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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ID of 0
10V is represented by 100 (0x64), and 17V by 170 (0xAA).
Instruction Packet Instruction = WRITE_DATA, Address = 0x0C, DATA = 0x64, 0xAA
Communication ->in: FF FF 00 05 03 0C 64 AA DD (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 12 Setting the maximum torque to 50% of its maximum possible value for a
CDS55xx servo with an ID of 0
Set the MAX Torque value located in the ROM area to 0x1ff which
is 50% of the maximum value 0x3ff.
Instruction Packet Instruction = WRITE_DATA, Address = 0x0E, DATA = 0xff, 0x01
Communication ->in: FF FF 00 05 03 0E FF 01 E9 (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
To verify the effect of the adjusted Max Torque value, the power
needs to be turned off and then on.
Example 13 Set the CDS55xx servo with an ID of 0 to never return a Status Packet
Instruction Packet Instruction = WRITE_DATA, Address = 0x10, DATA = 0x00
Communication ->in: FF FF 00 04 03 10 00 E8 (LEN:008)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
The Status Packet is not returned starting with the following
instruction.
Example 15 Set the Alarm to blink the LED and Shutdown (Torque off) the actuator
when the operating temperature goes over the set limit
Since the Overheating Error is Bit 2, set the Alarm value to 0x04.
Instruction Packet Instruction = WRITE_DATA, Address = 0x11, DATA = 0x04, 0x04
Communication ->in: FF FF 00 05 03 11 04 04 DE (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
Example 16 Turn on the LED and Enable Torque for a CDS55xx servo with an ID of 0
Instruction Packet Instruction = WRITE_DATA, Address = 0x18, DATA = 0x01, 0x01
Communication ->in: FF FF 00 05 03 18 01 01 DD (LEN:009)
<-out: FF FF 00 02 00 FD (LEN:006)
Status Packet Result NO ERROR
You can verify the Torque Enabled status by trying to move the
output of the actuator by hand.
Example 18 Position the output of a CDS55xx servo with an ID of 0 to 180° with an
angular velocity of 31RPM
Set Address 0x1E (Goal Position) to 0x200 and Address 0x20
(Moving Speed) to 0x200.
Instruction Packet Instruction = WRITE_DATA, Address = 0x1E, DATA = 0x00, 0x02,
0x00, 0x02
Communication ->in: FF FF 00 07 03 1E 00 02 00 02 D3 (LEN:011)