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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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,WR 0(0x00)
45(0X2D) (Reserved) -- --
46[0x2E) Moving RD 0(0x00)
47[0x2F) Lock RD,WR 0(0x00)
48[0x30) Punch(L) RD,WR 90(0x5A)
49[0x31) Punch(H) RD,WR 0(0x00)
Control Table The Control Table contains information on the status and
operation of the CDS55xx servo. The CDS55xx servo is operated by
writing values to its control table and its status is checked by
reading values off its control table.
RAM and EEPROM The data values for the RAM area will be set to the default initial
values whenever the power is turned on. However, the data values
for the EEPROM area are non-volatile and will still remain even
after the power is turned off.
Initial Value The Initial Value column on the right side of the control table
shows the Factory Default Values for the case of EEPROM area data,
and shows the initial value when the power is turned on for the
case of RAM area data.
The following explains the meaning of data stored in each of the
addresses in the control table.
Address 0x01 Model Number. For CDS5516 this value is 0X01 (1).
Address 0x02 Firmware Version.
Address 0x03 ID. The unique ID number assigned to each CDS55xx servos for
identifying them.Different IDs are required for each CDS55xx servos
that are on the same network.
Address 0x04 Baud Rate. Determines the communication speed. The computation
is done by the following formula.
Speed (BPS) = 2000000 / (Address4 + 1)
Data Value for each Major Baud Rate
Adress4 Hex Set BPS Goal
1 0X01 1000000.0 1000000.0 0.000%
3 0X03 500000.0 500000.0 0.000%
7 0X07 250000.0 250000.0 0.000%
16 0X10 117647.1 115200.0 -2.124%
34 0X22 57142.9 57600.0 0.794%
103 0X67 19230.8 19200.0 -0.160%
Other baud rate is still available, but not saved after power off.
Note A maximum Baud Rate error of 3% is within the tolerance of UART
communication.
Caution The initial value of Baudrate is set to 1(1000000bps).
Address 0x05 Return Delay Time. The time it takes for the Status Packet to return