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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Moving Speed. Sets the angular velocity of the output moving to the
Goal Position.Setting this value to its maximum value of 0x3ff
moves the output with an angular velocity of 62 RPM, provided
that there is enough power supplied (The lowest velocity is when
this value is set to 1. When set to 0, the velocity is the largest
possible for the supplied voltage, e.g. no velocity control is
applied.)
Address 0x20,0x21
Acc,Dcc. Those are the
Acceleration and
Deceleration of the CDS55xx
servo move to GoalPosition
Address 0x24,0x25
Present Position. Current
angular position of the CDS55xx servo output.
Address 0x26,0x27
Present Speed. Current angular velocity of the CDS55xx servo
output.
Address 0x28,0x29
Present Load. The magnitude of the load on the operatin CDS55xx
servo. Bit 10 is the direction of the load.
Address 0x2A
Present Voltage. The voltage currently applied to the CDS55xx servo.
The value is 10 times the actual voltage. For example, 10V is
represented as 100 (0x64).
Address 0x2B
Present Temperature. The internal temperature of the CDS55xx servo
in Degrees Celsius.
Address 0x2C
Registered Instruction. Set to 1 when an instruction is assigned by
the REG_WRITE command. Set to 0 after it completes the assigned
instruction by the Action command.
Address 0x2E
Moving. Set to 1 when the CDS55xx servo is moving by its own
power.
Address 0x2F
Lock. If set to 1, only Address 0x18 to 0x23 can be written to and
other areas cannot. Once locked, it can only be unlocked by turning
the power off.
Address 0x30,0x31
Punch. The minimum current supplied to the motor during
operation. The initial value is set to 0x20 and its maximum value is
0x3ff.
3.2 Endless Turn
If both values for the CW Angle Limit and the CCW Angle Limit are
set to 0, an Endless Turn mode can be implemented by setting the