User Manual

北京创兴盛器人术有限公司 UPTECH Robotics
TEL+86-010-8211-4870, +86-010-8211-4887 FAXExt.828 http://robot.up-tech.com
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3 Memory contents
3.1 Control Table
Address Item Access Initial Memory
0(0X00) -- -- --
1(0X01) Model Number RD ?
2(0X02) Version of Firmware RD ?
3(0X03) ID RD,WR 1(0x01)
4(0X04) Baud Rate RD,WR 1(0x01)
5(0X05) Return Delay Time RD,WR 0(0x01)
6(0X06) CW Angle Limit(L) RD,WR 0(0x00)
7(0X07) CW Angle Limit(H) RD,WR 0(0x00)
8(0X08) CCW Angle Limit(L) RD,WR 255(0xFF)
9(0X09) CCW Angle Limit(H) RD,WR 3(0x03)
10(0x0A) (Reserved) - 0(0x00)
11(0X0B) The Highest Limit Temperature
RD, WR 80(0x50)
12(0X0C) the Lowest Limit Voltage RD,WR 60(0X3C)
13(0X0D) the Highest Limit Voltage RD, WR 160(0XA0)
14(0X0E) Max Torque(L) RD,WR 255(0XFF)
15(0X0F) Max Torque(H) RD,WR 3(0x03)
16(0X10) Status Return Level RD,WR 2(0x02)
17(0X11) Alarm LED RD,WR 5(0x25)
18(0X12) Alarm Shutdown RD,WR 5(0x04)
19(0X13) (Reserved) RD,WR 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 ?
EEPROM
24(0X18) Torque Enable RD,WR 0(0x00)
25(0X19) LED RD,WR 0(0x00)
26(0X1A) CW Compliance Margin RD,WR 2(0X02)
27(0X1B) CCW Compliance Margin RD,WR 2(0X02)
28(0X1C) CW proportion RD,WR 32(0x20)
29(0X1D) CCW proportion RD,WR 32(0x20)
30(0X1E) Goal Position(L) RD,WR [Addr36]value
31(0X1F) Goal Position(H) RD,WR [Addr37]value
32(0X20) Moving Speed(L) RD,WR 0(0x00)
33(0X21) Moving Speed(H) RD,WR 0(0x00)
34(0X22) Acc RD,WR 32(0x20)
35(0X23) Dcc RD,WR 32(0x20)
36(0X24) Present Position(L) RD ?
37(0X25) Present Position(H) RD ?
38(0X26) Present Speed(L) RD ?
39(0X27) Present Speed(H) RD ?
RAM