Robotis Dynamixel DX-117 - Manual (Page 12)

11
DYNAMIXEL DX-Series
3-4. Control
Table
Address Item Access Initial Value
0(0X00) Model Number(L) RD 116(0x74)
1(0X01) Model Number(H) RD 0(0x00)
2(0X02) Version of Firmware RD ?
3(0X03) ID RD,W R 1(0x01)
4(0X04) Baud Rate RD,W R 34(0x22)
5(0X05) Return Delay Time RD,W R 250(0xFA)
6(0X06) CW Angle Limit(L) RD,W R 0(0x00)
7(0X07) CW Angle Limit(H) RD,W R 0(0x00)
8(0X08) CCW Angle Limit(L) RD,W R 255(0xFF)
9(0X09) CCW Angle Limit(H) RD,W R 3(0x03)
10(0x0A) (Reserved) - 0(0x00)
11(0X0B) the Highest Limit Temperature RD,W R 85(0x55)
12(0X0C) the Lowest Limit Voltage RD,W R 60(0X3C)
13(0X0D) the Highest Limit Voltage RD,W R 190(0xBE)
14(0X0E) Max Torque(L) RD,W R 255(0XFF)
15(0X0F) Max Torque(H) RD,W R 3(0x03)
16(0X10) Status Return Level RD,W R 2(0x02)
17(0X11) Alarm LED RD,W R 4(0x04)
18(0X12) Alarm Shutdown RD,W R 4(0x04)
19(0X13) (Reserved) RD,W R 0(0x00)
20(0X14) Down Calibration(L) RD ?
21(0X15) Down Calibration(H) RD ?
22(0X16) Up Calibration(L) RD ?
23(0X17) Up Calibration(H) RD ?
24(0X18) Torque Enable RD,W R 0(0x00)
25(0X19) LED RD,W R 0(0x00)
26(0X1A) CW Compliance Margin RD,W R 0(0x00)
27(0X1B) CCW Compliance Margin RD,W R 0(0x00)
28(0X1C) CW Compliance Slope RD,W R 32(0x20)
29(0X1D) CCW Compliance Slope RD,W R 32(0x20)
30(0X1E) Goal Position(L) RD,W R [Addr36]value
31(0X1F) Goal Position(H) RD,W R [Addr37]value
32(0X20) Moving Speed(L) RD,W R 0
33(0X21) Moving Speed(H) RD,W R 0
34(0X22) Torque Limit(L) RD,W R [Addr14] value
35(0X23) Torque Limit(H) RD,W R [Addr15] value
36(0X24) Present Position(L) RD ?
37(0X25) Present Position(H) RD ?
38(0X26) Present Speed(L) RD ?
39(0X27) Present Speed(H) RD ?
40(0X28) Present Load(L) RD ?
41(0X29) Present Load(H) RD ?
42(0X2A) Present Voltage RD ?
43(0X2B) Present Temperature RD ?
44(0X2C) Registered Instruction RD,W R 0(0x00)
45(0X2D) (Reserved) - 0(0x00)
46[0x2E) Moving RD 0(0x00)
47[0x2F) Lock RD,W R 0(0x00)
48[0x30) Punch(L) RD,W R 32(0x20)
49[0x31) Punch(H) RD,W R 0(0x00)
RAM
Area
EEPROM
Area