Futaba RS302CD - Manual (Page 28)

28
Ex.) To send flags for the return packets between No.42 and No.59 in the memory map.
Hdr ID Flg Adr Len Cnt Sum
Return Packet
Hdr ID Flg Adr Len Cnt Dat Sum
Memory Map No. 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
The present load is 0006H, which is identified by the values of No.48 andNo.49 in the
return packet
It shows that the motor is live with electricity of 6mA at this time
● No.50/No.51 Present Temperature （２ Byte,Hex Number,Read）
This shows the present temperature on the board of the servo. Each temperature sensor
has its own characteristics and there is a difference of about ± 3℃ between one another
in measuring temperature. An alarm flag is raised 10℃ before reaching the preset
temperature. If the temperature goes up higher than the preset temperature, an error flag
for temperature is raised one second later, and at the same time the servo comes into the
break mode, which situation is like deadening the torque a little bit. When it is in the break
mode, the value for “Torque ON” of No.36 in the memory map becomes 2.
Please be aware that Torque-On-Command does not function unless resetting is carried
out or turning on the power again if temperature limit works. Also, be careful not to burn
yourself since the temperature around the servo motor is somewhere between 120℃ and
140℃ when errors in temperature happen. Please make sure that the temperature goes
down sufficiently before you use it again.
Ex.）To read the current temperature of the servo in ID=1
If you want to get the values of No.50 and No.51 in the servo’s memory map as return
packets, send the packets with the bits of 3 to 0 in the “Flags” set to bit3=1,bit2=0,bit1=0
and bit0=1. After sending, the values for the items between No.42 and No.59 in the
memory map will be sent back to you from the servo.
(Please refer to the Flags on Page 11 for details.)
If you send only flags, set [COUNT] =1 with [ADRESS] =0 and [LENGTH] =0, and
nothing should be written in ”DATA”.
Ex.）To send flags for return packets between No.42 and No.59 in the memory map.
Hdr ID Flg Adr Len Cnt Sum
FA AF 01 09 00 00 01 09
FD DF 01 00 2A 12 32 01 4E FB 00 00 00 00 06 00 BA 03 00 00 00 00 00 00 00 00
FA AF 01 09 00 00 01 09