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
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Goal Speed. This feature can be used for implementing a
continuously rotating wheel.
Goal Speed Setting
BIT 15~11
10 9
8
7
6
5
4
3
2
1
0
Value
0 Turn Direction Speed Value
Turn Direction = 0 : CCW Direction Turn, Load Direction = 1: CW Direction Turn
4 Example
Example 6 Changing the ID to 0 for a CDS55xx servo with an ID of 1
Instruction Packet Instruction = WRITE_DATA, Address = 0x03, DATA = 0x00
Communication ->in: FF FF 01 04 03 03 00 F4 (LEN:008)
<out: FF FF 01 02 00 FC (LEN:006)
Status Packet Result NO ERROR
Example7 Changing the Baud Rate of a CDS55xx servo to 1M bps
Instruction Packet Instruction = WRITE_DATA, Address = 0x04, DATA = 0x01
Communication ->in: FF FF 00 04 03 04 01 F3 (LEN:008)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example8 Resetting the Return Delay Time to 4 uSec for a CDS55xx servo with an
ID of 0
A Return Delay Time Value of 1 corresponds to 2uSec.
Instruction Packet Instruction = WRITE_DATA, Address = 0x05, DATA = 0x02
Communication ->in: FF FF 00 04 03 05 02 F1 (LEN:008)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
It is recommended to set the Return Delay Time to the minimum
value allowed by the Main Controller.
Example 9 Limiting the operating angle range to 0°~150° for a CDS55xx servo with
an ID of 0
Since the CCW Angle Limit of 0x3ff corresponds to 300°, the angle
150° is represented by the value 0x1ff
Instruction Packet Instruction = WRITE_DATA, Address = 0x08, DATA = 0xff, 0x01
Communication ->in: FF FF 00 05 03 08 FF 01 EF (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 10 Resetting the upper limit for the operating temperature to 80°C for a
CDS55xx servo with an ID of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x0B, DATA = 0x50
Communication ->in: FF FF 00 04 03 0B 50 9D (LEN:008)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 11 Setting the operating voltage to 10V ~ 17V for a CDS55xx servo with an