User Manual
北京博创兴盛机器人技术有限公司 UPTECH Robotics
TEL:+86-010-8211-4870, +86-010-8211-4887 FAX:Ext.828 http://robot.up-tech.com
Page 15 of 21
Bit6 If set to 1, the LED blinks when an Instruction Error occurs
Bit5 If set to 1, the LED blinks when an Overload Error occurs
Bit4 If set to 1, the LED blinks when a Checksum Error occurs
Bit3 If set to 1, the LED blinks when a Range Error occurs
Bit2 If set to 1, the LED blinks when an Overheating Error occurs
Bit1 If set to 1, the LED blinks when an Angle Limit Error occurs
Bit0 If set to 1, the LED blinks when an Input Voltage Error occurs
This function operates following the “OR” logical operation of all
bits. For example, if the value is set to 0X05, the LED will blink when
an Input Voltage Error occurs or when an Overheating Error occurs.
Address 0X12
Alarm Shutdwon. If the corresponding Bit is set to 1, the CDS55xx
servo’s torque will be turned off when an Error occurs.
Bit Function
Bit7 0
Bit6 If set to 1, torque off when an Instruction Error occurs
Bit5 --
Bit4 If set to 1, torque off when a Checksum Error occurs
Bit3 If set to 1, torque off when a Range Error occurs
Bit2 If set to 1, torque off when an Overheating Error occurs
Bit1 If set to 1, torque off when an Angle Limit Error occurs
Bit0 If set to 1, ttorque off when an Input Voltage Error occurs
This function operates following the “OR” logical operation of all
bits. However, unlike the Alarm LED, after returning to a normal
condition, it maintains the torque off status.To recover, the Torque
Enable (Address0X18) needs to be reset to 1.
BIT5 overload signs is invalid, when CDS55XX overload, the torque
is automatically reduced to a security value, but not completely
torque of.
The following (from Address 0x18) is in the RAM area.
Address 0x18
Torque Enable. When the power is first turned on, the CDS55xx
servo enters the Torque Free Run condition (zero torque). Setting
the value in Address 0x18 to 1 enables the torque.
Address 0x19 LED. The LED turns on when set to 1 and turns off if set to 0.
Address 0x1A~0x1B
compliance Margin. If difference of the target location and the
physical location is smaller than compliance Margin,the position
control will be insensitive.
` Address 0x1C~0x1D
CW /CCW proportion. Adjust the position Position loop
Address 0X1E,0x1F
GoalPosition.Requested angular position for the CDS55xx servo
output to move to. Setting this value to 0x3ff moves the output
shaft to the position at 300°.
Address 0x20,0x21