alarm LED
18(0X12) Alarm Shutdown
19(0X13) (Reserved)
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
32(0X20) Moving Speed
34(0X22) Torque Limit
44(0X2C) Registered Instruction
47(0X2F) Lock
48(0X30) Punch
[Control Table Data Range and Length for Writing]
10 9 8
Load Direction = 1: CW Direction Turn
Writing Item
18
7 6 5 4 3 2
Speed Value
Length
Min
(bytes)
1 0
1 0
1 0
2 0
2 0
1 0
1 50(0x32)
1 50(0x32)
2 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 1
1 1
2 0
2 0
2 0
1 0
1 1
2 0
1 0
Max
253(0xfd)
254(0xfe)
254(0xfe)
1023(0x3ff)
1023(0x3ff)
150(0x96)
250(0xfa)
250(0xfa)
1023(0x3ff)
2
127(0x7f)
127(0x7f)
1
1
1
254(0xfe)
254(0xfe)
254(0xfe)
254(0xfe)
1023(0x3ff)
1023(0x3ff)
1023(0x3ff)
1
1
1023(0x3ff)